I am using the DRV2700 (3) to drive a piezo micropump. We have an asymetrical bipolar outputs (i.e., +100V open, -50V closed). IN- input is biased at one half the DAC reference voltage (2.5V) driving IN+, so the midpoint is 1.25V. However we see different offsets on IN- from 1.29 to 138V which means we cannot get accurate drive from out ADC with an asymetric input signal.