1

O S C 2 /C L K O U T /R A 6

8
19

AVSS
VSS

AVD D
VD D

7
20

P IC 1 8 F 2 4 3 1 -S
2

PG D
PG C

10

C 22

10uF

0 .1

V C C _m otor

D 10

8
IN
V B5 8 1 97
SD
H O
6
C O M VS
5
LO VC C

R 20
330

1 02 u F
R 1

VC C
M C LR

S2
S3

C 15

C 14

0 .0 1

0 .1

0.1
R 33
100

M C LR
1 L 1 1 0 0 m H 2V C C
C 13

TE ST_1 R 16

C 20

pw m 2

10uF

1
2
3
4

nc
AN
C A
nc

VC C _12

V C C _5V 2
R 38
4K7

U 45
8
7
6
5

Vcc
Vo
Vo
gnd

D 20

1 0 10

0 .1

C 4

U 7
1
2
3
4

8
IN
V B5 8 1 97
SD
H O
6
C O M VS
5
LO VC C

1 02 u F

I R F 5 4 0 N / T OD 4
R 3

M O TO R _2
D 3
IR F 54 0 N /TO

11
10

10uFC 23
2
1
VC C

C 16

2
C 25

0 .1

C 26

S E R IA L _C O M

C 24

1
3
4
5
2
6

R 1 IN
R 2 IN

R 1O U T
R 2O U T

T1IN
T2IN

T1O U T
T2O U T

C
C
C
C
V
V

12
9

R X

14
7

re v

1+
12+
2+
-

M A X2 32

UART
V C C _ m o to r

J10

J12

1
H O LE

J16
1

H O LE
J13

J18
1

1
H O LE

J17
1
H O LE

0.1
R 39
100

pwm 3

VC C _5V 2
R 40
4K7

U 46
1
2
3
4

nc
AN
C A
nc

Vcc
Vo
Vo
gnd

8
7
6
5

H O LE

VC C _12

V C C _ m o to r

C 9

D 16

0 .1

B
A
Z

1
2
3
4
5

V IN

L M 7 8 0 5 /T O
VO U T

R 14
R 13
R 12
4K 7
4K 7
4K 7

VC C
1
1
1

VC C
VC C

H EAD ER 5

VC C _5V2
C 18
1000uF

2
2
2

VC C

1 0 10

I R F 5 4 0 N / T OD 6
R 5

VC C

M O TO R _3
D 5
IR F 54 0 N /TO

U 40
P+
2

D 17
S C H O TK Y

1 0 10

ENCODER_BLOCK

D 31
2PLU SE _b 12

PH ASE_A
R 2 8 3 3 0 1D 3 P0 H A S E _ B 2 P L U S E _ A 1 0
D 29
2PLU SE _z 8

R 29 330 1
PH ASE_Z

0 .1

VC C

D 18
S C H O TK Y

100 1

VC C _12

D 22

R 27 330 1

C 17

R 66 330
P-

D 34 4148

1
2
3
4

nc
AN
C A
nc

Vcc
Vo
Vo
gnd

8
7
6
5

D 33 4148

R 67
330
1 D -

1
2
3
4

nc
AN
C A
nc

Vcc
Vo
Vo
gnd

8
7
6
5

U 39F

1
1
1

7 4U1 34 9 E
U 39D
7414

13

11

STEP_F R 30 10K

C 35

S TE P _F

R 31 10K

13

U 42B

R EAD Y

11

S iz e
C u s to m
D a te :

U 7 34 91 C4

1
U 42E

D IR

12

10

STEP

R EA D Y _SY S TEM

74H C 14
8

DRIVER

U 42C

74H C 14

74H C 14

T i t le

74H C 14

U 42D

D R IV E R _ D IR

U 42F
2

74H C 14

C 36
0.1

U 42A

1
1
1

7414

74H C 14
D IR _ F

D IR _F

0.1

VC C

U 39A

U 3 9 B7 4 1 4
3

7414

VC C

D R IV E R _S TE P
U 41

D +
2

1 02 u F

TE ST_3

JP 4

U 9

8
V B5 8 1 97
H O
6
VS
5
C C

R 6
TE S T_3 R 18

I2C + SPI
POWER_SELECT

IN
SD
C O M
LO V

IR 2 1 0 4

V C C _ m o to r

VC C _12

C 7

U 8
1
2
3
4

D R IV E R _S TE P

1
H O LE

1
1

VC C
VC C _12

H O LE

VC C _12

VC C

VC C

1
2
3
4
5
H EAD ER 5

H O LE
J15
1

J11

R 25
2K 2

MCU_SYSTEM
J14

H O LE

SC L
SD A
R X

13
8

TX

S C H O TK Y

1 0 10

TEST_2

23

tra n s

D 21

R 1 7 1 0 10

D 14

tra n s

1
2
3
4
M O TO R _O U T

D 15
S C H O TK Y

100 1

VC C _12

R 4
TE S T_2

C 27

R 24
2K 2
S E R IA L _ S P I

JP 2

TE S T_1

D 13

V C C _5V 2

VC C

re v

VC C

P+
PD +
D R EA D Y _SY STEM
TX
R X
SD A
SC L

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
H E A D E R 16 X2

G N D

1
6
2
7
3
8
4
9
5

C O N E C TO R _S Y S TE M
U 37

SC H O TKY

V C C _ m o to r

C 6

D R IV E R _ S T E P

BLOCK

P1

D 12

1 0 10

IR 2 1 0 4

SERIAL

M O TO R _1
D 2
IR F 5 4 0 N /T O

R 2

V C C _5V 2

D 24 LED

D 11
SC H O TKY

100 1

VC C _12

IR 2 1 04

11

D 25
LED

I R F 5 4 0 N / T OD 1

23

1
2
3
4

D R IV E R _S TE P

C 1

U 6

Vcc
Vo
Vo
gnd

MOTOR BLOCK

V C C _12
C 3
0 .1

R 22 R 23
4K7 4K7

VC C
C 21

nc
AN
C A
nc

8
7
6
5

TE S T_1
PW M3
TE S T_2
PW M2
PW M1
TE S T_3
PG C
PG D

VC C VC C R 21
330

pwm 1

1
2
3
4

C 12 22

1
2
3
4
5
PR O G R AMMER

21
22
23
24
25
26
27
28

VC C

R 26
4K7

U 44

23

JP1

M C LR
VC C

R B 0 /P W M 0
R B 1 /P W M 1
R B 2 /P W M 2
R B 3 /P W M 3
R B 4 /K B I0 /P W M 5
R B 5 /K B I1 /P W M 4 /P G M
R B 6 /K B I2 /P G C
R B 7 /K B I3 /P G D

O S C 1 /C L K IN /R A 7

Y 1
C R Y S TA L

VC C

R 15
1M

0 /A
1 /A
2 /A
3 /A
4 /A

1 1

C 11 22

A
A
A
A
A

R
R
R
R
R

R EAD Y
1
1
SD A
SC L
TX
R X

VC C
R 1 9 3 3 V0 C2 C S Y S T E M _ C L O C K
R 36 330 2
LE D _R EA D Y

2
3
4
5
6

R C 0 /T1 O S O /T1C K I
R C 1 /T 1 O S I/C C P 2 /F L T A *
N 0
R C 2 /C C P 1 /F L T B *
N 1
R C 3 /T 0 C K I/T 5 C K I/IN T 0
N 2 /V re f -/C A P 1 /IN D X
R C 4 /IN T 1 /S D I/S D A
N 3 /V re f + /C A P 2 /Q E A
R C 5 /IN T 2 /S C K /S C L
N 4 /C A P 3 /Q E B
R C 6 /T X/C K /S S *
R C 7 /R X/D T /S D O

2 D 23
11
2D 3 2
11
R 34 10 0 2 D IR
R 35 100 2 STE P

R 32
100

M C L R * /V P P /R E 3

11
12
13
14
15
16
17
18

VC C _5V2

C 19
0 .1

100 1
100 1
SE _z
SE _A
SE _b

PVN 1

5K

VC C

R 9
R 10
PLU
PLU
PLU

VC C
1 R 11

R 37
4K 7

5K

4148
1
4K 7
M C LR

2
2

VC C
1 R 8

VC C

VC C
D 19
2
R 7

C 10
0 .1
M C LR S1

MCU BLOCK

AC/DC_SERVO

D ocum ent N um ber

R E P O S T V IE N C O N G N G H E C A O
T u e s d a y , A p r il 2 0 , 2 0 1 0

R ev
V 1 .0
Sheet

of