Vlo

Vhi
10K

10K
G
R1

R2
S

D
LO HI

Q1

Level Converter
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 +3.3Vm
C27

0.1uF 61 15 25 35 45 53 U5
C28

AVCC

VCC
VCC
VCC
VCC
VCC
62 26
stall_x:1 PA0 PD0 step_x:1
0.1uF 63 27
stall_y:1 PA1 PD1 cs_x:1
C29 64 28
stall_z:1 PA2 ATXMEGA192A3U−AUR PD2 cs_a:1
0.1uF 1 29
stall_a:1 PA3 PD3 cs_z:1
C30 2 30
spin_dir:1 PA4 PD4 spin_pwm:1
3 31
0.1uF spin_enable:1 PA5 PD5 load_2:1
4 32
C31 analog_1:1 PA6 PD6 rs485_ro:1
5 33
analog_2:1 PA7 PD7 rs485_di:1
0.1uF
C32 6 36
min_x:1 PB0 PE0 step_y:1
0.1uF 7 37
max_x:1 PB1 PE1 cs_y:1
8 38
min_a:1 PB2 PE2 dir_x:1
9 39
max_a:1 PB3 PE3 dir_y:1
10 40
min_y:1 PB4 PE4 step_a:1
11 41
max_y:1 PB5 PE5 load_1:1
12 42
min_z:1 PB6 PE6 dir_z:1
13 43
max_z:1 PB7 PE7 dir_a:1

16 46
sda:1 PC0 PF0 step_z:1
17 47
scl:1 PC1 PF1 rs485_rw:1
18 48
serial_tx:1 PC2 PF2 fault:1
19 49
serial_rx:1 PC3 PF3 estop:1
20 50
serial_cts:1 PC4 PF4 motor_fault:1
21 51
motor_clk:1 PC5 PF5 motor_enable:1
22 54 TP1
motor_miso:1 PC6 PF6
23 55
motor_mosi:1 PC7 PF7
RESET

probe:1
ISP
GND
GND
GND
GND
GND
GND

PR0
PR1
PDI

PDI 1
+3.3Vm

VCC 2 14 24 34 44 52 60
56

57

58

59

nc 3
NC NC

X1
nc 4 Microprocessor
5 C33 16MHz Copyright (c) 2016−2020, Buildbotics LLC
RESET reset:1 C34
TITLE Licensed under CERN−OHL−S v2
GND 6 10pF 10pF
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 J4
RS485 interface
1
load_2:1
+3.3Vm
14
rs485_b:1
C35 0.1uF 2
load_1:1
U6 R9 68 15

8
+3.3Vm spin_enable:1 C18 0.22uF
Vcc L1 120uH min_x:1 R10 68 3
C4 0.22uF
R6 180 1 RO
rs485_ro:1

ISL83485
0.1uF R11 68 16

1
2
R2 750 C1 R4 10 spin_dir:1 C19 0.22uF
rs485_rw:1 R7 180 2 RE B/Z 7 rs485_b:1 R12 68 4
0.1uF max_x:1 C5 0.22uF
3 DE R19 130 C2 R5 10
A/Y 6 rs485_a:1 spin_pwm:1
17
R8 180 4 DI

4
3
rs485_di:1 R3 750 C3 0.1uF R14 68 5
GND min_y:1 C6 0.22uF
C15 130pF

C16 130pF
C17 130pF
R26 68 18
2.4k

SRF2012A−121YA

5
analog_2:1 C22 0.22uF

+3.3Vm
6

19
R1

+3.3Vm
20

max_y:1 R15 68 8
C7 0.22uF
fault:1 R16 68 21 C21 0.22uF
Vs
0 to 10v output min_z:1 R17 68 9
C8 0.22uF
C23 0.1uF
U1 probe:1 R18 68 22 C9 0.22uF
R13 100k 7 max_z:1 R20 68 10 C10 0.22uF
3
spin_pwm:1 MC R27 1k
6 R21 68 23
C200.22uF

33171 spin_0to10:1 estop:1 C11 0.22uF

2
4 min_a:1 R22 68 11 C12 0.22uF
analog_1:1 R23 68 24 C13 0.22uF
max_a:1 R24 68 12 C14 0.22uF
R28 2.1k 25
R25 1k
13
rs485_a:1

shield
Peripherals
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 Vs Vs

C5 C12 C15 C7 C6 C13 C16 C17

180u 22u 22u 10n 180u 22u 22u 10n
Vs

+5V
Vs
R13 R12 0 Q1
0 .22uF
C4
1 S1 D1 8
C1 C2 C3 2 G1 D1 7
1uF
3 S2 D2 6
0.1uF U1
1uF 2 1 3 4 4 G2 D2 5
AOUT1 37

CP2

CP1
VCP

VM
6 V5 IPG20N06S4L26ATMA1
A1HS 36 Q2
7 VINT A1LS 35 R1 75
DRV8711 1 S1 D1 8
AISENP 34 J1
ENABLE
8 SLEEPn 2 G1 D1 7
AISENN 33 R2 .05 Vs
9 RESET 3 S2 D2 6

NC
10 STEP/AIN1 A2LS 32 R3 75 4 G2 D2 5 1
STEP 11 DIR/AIN2 A2HS 31 IPG20N06S4L26ATMA1
DIR 12 BIN1 AOUT2 30 2
NCNC
TP_CS 13 BIN2
BOUT1 28
3
R10 180 16 B1HS 27 Vs
CS SCS
14 B1LS 26 R4 75 Q3
SCLK 4
130pF C11 SCK 15 SDATI BISENP 25
MOSI 1 S1 D1 8
17 SDATO BISENN 24 R5 .05
MISO 2 G1 D1 7
+3.3Vm

R7 2.4k B2LS 23 R6 75 3 S2 D2 6
18 FAULTn B2HS 22 4 G2 D2 5
R11 180 FAULT 19 STALLn/BEMFVn BOUT2 21 IPG20N06S4L26ATMA1
STALL PPAD

BEMF 20 Q4
GND
GND
GND

TP_BEMF
C8
TP_STALL 5 29 38 1 S1 D1 8
1nF 2 G1 D1 7
Vs
3 S2 D2 6
4 G2 D2 5
IPG20N06S4L26ATMA1

Motor Driver
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 Stepper Motor Drivers Microprocessor Power Power Peripherals
Raspberry PI
Regulation Conditioner
R D M P PC H

Buildbotics Controller
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 5.1V 3A Buck TP3
U2
Vdd
+5V
R15 0 8 VCC L1
L7986A OUT 1
Vdd

R10 8.25k 1%
7 GND 10uH
SYNC 2

NC
470nF 50v

330 3.3nF
C11
10uF 50v
6 FSW EN 3
R1

R6 180k
5 FB COMP 4 10K

R11
D3
Pad

C12
22uF 16V
9

R2 1.37K
C4

C6

1.1k 1%
C7 100pF

R12
R8 1.5k C9 33nF

3.3V 1A LDO POWER

AZ1117IH−3.3TRG1 +3.3Vm
U3

+3.3Vm
+5V
1
In Out
Gnd Out

+5V
2
0.1uF

0.1uF
C13

C14
3

Power
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 RPI
1 2

+5V +5V
NC

3 4
sda:1
5 6
scl:1
7 8
NC

serial_tx:1
9 10
serial_rx:1
11 12
NC

NC

13 14
reset:1
+3.3Vm LCD I2C SERIAL
15 16 +5V
NC

NC

LV0
1 1 1
17 18 sda:1 serial_cts:1
NC

NC

Vlo Vhi

+5V
19 20 LO HI 2 2 2
sda:1 scl:1
NC

NC

+3.3Vm
21 22 +5V 3 3 serial_tx:1 3
NC

NC

+3.3Vm
LV1
23 24 4 4
NC

NC

Vlo Vhi
LO HI 5
25 26 scl:1 serial_rx:1
NC

27 28
NC

NC

29 30
NC

31 32
NC

NC

33 34
NC

35 36
serial_cts:1
NC

37 38
NC

NC

39 40
NC

RPI Bus
Copyright (c) 2016−2020, Buildbotics LLC
TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 TP1 TP2
Vcc
Vcc
Q1 R5 20k R26 200k in2:1
Vin

Vcc 25
R29 Q2 VNQ5027AK-E

Vcc 12
Vcc 1
J6 D2 C5

2
Z1 200k
ENABLE 470n
6.2V Vcc Vcc TP5
1 Vs
12V R6 100k
R13 3 IN1
2
in1:1 O1 24
36V/40V/58.1V R2 100k R3 1k 10K

K
4 CS1 O1 23
3 cs1:1
C1 O1 22
R4 Vcc

A
4 R1 Z2 in2:1 D1
10K 0.1uF 137 5 IN2
J4
5 6 CS2 O2 21 1
R30 100k R32 1k O2 20

Vdd
R7 100k 4
6 cs2:1 O2 19
R19 Vcc 2
TP3

0.1uF
C7
R33
137
in3:1
10K
7 IN3
8 CS3
Logic 5
3
O3 18 6
R25 100k

K
Vs O3 17
R8 100k 1k R9 R22 9 IN4
cs3:1 in4:1 O3 16
Vcc

A
5.1Ω C3 10K 10 CS4 D3 J5
TP4 R31 5W R10
+5V 1
+3.3Vm 0.1uF 137
11 CS_DIS O4 15 4

K
O4 14 2
R34 R35 R36 R11 100k 1k R12
Q4 D Q3 D cs4:1 R14 O4 13 5
10K 10K 37.4K

A
2 GND
10K D5 3
shunt:1 C4
G G R15 6
137
0.1uF
S S
pwr_reset:1
pwr_mosi:1
pwr_miso:1

pwr_sck:1

R16 1k
vout_ref:1

ISP +3.3Vm
vin_ref:1

in3:1 load_2:1
shunt:1

pwr_miso:1 1
cs1:1
cs2:1
cs3:1
cs4:1

2 R18 1k
in1:1

in3:1
in4:1

+3.3Vm MISO Vcc

in4:1 load_1:1
pwr_sck:1 3 4 pwr_mosi:1
Vs SCK MOSI R23 0
NCNC NC Vcc R17 pwr_mosi:1 sda:1
pwr_reset:1 5 6
R20 10K RESET Gnd R24 0
C2 U1 R27 pwr_sck:1 scl:1
0.1uF 37.4K
37.4K
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
PB0
PB1
PB2
PB3
PC0
PC1
PC2
PC3
PC4
PC5

vin_ref:1 vout_ref:1
R21
GND
GND

R28
Vcc

ATiny1634
1k 1k Power Conditioning
C6 Copyright (c) 2016-2020, Buildbotics LLC
+3.3Vm

TITLE Licensed under CERN-OHL-S v2

0.1uF FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland
 J2
X/R8 180 drv_step_x:1
step_x:1 1 2
drv_enable:1
X/C9 1nF
3 4
X/R9 180 drv_dir_x:1 drv_step_x:1 drv_dir_x:1
dir_x:1
X/C10 1nF 5 6
drv_step_y:1 drv_dir_y:1
Y/R8 180 drv_step_y:1 7 8
step_y:1 drv_step_z:1 drv_dir_z:1
Y/C9 1nF
9 10
drv_step_a:1 drv_dir_a:1
Y/R9 180 drv_dir_y:1
dir_y:1
11 12
Y/C10 1nF
13 14
Z/R8 180 drv_step_z:1
step_z:1
Z/C9 1nF 15 16 cs_x:1 CS X cs_z:1 CS
spin_0to10:1 Z
drv_clk:1 SCK drv_clk:1 SCK
Z/R9 180 drv_dir_z:1
dir_z:1 drv_mosi:1 MOSI drv_mosi:1 MOSI
Z/C10 1nF drv_miso:1 MISO drv_miso:1 MISO
drv_enable:1 ENABLE drv_enable:1 ENABLE
A/R8 180 drv_step_a:1 drv_dir_x:1 DIR drv_dir_z:1 DIR
step_a:1
drv_step_x:1 STEP drv_step_z:1 STEP
A/C9 1nF
stall_x:1 STALL stall_z:1 STALL
A/R9 180 drv_dir_a:1 drv_fault:1 FAULT drv_fault:1 FAULT
dir_a:1
A/C10 1nF
motor_driver.sch motor_driver.sch

cs_y:1 CS Y cs_a:1 CS A
SCK SCK
+3.3Vm

R2 2.4k drv_clk:1 drv_clk:1

J1 MOSI MOSI
drv_mosi:1 drv_mosi:1
R1 180 drv_miso:1 MISO drv_miso:1 MISO
motor_fault:1 drv_fault:1
1 drv_enable:1 ENABLE drv_enable:1 ENABLE
motor_enable:1 DIR DIR
+3.3Vm

R6 2.4k drv_dir_y:1 drv_dir_a:1

2 drv_step_y:1 STEP drv_step_a:1 STEP
R3 180 motor_fault:1 STALL STALL
motor_miso:1 drv_miso:1 stall_y:1 stall_a:1
3 drv_fault:1 FAULT drv_fault:1 FAULT
motor_clk:1
R4 180 4 motor_driver.sch motor_driver.sch
motor_mosi:1 drv_mosi:1 motor_mosi:1
130pF C3
5
R5 180 motor_miso:1
motor_clk:1 drv_clk:1
130pF C4 6

R7 180 Motor Modules

motor_enable:1 drv_enable:1 Copyright (c) 2016−2020, Buildbotics LLC
130pF C5 TITLE Licensed under CERN−OHL−S v2
FILE: REVISION: 12.0
PAGE OF DRAWN BY: Doug & Joe Coffland