Schematic diagram

R Zumo 32U4 main board

© 2015–2020 Pololu Corporation
www.pololu.com
Microcontroller and user interface

PISW101 PISW102
nRESET 5V COL1
L1 AVCC
COSW1
SW1 Front expansion area
PIL101 PIL102

10 uH PIC102 Front
COU1ATmega32U4 COC1
C1 D3
COJ2USB Micro-B VBUS 13 6 AVR3V3 1
PIJP701
PIU1013
RESET UCap PIU106

PIC10 0.1 uF D2 Mid Rear

PIJP702
2
D12 VBAT VBAT
VBUS
1 PIC201 VBAT D4
PIJP703
3
D4
PIJP501
1
D12
PIJP601
1
PIJ201

7 14
COC2
C2 PIJP704
4 PIJP502
2 PIJP602
2
COR1
R1 PIU107
VBus VCC PIU1014
1 uF 3V3 A4
2 3 34 5V PIC20 PIJP705
5 PIJP503
3 PIJP603
3
D- PIJ202 PIR101 PIR102 PIU103
D- VCC PIU1034
5V 5V IRR 3V3 D6
4 PIJP706 6 PIJP504 4 PIJP604 4
COR2
R2 22 PIU104
D+ IRL A4
3 2 PIJP707
7 PIJP505
5 PIJP605
5
D+ PIJ203 PIR201 PIR202
UVcc PIU102

PIJP708
8 PIJP506
6 PIJP606
6
22
4 D17 8 AVCC PIJP709
9 PIJP507
7 PIJP607
7
ID PIJ204 PIU108
PB0 (SS/PCINT0) D0 D0 A3
D15 9 24 PIJP7010
10 PIJP508
8 PIJP608
8
PIU109
PB1 (PCINT1/SCK) AVCC PIU1024
D1 D1 D3
5 D16 10 44 PIJP7011
11 PIJP509
9 PIJP609
9
GND PIJ205 PIU1010
PB2 (PDI/MOSI/PCINT2) AVCC PIU1044
A3 D11 D2
D14 11 PIJP7012
12 PIJP5010
10 PIJP6010
10
PIU1011
PB3 (PDO/MISO/PCINT3) A2 A2 A0
D8 28 COC3
C3 PIJP7013
13 PIJP5011
11 PIJP6011
11
PIU1028
PB4 (PCINT4/ADC11) A0 A1 D5
NC
NC
NC
NC
NC
NC

D9 29 42 AREF PIJP7014
14 PIJP5012
12 PIJP6012
12
PIU1029 PB5 (OC1A/OC4B/PCINT5/ADC12) AREF PIU1042 PIC301 PIC302 A1
D10 30 PIJP7015
15
PIU1030
PB6 (OC1B/OC4B/PCINT6/ADC13) D11 COJP5 COJP6
D11 12 0.1 uF 16
PIJ206 PB7 (OC0A/OC1C/PCINT7/RTS)
PIJP7016
11
10
9
8
7
6

PIU1012

33 PE2

PPIJ209 IJ208 PIJ207

PE2 (HWB) PIU1033

COJP7
D3 18 1 D7
PIU1018
PD0 (INT0/SCL/OC0B) PE6 (INT6/AIN0) PIU101

D2 19

PIJ201 PIJ201
PIU1019
PD1 (INT1/SDA)
D0 20
PIU1020
PD2 (INT2/RXD1)
D1 21 31 D5
PIU1021
PD3 (INT3/TXD1) PC6 (OC3A/OC4A) PIU1031

D4 25 32 D13
PIU1025 PD4 (ICP1/ADC8) PC7 (ICP3/CLK0/OC4A) PIU1032

PD5 22
PIU1022
PD5 (XCK1/CTS)
D12 26
PIU1026
PD6 (T1/OC4D/ADC9
D6 27 36 (D18) A0
PIU1027
PD7 (T0/OC4D/ADC10) PF7 (ADC7/TDI) PIU1036

37 (D19) A1 Top expansion area

PF6 (ADC6/TDO) PIU1037

38 (D20) A2
COY1 PF5 (ADC5/TMS) PIU1038
5V 5V
Y1 16 MHz 16 39 (D21) A3
XTAL2 PF4 (ADC4/TCK) Left Right
UGnd

PIU1016 PIU1039

40 (D22) A4
GND
GND
GND
GND
PAD

PF1 (ADC1) PIU1040

IRL IRR
17 41 (D23) A5 PIJP101 1 1 PIJP201 PIJP301 1 1 PIJP401
PIY101 PIY103 PIU1017
XTAL1 PF0 (ADC0) PIU1041

PIJP102
2 2 PIJP202 PIJP302
2 2 PIJP402

PIC402 PIC502 COC5 A0 A1 D0 D1

C4
COC4 PIY102 PIY104
C5 PIU105 PIU105 PIU1023 PIU1035 PIU1043 PIU1045 A2
PIJP103
3 3 PIJP203

A3 D2
PIJP303
3 3 PIJP403

D3
5
15
23
35
43
45

PIJP104
4 4 PIJP204 PIJP304
4 4 PIJP404

10 pF PIC401 PIC501 10 pF A4 A5 D4 D5
PIJP105
5 5 PIJP205 PIJP305
5 5 PIJP405

PE2 AREF 3V3 VREG D6 D7

PIJP106 6 6 PIJP206 PIJP306 6 6 PIJP406

SHDN STAT D8 D9
PIJP107 7 7 PIJP207 PIJP307 7 7 PIJP407

COLCD
LCD 5V PSW VCC D10 D11
PIJP108
8 8 PIJP208 PIJP308
8 8 PIJP408

VBAT D12 D13 5V

PIJP109
9 9 PIJP209 PIJP309
9 9 PIJP409

1 D17 PD5
Vss PILCD01 PIJP1010
10 10 PIJP2010 PIJP3010
10 10 PIJP4010

VB D14
PIJP1011 11 11 PIJP2011 PIJP3011 11 11 PIJP4011

2 PIR190 D15 D16

clockwise

VDD PILCD02 PIJP1012 12 12 PIJP2012 PIJP3012 12 12 PIJP4012

COR19
R19 nRESET
PIR1902 PIJP1013
13 13 PIJP2013 PIJP3013
13 13 PIJP4013

3 10k
Vo PILCD03

PIR1903 5V 5V COJP1 COJP2 COJP3 COJP4

4
RS PILCD04

D0
5 PIR301 PIR401
R/W PILCD05

R3
COR3 COR4
R4
6 D1 2.21k
E PILCD06
1.5k
7 PIR302 PIR402
DB0 PILCD07

D13
COR5
R5 1k COR6
R6 1.5k
D14 5V
PIR501 PIR502 PIR601 PIR602

8
DB1 PILCD08

PIR701 PISW401
DB2
9
COR7
R7
PID10 PID201 PID402
PILCD09
COD1
D1 COD2
D2 SW4
COSW4 A
10 1k Green Red D4
COD4
PIBZ101

COBZ1buzzer
DB3 PILCD010

PIR702 PID102 PID20 PISW402

PID401
PIBZ102

11 D14 PD5 D17

DB4 PILCD011 PIR901 PIR902 PIR1001 PIR1002

COR9
R9 3k COR10 3k
R10
12 D17 PISW201 PISW301 PIR802 PIQ603
DB5 PILCD012
PID301 COR8
R8
D6 COJ4
COQ6
Q6
13 D13 COD3
D3 COSW2
SW2 B COSW3
SW3 C
PIJ401 PIJ402 PIQ601

DB6 PILCD013

Yellow 1k PIQ602
DB7
14
PILCD014
PD5 PID302 PISW20 PISW302 PIR801 PIR2302 PIR2301

COR23
R23 100k

Page 1 of 5
 Schematic diagram
R Zumo 32U4 main board
© 2015–2020 Pololu Corporation
www.pololu.com
Motors, encoders, and IR emitters

Motors
VBAT VBAT
DRV8838
COU5 COU2DRV8838
D16 6 1 D15 6 1
PIU506
PH VM PIU501 PIU206
PH VM PIU201

5V COC10
C10 5V COC6
C6
D10 5 D9 5
PIU505 EN PIC1002 PIC1001 5V 5V 5V 5V PIU205 EN PIC602 PIC601

8 8
VCC PIU508
VCC PIU208

7 3.3 nF 7 3.3 nF
nSLEEP PIU507
nSLEEP PIU207

PIC902 COC9 PIC102 COC11 PIC702 COC7 PIC802 COC8 Right motor
C9 C11 C7 C8
9 2 ML- PIC901 0.1 uF PIC10 0.1 uF PIC701 0.1 uF PIC801 0.1 uF 9 2 MR-
PIU509 GND (PPAD) OUT1 PIU502 PIU209 GND (PPAD) OUT1 PIU202 PIJ104 PIJ103

COJ1A
COJ1B
4 3 ML+ 4 3 MR+
PIU504
GND OUT2 PIU503 PIJ101 PIJ102 PIU204
GND OUT2 PIU203

Left motor

5V 5V 5V 5V

5V 5V
PIR1302 PIR1402 PIR102 PIR120

5
① COR13
R13 ① COR14
R14 ① COR11
R11 ① COR12
R12
COU6 COU7 EAL 1
PIU?014
② EAR 1
PIU?014
② COU3 COU4
10k 10k COU? 10k 10k
1 1 1 1
PIU?01 PIU?01

VS PIU601
VS PIU701
4 D8 4 D7 VS PIU301
VS PIU401

PIR130 PIR140 PE2 6 PIU?02

PIU?03

A5 6
PIU?02
PIU?03
PIR10 PIR120
2 EAL 2 PE2 2 EAR 2 A5
Q PIU602 Q PIU702 PIU?07 PIU?07 Q PIU302 Q PIU402

2
3 3 3 3
GND PIU603
GND PIU703
GND PIU303
GND PIU403

IR emitters
5V 5V

PIC420 COC42
C42
PIC4302 COC43
C43
PIC402 COC44
C44 PIC4502 COC45
C45
PIC4602 COC46
C46
PIC4702 C47
COC47
PIR3402 PIR3502
10 uF 10 uF 10 uF 10 uF 10 uF 10 uF
PIC4201 PIC4301 PIC401 COR34
R34
PIC4501 PIC4601 PIC4701 COR35
R35
Left and right optional IR receiver connections
PIC502 PIC5102 COC52 PIC520 PIC5302 PIC5402 PIC502
C50
COC50 C51
COC51 C52 100 C53
COC53 C54
COC54 C55
COC55 100
10 uF 10 uF 10 uF 10 uF 10 uF 10 uF
PIC501 PIC510 PIC5201 PIR3401 PIC5301 PIC5401 PIC501 PIR3501 5V
COJP8 COJP9
PIJP801
1 PIJP901
1
PIR3601
PIJP802
2 PIJP902
2 PIR4502
PIR3701
COR36 Front left LED Front right LED COR45
R36 100
D5 PIR3802 PIR3902 R37
COR37 PIR402 PIR4102
1k
COR38
R38 COR39
R39 1k
PIR402 PIR3602 COR40
R40 COR41
R41 COU17 PIR4501 COJP14
NP 22 PIR3702 NP 22 1
OUT PIU1701 PIJP1401

COR44
R44
100k
PIR3801 PIR3901 PIR401 PIR410 2
GND
PIR401 PID10 COJP10
1
COJP11
1
PID10 COJP12
1
COJP13
1
PIU1702

3 COC48
COD10
D10
PIJP1001

PIR4302
PIJP1101

COD11
D11
PIJP1201

PIR420
PIJP1301

Red 2 PIJP1002
PID802 Middle left LED PIJP1102
2 Red 2 PIJP1202
PID902 Middle right LED PIJP1302
2
VS PIU1703 PIC4802 PIC4801

PID102 COR43
R43
NP
COD8
D8 PID102 COR42
R42
NP
COD9
D9
4.7 uF
x2
IR IR
5V PIR4301 PID801 5V PIR4201 PID901
IRL IRR
5

PIU305 ③ PIU405 ④
D5 1 PIQ703 D5 3 PIQ803
PIU301
COU3A
4 IN2
PIU403
COU4A
4 IN1
PIU304 PIQ701 COQ7
Q7 PIU404 PIQ801 COQ8
Q8
A1 6
PIU306
A1 6
PIU406

PIU302 PIQ702 PIU402 PIQ802

2

① Hall Effect sensor ICs in SOT-23 packages, e.g. AH1751

② Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
③ Implemented as 74LVC1G97 multi-function gate with pin 3 tied to GND
④ Implemented as 74LVC1G97 multi-function gate with pin 1 tied to GND

Page 2 of 5
 PIR310 PIR3201 PIR301

Schematic diagram
R Zumo 32U4 main board
© 2015–2020 Pololu Corporation
www.pololu.com
Inertial sensors

5V

3V3 PIC4102

5V PIC410 3V3 PIR280 PIR290

COR28
R28 COR29
R29
PIC302 PIC3402 PIC3602 PIC3702 PIC3802 10k 10k
COC33
C33 COC34
C34 COC36
C36 COC37
C37 COC38
C38 PIQ401 PIR2801 PIR2901
10 uF PIC301 10 uF PIC3401 0.1 uF PIC3601 0.1 uF PIC3701 PIC3801 0.1 uF COJ5
SCLLV PIQ402 PIQ403 PIJ501 PIJ502
D3
(SCL)
PIQ501
COQ4
Q4
SDALV PIQ502 PIQ503
COJ6
PIJ601 PIJ602
D2
(SDA)
COQ5
Q5

Main board v1.0 inertial sensors Main board v1.1 inertial sensors
(LSM303D and L3GD20H on I²C bus) (LIS3MDL and LSM6DS33 on I²C bus)
3V3 3V3
3V3

LSM303D
3 14 PIR302 PIR3102 PIR320 PIR302 PIR302
PIU1103
SETP Vdd PIU11014

R30 R31 R32 R33

COR30
R30 COR31
R31 COR32
R32 COR33
R33
PIC3902 1 3V3 10k 10k 10k 10k
COC39
C39 Vdd_IO PIU1101 10k 10k 10k 10k
3V3 3V3
0.22 uF PIC3901 PIR301 PIR310 PIR3201 PIR301 PIR301
L3GD20H LIS3MDL LSM6DS33
COU11 COU12
2 4 SCLLV 2 16 5 1 SCLLV 2 16
PIU1102
SETC SCL/SPC PIU1104 PIU1202
SCL/SPC VDD PIU12016 PIU1105
VDD SCL/SPC PIU1101 PIU1202
SCL/SPC VDD PIU12016

15
RES(VDD) PIU12015

6 SDALV 3 6 11 SDALV 3
SDA/SDI/SDO PIU1106 PIU1203 SDA/SDI/SDO PIU1106 VDD_IO SDA/SDI/SDO PIU11011 PIU1203 SDA/SDI/SDO
15 1 1
PIU11015
C1 VDD_IO PIU1201
VDDIO PIU1201

7 SA0 4 4 9 SA0 4
PIC402 SDO/SA0 PIU1107 PIU1204
SDO/SA0 PIU1104
C1 SDO/SA1 PIU1109 PIU1204
SDO/SA0
7 7
C40 INT1 PIU1207
INT1 PIU1207

4.7 uF CS
8 CS
PIU1108
5
PIU1205 CS COC40
C40
PIC402 CS
10 CS
PIU11010
5
PIU1205 CS
PIC401 6 6
DRDY/INT2 PIU1206
0.1 uF PIC401 INT2 PIU1206

10 8 7 8
PIU11010
RES(GND) PIU1208
DEN INT PIU1107 PIU1208
RES(GND)
5 11 14 2 9 14
PIU1105
GND INT1 PIU11011
CAP PIU12014 PIU1102
RES(GND) PIU1209
RES(GND) NC PIU12014

12 3V3 9 12 8 10
PIU11012
GND PIU1209
RES(GND) PIU11012
RES(GND) DRDY PIU1108 PIU12010
RES(GND)
13 9 10 11
PIU11013 GND INT2 PIU1109 PIU12010 RES(GND) PIU12011 RES(GND)
16 11 3 15
PIU11016 GND PIU12011 RES(GND) COC41
C41 PIU1103 GND PIU12015 RES
10 nF
12 12
R47
COR47 PIU12012
GND PIU12012
GND
13 13
3k PIU12013
GND PIU12013
GND

PIR4702

PIR4701

Page 3 of 5
 Schematic diagram
R Zumo 32U4 main board
© 2015–2020 Pololu Corporation
www.pololu.com
Power

COL2
L2
PIL201 PIL202

1.2 uH

TPS63061
COQ1 COQ2 VBAT VBAT VBAT 1 10 VREG
Q1 Q2 PIU901 L1 L2 PIU9010

VB 2 9
PIQ102
PIQ106
PIQ101
PIQ105 PIQ104 PIQ204 PIQ205
PIQ206
PIQ201
PIQ202

PIR2701
PIU902
VIN VOUT PIU909

PIQ103 PIQ203
COR27 REGEN 3
R27 PIU903
EN
8
220k FB PIU908

PIC240 PIC210 PIC250 6 PIC20 PIC230 PIC260

PIJ105 PIR1802 PIR270
COC24
C24 COC21
C21 COC25
C25 PIU906
VAUX
PG
5
COC22
C22 COC23
C23 COC26
C26
330 uF
REGEN PIC2401 220 uF PIC210 10 uF PIC2501 0.1 uF 4
PIU905

PIC201 10 uF PIC2301 10 uF PIC2601

COJ1CZumo chassis COR18
R18 PIU904
PS/SYNC
100k PIQ30 7 11
PIJ106 PIR180 SHDN PIQ301 COQ3
Q3 COC29
C29
PIC290 COC27
C27
PIC270
COC31
C31
PIC3102
PIU907 GND PAD PIU9011

COC30
C30
PIC302
COC28
C28
PIC280 PIC320
COC32
C32
COSW5
SW5 1
220 uF PIC2901 10 uF PIC2701 0.1 uF PIC310 COU9 0.1 uF PIC301 10 uF PIC2801
PISW501
PIC3201 330 uF
PSW PISW502
2 PIQ302
3
PISW503

SMT

5V
VREG VBUS 5V 3V3
TPS2113A 3.3V LDO VBAT VREG VBUS VBAT
COU8 COU10
8 7 1 5
PIU808
IN1 OUT PIU807 PIU1001
IN OUT PIU1005

3 4
PIU1003
ON/OFF NC PIU1004

6
IN2
PIC1902 2
GND
PIC20 PIR250 PIR260 PIR20 PIR210
PIR1502
PIU806

1 STAT C19
COC19 PIU1002
C20
COC20 PIR240
STAT PIU801
1 uF 1 uF COR25
R25 COR26
R26 COR20
R20 COR21
R21
PIC120 PIC1302 PIC1402 PIC190 PIC201
COR15
R15
3
COC12
C12 COC13
C13 COC14
C14 COR24
R24 1k 1k 1k 20k
100k PIU803
VSNS PIC120 10 uF PIC130 10 uF PIC140 0.1 uF NP PIR2501 PIR2601 PIR201 PIR210
4
ILIM PIU804

PIR150 PIR2401 COJ3

PIJ301 PIJ302
A1
2 PIR160 PIC1502 PIC1602 PIC1702
PIU802
EN
COR16
R16
C15
COC15 C16
COC16 C17
COC17 AVR3V3 PID601 PID701 PID501 PIR20
PIR1702 PIC1802 PIC150 10 uF PIC160 0.1 uF PIC170 0.1 uF D6
COD6 COD7
D7 COD5
D5
C18
COC18 270 Blue COR22
R22
5 Blue Green
COR17
R17
20k
1 uF
PIC180
PIU805

PIU809
9
GND
PAD
PIR1602 PID602 PID702 PID502 20k
PIR201
PIR170

Page 4 of 5
 Schematic diagram
R Zumo 32U4 front sensor board
© 2015–2020 Pololu Corporation
www.pololu.com

5V 5V 5V 5V

R1 C1 R2 C2 C9 C10 C11 C12 C13 C14 C15 C16 R12

150 2.2 nF 150 2.2 nF 0.1 uF 1.0 uF 1.0 uF 1.0 uF 1.0 uF 10 uF 10 uF 10 uF 100
R4 R6
DOWN5 DOWN4
2
220 220 VS
1
2

3 R15 FRONT
U5 U4 OUT C7
220 2.2 uF
1

1
2
GND
4
GND
TSSP77
5V 5V 5V

C5 C4 R3 C3
2.2 nF 2.2 nF 220 2.2nF
R5 R7 R8
DOWN1 DOWN2 DOWN3 5V 5V
220 220 220
1

1
2

2
U1 U2 U3 R13 R11
100 100

2 2
VS VS
3 R16 LEFT 3 R14 RIGHT
OUT OUT
220 C8 220 C6
1 1
GND 2.2 uF GND 2.2 uF
4 4
GND GND
TSSP77 TSSP77
5V

D0
R9 1
5V D1
47k 2
DOWN5 (D12)
1 1 3
D4 DOWN5 (D12) D4
2 2 4
LEDON FRONT (A4)
R10 Q1 3 3 5
NP 4 4
FRONT (A4)
5 5
DOWN2 DOWN4
6 6 1 1
LEFT RIGHT
7 7 2 2
D0 DOWN3 (A3)
8 8
D1 D3 (SCL)
9 9
LEDON (D11) D2 (SDA) DOWN3 (A3)
10 10 1
A2 (D20) DOWN1(A0) A2 (D20) DOWN2 DOWN4
11 11 2 1 1
DOWN1 (A0) A2 (D20) D4
12 12 3 2 2
D3 (SCL) LEFT RIGHT
4 3 3
D2 (SDA)
5

Page 5 of 5