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PCA9685 5V
Servo Out
GND
A 5V 5V C6 GND J1 A
Text Cap Semi J3 1 Vservo
GND
0.1uF 1 Vservo 2
R12 R13 GND VCC
2 3 SERVO_7
10K 10K VCC SIGNAL
3 SERVO_4
SIGNAL
5V U1 GND_P EXTERN-SERVO
28 EXTERN-SERVO
VDD
6
SDA

SCL

LED0
SDA 27 7
SDA LED1
SCL 26 8 SERVO_6 GND GND
SCL LED2
9 SERVO_7 J4 J2
LED3
23 10 SERVO_2 1 Vservo 1 Vservo
/OE LED4 GND GND
11 SERVO_1 2 2
LED5 VCC VCC
R6 25 12 SERVO_3 3 SERVO_3 3 SERVO_6
EXTCLK LED6 SIGNAL SIGNAL
10K 13 SERVO_4
LED7
5V 1 15 MOTOR1_A EXTERN-SERVO EXTERN-SERVO
A0 LED8
2 16 MOTOR1_B
A1 LED9
Text 3 17 MOTOR2_A
R5 A2 LED10
GND_P 4 18 MOTOR2_B GND GND
1K A3 LED11
B 5 19 MOTOR3_A J5 J6 B
A4 LED12
24 20 MOTOR3_B 1 Vservo 1 Vservo
A5 LED13 GND GND
21 MOTOR4_A 2 2
LED9 LED14 VCC VCC
GND_P 22 MOTOR4_B 3 SERVO_1 3 SERVO_2
RED LED15 SIGNAL SIGNAL
14
VSS
EXTERN-SERVO EXTERN-SERVO
PCA9685-TSSOP28
GND_P GND_P
Note: servo power is an adjustable buck converter, the target voltage is set for MG996R is 7.5V

POWER GND
Servo Power
C IRFR4105ZTRPBF C2 C
Q2 VIN GND
BAT1 F1 VIN
1 100uF/35V M1
DC+
VIN 1 4
R11 DIO1 GND VIN+ VOUT+ GND
2 FUSE NOT CAP C1
DC-
2 3
100K VIN GND VIN VIN- VOUT- Vservo
MOTOR-DC
GND_R 100uF/35V

GND_R

D D
Maker Việt
Title Makerbot Motorshields 29 Dương Khuê
2022 VIA Project
Size: A CN: BANHMI Revision:B.12.2 Draw by:
Date: 4/23/2022 Time: 11:49:57 PM Sheet 1 of 2 Tú Đặng
File: C:\Users\AnhTu\OneDrive\Motorshield\VIA_MOTORS.SchDoc
1 2 3 4
 1 2 3 4

H bridges Arduino header

U2 U3 P1
A MOTOR1_A 1 5 M1_OUT_A MOTOR3_A 1 5 M3_OUT_A A
BI FO BI FO 32 SCL
MOTOR1_B 2 6 MOTOR3_B 2 6 SCL
FI FO FI FO 31 SDA
3 7 M1_OUT_B 3 7 M3_OUT_B SDA
GND BO GND BO 30 5V
4 8 4 8 AREF
VCC BO VCC BO 29 GND_P
1 GND
NC 28 IO18
VIN TA6586 VIN TA6586 2 13
IOREF 27 IO19
GND GND 3 12
U4 U5 RESET 26 IO23
3.3V4 11
3V3 25 IO5
MOTOR2_A 1 5 M2_OUT_A MOTOR4_A 1 5 M4_OUT_A 5V_S5 10
BI FO BI FO 5V 24 IO21
MOTOR2_B 2 6 MOTOR4_B 2 6 6 9
FI FO FI FO GND 23 IO22
3 7 M2_OUT_B 3 7 M4_OUT_B 7 8
GND BO GND BO GND
4 8 4 8 8
VCC BO VCC BO VIN VIN 22 IO27
7
21 IO26
VIN TA6586 VIN TA6586 GND_R IO36 9 6
A0 20 IO25
GND GND IO39 10 5
A1 19 IO4
CLK 11 4
A2 18 IO0
DATA 12 3
A3 17 IO2
CMD 13 2
A4 16 IO35
ATT 14 1
A5 15 IO34
B
DC Motor connectors ArduinoHeader
0 B

MT2 MT4
1 M1_OUT_A 1 M3_OUT_A
DC+ DC+

DC-
2 M1_OUT_B
DC-
2 M3_OUT_B
IR Line sensor I2C header
MOTOR-DC MOTOR-DC
J7
JP2
MT1 IO25 IO0 GND_R
1 5 1
MT3 1 M4_OUT_A IO26 IO2 5V_S
DC+ 2 6 2
1 M2_OUT_A IO36 IO39 SDA
DC+ 3 7 3
2 M4_OUT_B 5V_S SCL
DC- 4 8 4
2 M2_OUT_B
DC- JP4
MOTOR-DC Connector 4x2
MOTOR-DC GND_R

C C

DC Motors LEDs PS2 header

LED1 LED6 JP1
DATA
1
CMD
R1 2
M1_OUT_A RED M1_OUT_B M3_OUT_B R2 GREEN M3_OUT_A GND_R
LED5 LED2 3
10K 10K 3.3V
4
ATT
5
CLK
GREEN RED 6
JP6

LED8 LED3

M2_OUT_B R4 M2_OUT_A M4_OUT_A R3 M4_OUT_B

D GREEN
LED4 RED
LED7 D
10K 10K
Maker Việt
Title Makerbot Motorshields 29 Dương Khuê
RED GREEN 2022 VIA Project
Size: A CN: BANHMI Revision:B.12.2 Draw by:
Date: 4/23/2022 Time: 11:49:57 PM Sheet 2 of 2 Tú Đặng
File: C:\Users\AnhTu\OneDrive\Motorshield\H-brigde_connector.SchDoc
1 2 3 4