1 2 3 4 5 6 7 8

P1 V_MOTOR_IN 24V_MOTOR
F1
1 PIP101 PIF101

PPTC Fuse 自恢复保险丝 30V 8A(16A)

2 5V_MOTOR
C20852
NMOS低边开关 5V_MOTOR 2.5V_MOTOR
PIR102 R2
Header 2P 5.08 DIP 低边开关不是最佳选择， D6 PIR201 PIR202
R1 但PMOS很难做到和 NMOS PID601 340Ω ±0.1% 125mW 0805
33Ω ±1% 250mW 1206 同样的特性 C2681639
PID101 PIR101 C18005 US2M PIR302
C5140016 D14 R3
PIU302

2
D1
TVS 瞬态抑制二极管 双向 30V
24V_MOTOR_SW 24V_MOTOR
1
U1
IN FB
4
12V_MOTOR
12V_MOTOR
U2
5V_MOTOR PID140 绿灯 0603
C473820
1.15kΩ ±0.1% 125mW 0805
PIR301 C2441196 U3
C720181 1 3 PIC802 AZ432ANTR-E1

GND

GND
L1 PIU201 Vi Vo
A PIC102 5
ON/OFF OUT
2
PIU102 PIL101
PIR2102 C8 1
PIU301 C84139
A
Power Inductor 功率电感 150uH ±20% 3A 300mΩ
C1
4.7nF ±10% 50V 0805 3 TAB GND 6 C357258 PIC601 R21 PIC801 100nF ±10% 50V 0805
C49678
PIR402

4
C6 C7 390Ω ±1% 125mW 0805
C107153
C4 LM2596R-12 0.33uF ±10% 35V
TL780-05CKTTR 0.22uF ±10% 35V C114543 R4
PIU30

3
120uF ±20% 40V
C569699
铝电解极性贴片电容
C90691
PID501 D5
C5
C212667C485531 C1952875
PIR401
1.15kΩ ±0.1% 125mW 0805
C2441196
680uF ±20% 25V 铝电解极性贴片电容
Schottky Diode 肖特基二极管 RBR5LAM60ATR
C472085
Q2 C880940
GND_MOTOR_IN MOSFET NGND_MOTOR
沟道 60V 100A GND_MOTOR
C454269 GND_MOTOR

GND_MOTOR

GND_MOTOR

OC5 V_MOTOR_IN
NL24V0MOTOR0SW0IN
24V_MOTOR_SW_IN 1
PIOC501 4
PIOC504

R9 R10
PIR902 2
PIOC502 3
PIOC503 PIR1002
24V_MOTOR_SW
PIR1001 PIC202
NL24V0MOTOR0SW
R16
698Ω ±1% 62.5mW 0402 2kΩ ±1% 250mW 1206 C2 PIR1602
Digital Photocoupler 数字光耦 1 路 C17944 磁珠 40mΩ@0Hz ±25% 3A 0805
C33359
C725794
1uF ±10% 50V 1206
C444884
PIC201 C154119
B GND_D_CTRL
PIC302 PID201
D2
GND_D_MOTOR B

C3 Zener Diode 稳压二极管 9.1V 200mW

DSP端口最大输出电流 4mA
（28 29 30 31 可达8mA） PIC301 PID202
1uF ±10%C968211
C444884
50V 1206
光耦最小开启电流 2mA
取698Ω 时，电流约 2.87-3.15 R17
mA PIR1702

磁珠 18mΩ@0Hz ±25% 6A 1206

C357013
GND_MOTOR_IN GND_MOTOR GND_A_MOTOR

C C

P2 VIN_CTRL_IN R18
1 PIR1801
磁珠 40mΩ@0Hz ±25% 3A 0805
5V_CTRL 5V_CTRL_EXT 3.3V_CTRL 3.3V_CTRL_EXT C154119
2 PIP202
GND_D_CTRL
Header 2P 5.08 DIP
R15
33Ω ±1% 250mW 1206
PIR1501 C18005
D8 R19
TVS 瞬态抑制二极管 双向 30V PIR1901 PIR1902
C720181
PID802 PIC902
磁珠 18mΩ@0Hz ±25% 6A 1206
C357013
C9 GND_D_CTRL GND_CTRL_EXT GND_CTRL GND_A_CTRL
3.3V_CTRL 1.65V_CTRL
PIC901 4.7nF ±10% 50V 0805
C107153
R12
PIR1202
340Ω ±0.1% 125mW 0805
D7
C2681639
PID701
PIR1302
R13
PIU602

2
US2M 1.15kΩ ±0.1% 125mW 0805
GND_CTRL_IN
C5140016 PIR1301 C2441196 U6
AZ432ANTR-E1
1 C84139
C14 PIU601
5V_CTRL 100nF ±10% 50V 0805
D9 D10
C49678
PID901
PIR1402
R14

3
US2M US2M 3.6kΩ ±0.1% 125mW 0805
C5140016 C5140016 C2984457
U4 D13 U5
蓝灯 0603
D VIN_CTRL_IN
1 3
5V_CTRL
PID130 C2837377
5V_CTRL
3 2
3.3V_CTRL D
GND

GND

GND

GND

PIU401 Vi Vo Vi Vo

PIC10 1 PIR20 2 GND_D_CTRL

2

C10 C11 R20 C12 C13

0.33uF ±10% 35V
TL780-05CKTTR 0.22uF ±10% 35V 390Ω ±1% 125mW 0805 10uF ±10% 10V
线性稳压器 10uF
4.5V~15V 3.3V 800mA ±10% 10V
75dB@120Hz
C212667C485531 C1952875 C114543 C212667C23984 C212667

Title

GND_CTRL_IN GND_CTRL GND_CTRL GND_CTRL Size Number Revision

A2
Date: 2023/7/11 Sheet of
File: D:\WorkSpace\..\Sheet1_Power.SchDoc Drawn By:

1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8 9 10 11 12

24V / 0.6 = 40V

需要注意，40V以下的MOS管，Rds尽

编码器 Encoder_A+ U11

3.3V_CTRL

3.3V_CTRL OC1 5V_MOTOR

5V_MOTOR C29

4.7uF ±10% 25V 0603

12V_MOTOR 量选2mΩ以下。越小，则损耗越小。

NLEncoder0A0OUT
Encoder_A_OUT
1 8 1 8 C69335 GND_D_MOTOR

电机信号输入
PIU1101 R VCC VDD_I VDD_O
NLPWM0UH0IN
PWM_UH_IN2
PIOC102 7 PWM_UH_OC C30 24V_MOTOR
Encoder_EN_IN
2 7 NLEncoder0A0
Encoder_A+ VIA VOA D16 24V_MOTOR
RE B PIU1107 C18 NLPWM0UL0IN
R44 C51 D15 PID1601 PID1602
C48 100nFPWM_UL_IN3 0402
PIOC103
±10% 10V VIB VOB
6 PWM_UL_OC
120Ω ±1% 250mW 1206
C17909
3
DE A
6
PIU1106
NLEncoder0A0
Encoder_A-
C129131
±20% 16V 铝电解极性贴片电容
10uF0402
100nF ±10% 10V
C445047
3.3V_CTRL C129131 4
GND_I GND_O
5 5V_MOTOR 100nF ±10% 10V 0402
C129131 PID150 Schottky Diode 肖特基二极管 DSK110
C727071 Schottky Diode 肖特基二极管 DSK110
4
D GND
5 Digital Photocoupler 数字光耦 2 路 U8 C727071
Encoder_A- GND_D_CTRL R22 9 8 R34 Q7
C471592 PIU809
NC HO PIU808 PIR3401 PIR3402 PIQ701

C2671361 10kΩ ±1% 62.5mW 0402 22Ω ±1% 125mW 0805 MOSFET N沟道 60V 100A
P5 5V_MCU_EXT C21 C25744 C22 C25 10
PIU8010 7 C17561 C454269 C27 C28
NC VB PIU807
Encoder_A+
1 2 PIP502
GND_D_CTRL GND_D_CTRL
4.7uF ±10% 25V 0603
R23
100nF ±10% 10V 0402 4.7uF ±10% 25V 0603
11 6
PIC3102 PIC2701 PIC280
2.2uF ±10%220uF ±20% 50V 铝电解极性贴片电容
50V 0805
3 4 PIP504 C69335 C129131 C69335 VDD VS C31 C125847 C125976
Encoder_A- HALL_A_IN 10kΩ ±1% 62.5mW 0402 4.7uF ±10% 25V 0603
5 6 NLPWM0UH0OC
Encoder_B+ 7 8 HALL_B_IN C25744 PWM_UH_OC PIU8012
12 HIN 5
NC PIU805 C69335
Motor_U
A Encoder_B- HALL_C_IN MotorShutDown 13 4 A
9 10 SD NC PIU804 D17
Encoder_I+ GND_D_CTRL GND_D_MOTOR 12V_MOTOR
11 12 PIP5012 NLPWM0UL0OC
Encoder_I- 3.3V_CTRL PWM_UL_OC PIU8014
14 3
13 14 PIP5014 LIN VCC PID1701 PID1702
15 16 PIP5016 GND_MOTOR
Encoder_B+ U12 GND_D_MOTOR 15 VSS COM 2 Schottky Diode 肖特基二极管 DSK110
Header 2*8P 2.54 DIP NLEncoder0B0OUT
Encoder_B_OUT
1 8 C727071
GND_D_5V_MCU_EXT GND_D_5V_MCU_EXT
PIU1201
R VCC 16 1 R35 Q8
PIU8016 NC LO PIU801 PIR3501 PIR3502 PIQ801
Encoder_EN_IN
2 7 NLEncoder0B0
Encoder_B+ 22Ω ±1% 125mW 0805 MOSFET N沟道 60V 100A
RE B PIU1207
R45
120Ω ±1% 250mW 1206
C17909
3
DE
6
A PIU1206
NLEncoder0B0
Encoder_B-
C49
100nF ±10% 10V 0402
IR2110STRPBF
GND_D_MOTOR C2968
C17561 PIQ802
C454269

C129131 NLSampleCurrent0U0
4 5 SampleCurrent_U+
Encoder_B- D GND
C32 C33
C2671361 100nF ±10% ±10%
4.7uF10V 0402
25V 0603
C129131C69335
GND_D_CTRL GND_D_CTRL

GND_MOTOR

3.3V_CTRL

Encoder_I+ U13
NLEncoder0I0OUT

电机驱动输出
Encoder_I_OUT
1
PIU1301 R VCC 8
NLEncoder0E\N\0IN
Encoder_EN_IN
2 7 NLEncoder0I0
Encoder_I+
R46
PIU1302
RE B PIU1307

C50
120Ω ±1% 250mW 1206 3 6 NLEncoder0I0
Encoder_I- 100nF ±10% 10V 0402
DE A PIU1306

C17909 C129131
4 5 5V_MOTOR C34 12V_MOTOR
Encoder_I- D GND
5V_CTRL_EXT R56 5V_MCU_EXT C2671361
3.3V_CTRL OC2 5V_MOTOR 4.7uF ±10% 25V 0603
PIR5601
磁珠 40mΩ@0Hz ±25% 3A 0805 1 8 C69335 GND_D_MOTOR
GND_D_CTRL GND_D_CTRL NLPWM0VH0IN
PWM_VH_IN2 VDD_I VDD_O 7 PWM_VH_OC 24V_MOTOR
C154119 PIOC202 VIA VOA C35
D19
C19
PIC6101 NLPWM0VL0IN
100nFPWM_VL_IN3 0402
PIOC203
±10% 10V VIB VOB
6 PWM_VL_OC D18 PID1901 PID1902
Schottky Diode 肖特基二极管 DSK110
PIC620
C61
10uF ±20% 16V 铝电解极性贴片电容
C129131 4 GND_I GND_O 5 100nF ±10% 10V 0402
C129131 PID180 C727071 Schottky Diode 肖特基二极管 DSK110
C62
PIC6102 C445047 Digital Photocoupler 数字光耦 2 路 U9 C727071
R36
GND_D_CTRL C471592 R24 9 8 Q9
PIC6201 100nF ±10% 50V 0805
C49678
10kΩ ±1% 62.5mW 0402
PIU909 NC HO PIU908 PIR3601 PIR3602 PIQ901
22Ω ±1% 125mW 0805 MOSFET N沟道 60V 100A
C25744 C23 10
PIU9010 7 C17561 C454269
NC VB PIU907
R57 R25
100nF ±10% 10V 0402
C129131 11 6
PIC3602 C36
VDD VS
PIR5701 10kΩ ±1% 62.5mW 0402 4.7uF ±10% 25V 0603
磁珠 40mΩ@0Hz ±25% 3A 0805 C25744 NLPWM0VH0OC
PWM_VH_OC 12
PIU9012
HIN 5
NC PIU905 C69335
C154119 Motor_V
GND_CTRL_EXT GND_D_5V_MCU_EXT MotorShutDown 13 4
SD NC PIU904
12V_MOTOR D20 P3
NLPWM0VL0OC
PWM_VL_OC PIU9014
14 3 PID2001 PID2002
NLMotor0UPIP301
Motor_U
LIN VCC 1
GND_D_MOTOR 15
VSS COM
2 Schottky Diode 肖特基二极管 DSK110 Motor_V
NLMotor0V
PIP302
2
B C727071
R37 B
16 1 Q10 NLMotor0W
Motor_W
PIU9016
NC LO PIU901 PIR3701 PIR3702 PIQ1001
MOSFET N沟道 60V 100A
PIP303
3
22Ω ±1% 125mW 0805
接线端子 插拔 弯座
IR2110STRPBF
GND_D_MOTOR C2968
C17561 PIQ10 2
C454269

NLSampleCurrent0V0
SampleCurrent_V+
C37 C38
100nF ±10% ±10%
4.7uF10V 0402
25V 0603
C129131C69335

GND_MOTOR

霍尔 肖特基二极管具有更低的管压降
后级比较器对共模电压和单个通
道电压有上限要求
否则普通高速开关管也可

3.3V_CTRL

5V_MOTOR C39 12V_MOTOR

PIC3901
3.3V_CTRL
R47 D28 3.3V_CTRL OC3 5V_MOTOR 4.7uF ±10% 25V 0603
4.7kΩ ±1% 125mW 0805Schottky Diode 肖特基二极管 DSK110 1 VDD_I VDD_O 8 C69335 GND_D_MOTOR
PIR4701 C60816 C727071

NLHALL0A0IN
HALL_A_IN R48 HALL_A+
C20
NLPWM0WH0IN
PWM_WH_IN
2
PIOC302

NLPWM0WL0IN
PWM_WL_IN3 0402
VIA VOA 7

6
PWM_WH_OC

PWM_WL_OC
C40
PIC4002
PID210 D21
D22
24V_MOTOR

PIR4801 C55 C58 100nF ±10% 10V

PIOC303 VIB VOB PID2201 PID2202
Diode 肖特基二极管 DSK110
1kΩ ±1% 125mW 0805
C95781
100nF ±10% 10V 0402
C129131
4.7uF ±10% 25V 0603
C69335
C129131 4 GND_I GND_O 5 100nF ±10% 10V 0402
C129131 PID210 Schottky
C727071 Schottky Diode 肖特基二极管 DSK110
Digital Photocoupler 数字光耦 2 路 U10 C727071
R38
GND_D_CTRL C471592 R26 9 8 Q11
C52 PIU1009 NC HO PIU1008 PIR3801 PIR3802 PIQ1101
10kΩ ±1% 62.5mW 0402 MOSFET N沟道 60V 100A
±5% 50V 0805
C107115
33pF 22Ω ±1% 125mW 0805
C25744 C24 10 7 C17561 C454269
PIU10010 NC VB PIU1007
GND_D_CTRL
R27
100nF ±10% 10V 0402
11 6
PIC4102
C129131 VDD VS C41
10kΩ ±1% 62.5mW 0402
4.7uF ±10% 25V 0603
C25744 NLPWM0WH0OC
PWM_WH_OC 12 5
C69335
GND_D_CTRL
PIU10012 HIN NC PIU1005 Motor_W
MotorShutDown 13
NLMotorShutDown 4
PIU10013 SD NC PIU1004 D23
12V_MOTOR
PWM_WL_OCPIU10014
NLPWM0WL0OC 14 3
3.3V_CTRL LIN VCC PID2301 PID2302

GND_D_MOTOR 15 VSS COM 2 Schottky Diode 肖特基二极管 DSK110

C727071
16 1 R39 Q12
PIU10016 NC LO PIU1001 PIR3901 PIR3902 PIQ1201
MOSFET N沟道 60V 100A
22Ω ±1% 125mW 0805
3.3V_CTRL
C59 C60
10uF ±20% 16V
C445047
铝电解极性贴片电容
100nF ±10% 10V 0402
IR2110STRPBF
GND_D_MOTOR C2968
C17561
PIQ120
C454269

C129131
C
NLSampleCurrent0W0
SampleCurrent_W+ C
C42 C43
1.65V_CTRL 100nF ±10% ±10%
4.7uF10V 0402
25V 0603
R49 D29 U14 C129131C69335
4.7kΩ ±1% 125mW 0805Schottky Diode 肖特基二极管 DSK110 3 12 GND_D_CTRL
C727071 VCC VSS
PIR4901 C60816 HALL_A-
NLHALL0A0 HALL_A+ 5
NLHALL0A0
PIU1405 INA+
9
INC+ PIU1409
HALL_C+
NLHALL0C0
NLHALL0B0
HALL_B- HALL_A- 4
INA- INC-
8 HALL_C-
HALL_B_IN R50 HALL_B+ HALL_C- HALL_A_OUTR53 2 14 R54 HALL_C_OUT
NLHALL0B0IN PIR5001 C56 NLHALL0C0 NLHALL0A0OUT
PIR5301 PIR5302 PIU1402 OUTA OUTC PIU14014 PIR5401 PIR5402
NLHALL0C0OUT
1kΩ ±1% 125mW 0805 100nF ±10% 10V 0402 1kΩ ±1% HALL_B+
NLHALL0B0 7
62.5mWPIU1407
0402 11 1kΩ ±1% 62.5mW 0402 GND_MOTOR
INB+ IND+ PIU14011
C95781 C129131 C11702 HALL_B- 6 10 C11702
R55 INB- IND- PIU14010
HALL_B_OUT
NLHALL0B0OUT 1 13
PIR5501 PIR5502 PIU1401 OUTB OUTD PIU14013
C53 1kΩ ±1% 62.5mW 0402
C783424
33pF ±5% 50V 0805
C107115 C11702

GND_D_CTRL

3.3V_CTRL

R51 D30
4.7kΩ ±1% 125mW 0805Schottky Diode 肖特基二极管 DSK110
C727071
PIR5101 C60816

HALL_C_IN R52 HALL_C+

NLHALL0C0IN PIR5201 C57
1kΩ ±1% 125mW 0805 100nF ±10% 10V 0402
C95781 C129131

C54
±5% 50V 0805
C107115
33pF
3.3V_CTRL 5V_MOTOR 5V_MOTOR
24V_MOTOR

AbsorbRes+

GND_D_CTRL
C45
PIC4702 C47
4.7uF ±10% 25V 0603 R40 4.7uF ±10% 25V 0603
10kΩ ±1% 62.5mW 0402 D24
C69335 Schottky 肖特基 SS510 C69335
C25744
C727067
3.3V_CTRL OC4 AbsorbRes- P4
1
PIOC401 VDD_I VDD_O
8 NLAbsorbRes0
AbsorbRes+
PIP401 1
GND_D_CTRL PIC4 02 MOTOR_SD_IN
2
NLMOTOR0SD0IN 7 MotorShutDown GND_D_MOTOR
PIOC402 VIA VOA
D C44 C46 AbsorbRes-
NLAbsorbRes0
PIP402 2 D
NLVOLT0ABSORB0IN
VOLT_ABSORB_IN
3 0402 6 Q6
100nF ±10% 10V 100nF ±10% 10V 0402
PIC401 C129131
PIOC403
4
PIOC404
VIB VOB PIOC406
GND_I GND_O
5 C129131
PIQ601 MOSFET N沟道 60V 100A
C454269
接线端子 插拔 弯座

Digital Photocoupler 数字光耦 2 路

GND_D_CTRL C471592 PIR4102
R41
10kΩ ±1% 62.5mW 0402
C25744

GND_D_MOTOR

GND_MOTOR

Title

Size Number Revision

A1
Date: 2023/7/11 Sheet of
File: D:\WorkSpace\..\Sheet2_Driver.SchDoc Drawn By:

1 2 3 4 5 6 7 8 9 10 11 12
 1 2 3 4 5 6 7 8 9 10 11 12

U24B
5V_MOTOR
5 VCC VSS 2

PowerSupply
精密运放 1 通道
C29309

C63

100nF ±10% 10V 0402

C129131
C64 GND_A_MOTOR
采样电阻0.02 Ω，放大倍率4，偏移电压1.75V
若想分辨0.1 A电流，对应输入电压2mV，输出电
压8mV 10uF ±20% 16V 铝电解极性贴片电容
运放输入失调电压应在200uV 以下 C445047 15A * 20mΩ = 0.3V
由于比例放大电阻均为kΩ级别，失调电流和偏 2V / 0.3V = 6.6
置电流应在200nA以下 取放大6倍
(1k + 1k) 与 12k
电流信号以正弦估计，频率为转速*3，则信号频
率为1.5kHz，取带宽大于20kHz
A 则增益带宽积应大于150kHz A
压摆率应大于1.9V/ms
C65
共模输入大于1.95V ，输出电压范围0.5V3.0V PIC6501

150pF ±1% 50V 0402

2.5V_MOTOR C1864411
SampleCurrent_U+ R64
PIR6402
12kΩ ±1% 62.5mW 0402
C25752
R58 R59
NLSampleCurrent0U0
SampleCurrent_U+ R60 U24A
PIR5901 PIR5902 PIR6001 PIR6002
20mΩ ±1% 3W 2512
1kΩ ±1% 62.5mW 0402
1kΩ ±1% 62.5mW 0402
C728331 C11702 C11702 PIC6 02 3
PIU2403
IN1+
SampleCurrent_U- C66 1 Current_U
OUT1
4
R61
390pF ±1% 50V 0402
C162100
R62
PIC6 01
PIU2404 IN1-
SampleCurrent_U- PIR6102 PIR6201 PIR6202
GND_MOTOR 1kΩ ±1% 62.5mW 0402
1kΩ ±1% 62.5mW 0402 精密运放 1通道
C11702 C11702 C29309
R63
PIR6301

12kΩ ±1% 62.5mW 0402

C25752
C67
PIC6702

150pF ±1% 50V 0402

C1864411

U25B
5V_MOTOR ADC --- ISOLATOR --- DSP
5 VCC VSS 2 5V_MOTOR (SLAVE) (MASTER)
C\S\ A STE
PowerSupply 5V_MOTOR SCLK B CLK
精密运放 1 通道 DIN C SIMO
C29309 DOUT D SOMI

C68 C96
10uF ±20% 16V 铝电解极性贴片电容
C94 U29 C445047
100nF ±10% 10V 0402 10uF ±20% 16V 铝电解极性贴片电容2 VA VD 13 C95
C129131
C69 GND_A_MOTOR C445047 3 12
AGND DGND 100nF ±10% 10V 0402 U30
C93 NLCurrent0W C129131 R89 R93 NLSPIS\T\E\A0CTRL
Current_W 4 1 14 3 SPISTEA_CTRL
100nF ±10% 10V 0402 PIU2904 IN0 CS PIU2901 PIR8901 PIR8902 PIU30014 INA PIU3003 PIR9301 PIR9302
10uF ±20% 16V 铝电解极性贴片电容 C129131 5 16 R90
22Ω ±1% 62.5mW 130402 OUTA 4 22Ω ±1% 62.5mW
R94
0402PIR9402
NLSPICLKA0CTRL
SPICLKA_CTRL
C445047
PIU2905

Current_V
NLCurrent0V 6 IN1 SCLK 15 PIU29016
R91 PIR9001 PIR9002 PIU30013

12 OUTB INB PIU3004

5
PIR9401
R95 SPISIMOA_CTRL
NLSPISIMOA0CTRL
PIU2906
IN2 DOUT PIU29015 R92 PIR9101 PIR9102 22Ω ±1% 62.5mW 0402 C25092 PIU30012
OUTC INC PIU3005 C25092 22Ω ±1% 62.5mW
PIR95010402PIR9502
R96 NLSPISOMIA0CTRL
7
PIU2907 14 22Ω ±1% 62.5mW 0402 C25092 11 6 C25092 22Ω ±1% 62.5mW 0402 PIR9602 SPISOMIA_CTRL
B IN3 DIN PIU29014 PIR9201 PIR9202 PIU30011 IND OUTD PIU3006 PIR9601 B
NLCurrent0U
Current_U 8
PIU2908
IN4 22Ω ±1% 62.5mW 0402 C25092
5V_MOTOR 3.3V_CTRL
C25092 22Ω ±1% 62.5mW 0402
9 R97 10 7 R98
PIU2909 IN5 C25092 PIR9701 PIR9702 PIU30010 EN_2 EN_1 PIU3007 PIR9801 PIR9802 C25092
2.5V_MOTOR NLMotorVolt
MotorVolt 10
PIU29010 IN6 4.7kΩ ±1% 62.5mW 0402 4.7kΩ ±1% 62.5mW 0402
GND_A_MOTOR 11 C25900 16 1 C25900
PIU29011
IN7 PIU30016
VCC_2 VCC_1 PIU3001

ADC 12-bit 8-channel 500ksps ~ 1MkspsGND_D_MOTOR

PIC9701 15
9
PIU3009 GND_2 GND_1 PIU3002 2
8
PIC10 1 C100
C97 PIU30015 GND_2 GND_1 PIU3008
C70 PIC9201 C179666
PIC9702 100nF ±10% 10V 0402
PIC10 2
10uF ±20% 16V 铝电解极性贴片电容
PIC7001 C92 PIC9801
C98
C129131 Digital Isolator 高速数字隔离 4 路 150 Mbps
C133245
PIC901 C445047

150pF ±1% 50V 0402 PIC920 100nF ±10% 10V 0402

10uF ±20% 16V 铝电解极性贴片电容
C99

SampleCurrent_V+
2.5V_MOTOR C1864411
R71
C129131
PIC9802
C445047 PIC902 100nF ±10% 10V 0402
C129131
PIR7102

12kΩ ±1% 62.5mW 0402

C25752
R66
NLSampleCurrent0V0 R67 U25A
R65 SampleCurrent_V+
PIR6601 PIR6602 PIR6701 PIR6702 GND_D_MOTOR GND_D_CTRL
20mΩ ±1% 3W 2512 GND_A_MOTOR
1kΩ ±1% 62.5mW 0402
1kΩ ±1% 62.5mW 0402
C728331
SampleCurrent_V-
C11702 C11702 PIC7102 3
PIU2503 IN1+ 1 Current_V
C71 OUT1
4
R68
390pF ±1% 50V 0402
C162100
R69
PIC7101
PIU2504
IN1-
SampleCurrent_V-
PIR6802 PIR6901 PIR6902
GND_MOTOR 精密运放 1通道
1kΩ ±1% 62.5mW 0402
1kΩ ±1% 62.5mW 0402
C11702 C11702 C29309
R70
PIR7001
12kΩ ±1% 62.5mW 0402
C25752
C72
PIC7202
150pF ±1% 50V 0402
C1864411

U26B
5V_MOTOR
5 2
VCC VSS
PowerSupply
精密运放 1 通道
C29309

C73

100nF ±10% 10V 0402

C129131
C74 GND_A_MOTOR

C 10uF ±20% 16V 铝电解极性贴片电容 C

C445047

C75
PIC7501

150pF ±1% 50V 0402

2.5V_MOTOR C1864411
SampleCurrent_W+ R78
PIR7802
12kΩ ±1% 62.5mW 0402
C25752
R72 R73
SampleCurrent_W+
NLSampleCurrent0W0 R74 U26A
PIR7301 PIR7302 PIR7401 PIR7402
20mΩ ±1% 3W 2512 1kΩ ±1% 62.5mW 0402 1kΩ ±1% 62.5mW 0402
C728331 3
SampleCurrent_W-
C11702
C76
PIC7602
C11702 PIU2603 IN1+
OUT1 1 Current_W
4
R75 C162100
PIC7601
390pF ±1% 50V 0402
R76
PIU2604 IN1-

SampleCurrent_W-
NLSampleCurrent0W0
PIR7501 PIR7502 PIR7601 PIR7602
GND_MOTOR 1kΩ ±1% 62.5mW 0402
1kΩ ±1% 62.5mW 0402 精密运放 1通道
C11702 C11702 C29309
R77
PIR7701

12kΩ ±1% 62.5mW 0402

C25752
C77
PIC7702

150pF ±1% 50V 0402

C1864411

U27B
5V_MOTOR
5 VCC VSS 2

PowerSupply
精密运放 1 通道
C29309

C78

100nF ±10% 10V 0402

C129131
C79 GND_A_MOTOR

10uF ±20% 16V 铝电解极性贴片电容

C445047

D D
24V_MOTOR

PIR7902
R79
56kΩ ±0.5% 125mW 0805
C706324
SamplerMotorVolt U27A

SamplerMotorVoltPIR8101 R81 3
NLSamplerMotorVolt PIR8102 PIU2703 IN1+
R80 1kΩ ±1% 125mW 0805 1 MotorVolt
OUT1
C80 3.9kΩ ±0.5% 125mW 0805 C95781 4
PIU2704 IN1-
C407452
100nF ±10% 50V 0805
C49678
精密运放 1通道
C29309 Title

GND_MOTOR R82
PIR8201

1kΩ ±1% 125mW 0805 Size Number Revision

C95781 A1
Date: 2023/7/11 Sheet of
File: D:\WorkSpace\..\Sheet3_Sensor.SchDoc Drawn By:

1 2 3 4 5 6 7 8 9 10 11 12
 1 2 3 4 5 6 7 8 9 10 11 12

电机控制线
3.3V_CTRL_EXT R113 3.3V_MCU_EXT
NLPWM0UH0IN
PWM_UH_IN NLEPWM1A0CTRL
EPWM1A_CTRL PIR11301
NLPWM0UL0IN
PWM_UL_IN NLEPWM1B0CTRL
EPWM1B_CTRL

外部交互 调试端口
磁珠 40mΩ@0Hz ±25% 3A 0805
NLPWM0VH0IN
PWM_VH_IN NLEPWM2A0CTRL
EPWM2A_CTRL C154119
NLPWM0VL0IN
PWM_VL_IN NLEPWM2B0CTRL
EPWM2B_CTRL
NLPWM0WH0IN
PWM_WH_IN NLEPWM3A0CTRL
EPWM3A_CTRL PIC1 901
NLPWM0WL0IN
PWM_WL_IN NLEPWM3B0CTRL
EPWM3B_CTRL C119

NLEncoder0E\N\0IN
Encoder_EN_IN NLEncoder0E\N\0CTRL
Encoder_EN_CTRL
PIC120 1 10uF ±20% 16V 铝电解极性贴片电容
PIC1 902
C445047
C120
NLVOLT0ABSORB0IN
VOLT_ABSORB_IN NLEPWM6A0CTRL
EPWM6A_CTRL PIC120 2 100nF ±10% 50V 0805
C49678
NLMOTOR0SD0IN
MOTOR_SD_IN NLMOTOR0SD0CTRL
MOTOR_SD_CTRL
R114
PIR11401

磁珠 40mΩ@0Hz ±25% 3A 0805

A C154119 A
GND_CTRL_EXT GND_D_3.3V_MCU_EXT
5V_CTRL

NLHALL0A0OUT
HALL_A_OUT NLECAP10CTRL
ECAP1_CTRL P7
NLHALL0B0OUT
HALL_B_OUT NLHRCAP10CTRL
HRCAP1_CTRL NLGPIO120CTRL
GPIO12_CTRL 可选的电机电源开关
PIP701
1
NLHALL0C0OUT
HALL_C_OUT NLHRCAP20CTRL
HRCAP2_CTRL
3.3V_CTRL NL24V0MOTOR0SW0IN
24V_MOTOR_SW_IN
PIP702 2
PID4602
NLEncoder0A0OUT
Encoder_A_OUT NLEQEP1A0CTRL
EQEP1A_CTRL 3.3V_CTRL D46
NLEncoder0B0OUT NLEQEP1B0CTRL
Encoder_B_OUT
NLEncoder0I0OUT
Encoder_I_OUT
EQEP1B_CTRL
NLEQEP1I0CTRL
EQEP1I_CTRL
PIP703 3 PID4601 LED 红灯 0603
PID4702
C389517
Header 3P 2.54 DIP R117 U23
NLGPIO290CTRL
GPIO29_CTRL
PIR11701 PIR11702 1
PIU2301 16 DOUT3- D47
C114 NLGPIO280CTRL IN1 OUT1 LED 绿灯 0603
PIC1 701 U22A PIC1501 0.1uF ±10% 35V U22B 3.3V_MCU_EXT P8
GPIO28_CTRL
PIR11703
NLGPIO270CTRL
GPIO27_CTRL
PIR11705
PIR11704

PIR11706 2
PIU2302 IN2 OUT2
15 DOUT2-
PID4502 PID4701 PID4802
C473820 5V_MCU_EXT P10
C117PIU2201
1
C1+ VCC
16 C115 C122257 SCIRXDA_CTRL
12
R1OUT R1IN
13 RS232_RX_OUT PIP8011 RS232通信 PIP1001 1
0.1uF ±10% 35V 0.1uF ±10% 35V NLRS2320RX0OUT
RS232_RX_OUT 3 14 DOUT1- D45 D48 NLDOUT30
DOUT3-
PIC1 702 C122257 3
PIU2203 C1-
2
V+ PIU2202
C122257 SCITXDA_CTRL
11
T1IN T1OUT
14 RS232_TX_OUT
PIP802
2 1kΩ ±5% 62.5mW 0402*4
PIU2303
IN3 OUT3
R123 PID4501 LED 白灯 0603
PID4801 LED 蓝灯 0603
PIP1002
2
NLRS2320TX0OUT
RS232_TX_OUT C326869 4 13 C389521 C2837377 NLDOUT20
DOUT2-
PIP803 3 PIU2304 IN4 OUT4 PIU23013 PIR12301 PIR12302 PIP1003 3
NLDOUT10
4 15 9 8 390Ω ±1% 125mW DOUT1-
PIU2204
C2+ GND PIU2209
R2OUT R2IN PIU2208
4 R124 0805 PIP1004
4
PIC1 801 C118PIU2205
5 6 10 7 Header 4P 2.54 DIP
GND_D_CTRL R116
NLEPWM4A0CTRL
EPWM4A_CTRL
5
PIU2305 IN5 12
OUT5 PIU23012 C114543 PIR12401 PIR12402
Header 4P 2.54 DIP
C2- V- PIU2206 PIU22010
T2IN T2OUT PIU2207 PIR11601 PIR11602
R125 390Ω ±1% 125mW 0805
0.1uF ±10% 35V GND_D_CTRL GND_D_3.3V_MCU_EXT NLEPWM4B0CTRL
EPWM4B_CTRL 6 11
PIC1 802 C122257 C2904739 C116
0.1uF ±10% 35V
Logic RS232
PIR11603
NLEPWM5A0CTRL
EPWM5A_CTRL
PIR11605
NLEPWM5B0CTRL
PIR11604
PIR11606
PIU2306 IN6 OUT6 PIU23011 PIR12501 PIR12502
390Ω ±1% 125mW
C114543
R126 0805
C2904739 EPWM5B_CTRL 7 10
PIC1602 C122257 SPI通信被ADC 占用
PIR11607 PIR11608 PIU2307
IN7 OUT7 PIU23010

5V_CTRL
C114543 PIR12601 PIR12602

390Ω ±1% 125mW 0805

1kΩ ±5% 62.5mW 0402*4 8 9 C114543
GND COM
C326869
Darlington 达林顿
GND_D_CTRL C72751
C123

100nF ±10% 10V 0402

C129131

P11
NLT\Z\1\0CTRL
TZ1_CTRL R127 TZ1_IN NLT\Z\1\0INPIP1101
TZ1_IN
PIR12701
1kΩ ±1% 125mW 0805 NLT\Z\2\0INPIP1102 21
TZ2_IN
C95781 NLT\Z\3\0INPIP1103
TZ3_IN
3
TZ2_CTRLR128
NLT\Z\2\0CTRL

最小系统
PIR12801
TZ2_IN PIP1104
4

MOTOR_SD_CTRL
1kΩ ±1% 125mW 0805

SPISIMOA_CTRL

SPISOMIA_CTRL
Header 4P 2.54 DIP

NLSPIMOA0CTR NLSPIOMA0CTRLNSPIKA0CTRL

EPWM4A_CTRL

EPWM5A_CTRL
EPWM4B_CTRL
EPWM7B_CTRL

SPICLKA_CTRL
C95781

SPISTEA_CTRL
NLTMS0CTRLNTDI0CTRLNTDO0CRLNTCK0TRL NLSPI\TEA0CRLN18V02CTRL NLX10CTRLNX20CTRL
GND_D_3.3V_MCU_EXT

GPIO39_CTRL

GPIO12_CTRL

GPIO25_CTRL
1.8V_2_CTRL
VSS_3_CTRL
TZ3_CTRLR129
NLT\Z\3\0CTRL TZ3_IN

TMS_CTRL

TDO_CTRL
TCK_CTRL
PIR12901

TDI_CTRL

X1_CTRL
X2_CTRL
1kΩ ±1% 125mW 0805
C95781
B B

PIU2106 PIU21059 PIU21058 PIU21057 PIU2105 PIU21054 PIU21052 PIU21051 PIU21046 PIU21042 PIU2104

60
59
58
57
56
55
54
53
52
51

50
49
48
47
46
45
44
43
42
41
U21
3.3V_CTRL TMS320f28035PN

GPIO41/EPWM7B
GPIO12/TZ1/SCITXDA/SPISIMOB

GPIO25/SPISOMIB
GPIO36/TMS

VSS
GPIO35/TDI
GPIO37/TDO
GPIO38/TCK/XCLKIN

VDD

GPIO6/EPWM4A/EPWMSYNCI/EPWMSYNCO
GPIO7/EPWM4B/SCIRXDA

GPIO8/EPWM5A/ADCSOCAO

GPIO18/SPICLKA/LINTXA/XCLKOUT
GPIO39
GPIO19/XCLKIN/SPISTEA/LINRXA/ECAP1

X1
X2

GPIO16/SPISIMOA/TZ2
GPIO44

GPIO17/SPISOMIA/TZ3
R100
10kΩ ±1% 62.5mW 0402
PIR10 1 C25744

SW1
PIC1092 PISW101 XRS_CTRL
C109
100nF ±10% 10V 0402
C129131
Tactile Switch 轻触开关 HRCAP2_CTRL 61
GPIO11/EPWM6B/LINRXA/HRCAP2
40
GPIO28/SCIRXDA/SDAA/TZ2 PIU21040 NLSCIRXDA0CTRL
SCIRXDA_CTRL
C393947 EPWM3B_CTRL 62 39 EPWM5B_CTRL
EPWM3A_CTRL 63 GPIO5/EPWM3B/SPISIMOA/ECAP1 GPIO9/EPWM5B/LINTXA/HRCAP1 38
EPWM7A_CTRL 64 GPIO4/EPWM3A TEST2 PIU21038
37 HRCAP1_CTRL
GND_D_CTRL EPWM6A_CTRL 65 GPIO40/EPWM7A GPIO26/HRCAP1/SPICLKB 36 NLVDDIO33010CTRL
VDDIO33_1_CTRL
GPIO10/EPWM6A/ADCSOCBO VDDIO PIU21036
EPWM2B_CTRL 66 35 VSS_2_CTRL
GPIO3/EPWM2B/SPISOMIA/COMP2OUT VSS
EPWM2A_CTRL 67 34 SCITXDA_CTRL
NLSCITXDA0CTRL
EPWM1B_CTRL 68 GPIO2/EPWM2A GPIO29/SCITXDA/SCLA/TZ3 PIU21034
33 GPIO29_CTRL
GPIO1/EPWM1B/COMP1OUT GPIO30/CANRXA
EPWM1A_CTRL 69 32 GPIO28_CTRL
GPIO0/EPWM1A GPIO31/CANTXA
VDDIO33_2_CTRL
NLVDDIO33020CTRL70
PIU21070 VDDIO GPIO27/HRCAP2/S/SPISTEB 31 GPIO27_CTRL

X1 X2_CTRL VSS_4_CTRL 71 VSS ADCINB7 30 ADCINB7

NL108V030CTRL
1.8V_3_CTRL 72 29 ADCINB6
R99 PIU21072 VDD ADCINB6/COMP3B/AIO14
C124 C125 73 28 ADCINB5
PIR9901NLGPIO340CTRL PIU21073 VREGENZ ADCINB5
0402 0402 0Ω ±1% GPIO34_CTRL
62.5mW 0402 74
PIU21074 GPIO34/COMP2OUT/COMP3OUT ADCINB4/COMP2B/AIO12 27 ADCINB4
X1_CTRL
C393682 C393682 C17168 TZ1_CTRL 75 GPIO15/TZ1/LINRXA/SPISTEB ADCINB3 26 ADCINB3
XTAL 无源晶振 20MHz ±10ppm 内置负载电容:9pF TZ2_CTRL 76 GPIO13/TZ2/SPISOMIB ADCINB2/COMP1B/AIO10 25 ADCINB2
C2925600 GND_D_CTRL TZ3_CTRL 77 24 ADCINB1
EQEP1A_CTRL 78 GPIO14/TZ3/LINTXA/SPICLKB ADCINB1 23 ADCINB0

GPIO33/SCLA/EPWMSYNCO/ADCSOCBO
GPIO32/SDAA/EPWMSYNCI/ADCSOCAO
EQEP1B_CTRL 79 GPIO20/EQEP1A/COMP1OUT ADCINB0 22 VSSA_CTRL
GPIO21/EQEP1B/COMP2OUT VREFLO
GND_D_CTRL ECAP1_CTRL 80 21 VSSA_CTRL
GPIO24/ECAP1/SPISIMOB VSSA

ADCINA6/COMP3A/AIO6

ADCINA4/COMP2A/AIO4

ADCINA2/COMP1A/AIO2
GPIO22/EQEP1S/LINTXA

GPIO23/EQEP1I/LINRXA
GPIO42/COMP1OUT
GPIO43/COMP2OUT
1.8V_1_CTRL 1.8V_2_CTRL 1.8V_3_CTRL

ADCINA7

ADCINA5

ADCINA3

ADCINA1
ADCINA0
VREFHI
3.3V_CTRL

VDDA
TRST
FB1

VDD

XRS
VSS
C101 C102 C103 VDDA_CTRL
2.2uF ±10% 10V2.2uF
0402 ±10% 10V2.2uF
0402 ±10% 10V 0402
C C107369 C107369 C107369 Ferrite Bead 磁珠
PIU2107 PIU2109 PIU210 PIU210 C

Encoder_EN_CTRL 1
2
3
4
5
6
7
8
9
10

11
12
13
14
15
16
17
18
19
20
C317627

ADCINA6_CTRL

ADCINA4_CTRL

ADCINA2_CTRL

ADCINA0_CTRL
C29197

GPIO32_CTRL
GPIO33_CTRL
EQEP1I_CTRL
GPIO42_CTRL
GPIO43_CTRL
1.8V_1_CTRL
C104 C105

VSS_1_CTRL

VDDA_CTRL
VDDA_CTRL
TRST_CTRL
NL108V CTRL NLX\RS0CTLN\RST0CRL NLVDA0CTRL 闲置端口

XRS_CTRL
1uF ±10% 10V 0402 2.2uF ±10% 10V 0402

ADCINA7

ADCINA5

ADCINA3

ADCINA1
C14445 C107369
GND_D_CTRL GND_D_CTRL GND_D_CTRL

GND_A_CTRL

3.3V_CTRL R130
FB2 NLADCINA7
ADCINA7
PIR13002
VDDIO33_1_CTRL PIR13004
ADCINA6_CTRL
NLADCINA60CTRL
PIR13006
ADCINA5
NLADCINA5
Ferrite Bead 磁珠 PIR13008
NLADCINA40CTRL
ADCINA4_CTRL
C317627
FB3 1kΩ ±5% 62.5mW 0402*4
VDDIO33_2_CTRL C326869

Ferrite Bead 磁珠
C317627 R134 R131
PIR13402 GPIO25_CTRL
NLGPIO250CTRL PIR13102 ADCINA3
NLADCINA3
C106 C107 C108 PIR13404
NLEPWM7B0CTRL
EPWM7B_CTRL
PIR13104
NLADCINA20CTRL
ADCINA2_CTRL
GPIO39_CTRL
NLGPIO390CTRL ADCINA1
NLADCINA1
1uF ±10% 10V 0402 2.2uF ±10% 10V2.2uF
0402 ±10% 10V 0402 PIR13406 PIR13106

C14445 C107369 C107369 PIR13408

NLEPWM7A0CTRL
EPWM7A_CTRL
PIR13108
NLADCINA00CTRL
ADCINA0_CTRL

1kΩ ±5% 62.5mW 0402*4 1kΩ ±5% 62.5mW 0402*4

C326869 C326869

GND_D_CTRL
R132
ADCINB3
NLADCINB3
PIR13201
ADCINB2
NLADCINB2
PIR13203
ADCINB1
NLADCINB1
PIR13205
VSS_1_CTRL
NLVSS010CTRL ADCINB0
NLADCINB0
PIR13207
VSS_2_CTRL
NLVSS020CTRL
VSS_3_CTRL
NLVSS030CTRL 1kΩ ±5% 62.5mW 0402*4
VSS_4_CTRL
NLVSS040CTRL VSSA_CTRL
NLVSSA0CTRL C326869

R135 R133
PIR13502
NLGPIO320CTRL
GPIO32_CTRL NLADCINB7
ADCINB7
PIR13301
GPIO33_CTRL
NLGPIO330CTRL ADCINB6
NLADCINB6
PIR13504 PIR13303
GND_D_CTRL GND_A_CTRL
PIR13506
NLGPIO420CTRL
GPIO42_CTRL NLADCINB5
ADCINB5
PIR13305
PIR13508
GPIO43_CTRL
NLGPIO430CTRL ADCINB4
NLADCINB4
PIR13307

1kΩ ±5% 62.5mW 0402*4 1kΩ ±5% 62.5mW 0402*4

C326869 C326869
GND_D_CTRL GND_A_CTRL
3.3V_MCU_EXT

3.3V_CTRL

D D
R105
10kΩ ±1% 62.5mW 0402 EMU0_CTRL
NLEMU00CTRL
R102 C25744 EMU1_CTRL
NLEMU10CTRL
470Ω ±1% 62.5mW 0402 R106
PIR102 C25117 R104 10kΩ ±1% 62.5mW 0402
470Ω ±1% 62.5mW 0402 C25744
SW2 PIR10402 C25117 R107
TDO_CTRL 10kΩ ±1% 62.5mW 0402 R110
PISW204
C25744 10kΩ ±1% 62.5mW 0402
GPIO34_CTRL R108 C25744
PISW203 10kΩ ±1% 62.5mW 0402 R109
Dip Switch 拨码开关 C25744 P6 10kΩ ±1% 62.5mW 0402
R101 R103 C501304 TMS_CTRL 1 2 C25744 TRST_CTRL
4.7kΩ ±1% 62.5mW 0402 4.7kΩ ±1% 62.5mW 0402 TDI_CTRL
3 4
C25900 C110 C25900 C111
TDO_CTRL 5 6 PIP606
100nF ±10% 10V 0402 100nF ±10% 10V 0402 7 8 Title
C129131 C129131 9 10
TCK_CTRL
11 12

烧录
EMU0_CTRL EMU1_CTRL
13 14

GND_D_CTRL
BOOT JTAG 7*2P 2.54 DIP

GND_D_3.3V_MCU_EXT
Size

Date:
A1
Number

2023/7/11 Sheet of
Revision

File: D:\WorkSpace\..\Sheet4_Controller.SchDocDrawn By:

1 2 3 4 5 6 7 8 9 10 11 12