24VD C

D 4

1
2
3
4

R E1
R E2
D 3

U 5
A
C
A
C

PC 817
N 1
T
N 2
T

C
E
C
E

1
1
2
2

D
D
D
D
8
7
6
5

15VD C

3
2
1
0

D 1

D 13

O u t2

D 14

D 15

D 16

O u t1

1
2
3
4

D 5_PW M 1

H O 1

C O N 14

Vs1
O u t1
O u t2
H O 1
Vs1
LO 1
H O 2
Vs2
LO 2
In 4
In 3
In 2
In 1
S e n s in g

R 24
4x470
LO 1

5
4
3
2

Vb
H O
Vs
N C

2
3
4
5

R 21
4 x 2 .2 K

R 22
4x470
R 13
4x470

Vcc
IN
C O M
LO

8
7
6
5

IR 2 1 0 5

2
3
4
5

2
3
4
5

5VD C

C 1
104

U 1

5VD C

15VD C
D 2

In 2

A
C
A
C

PC 817
N 1
T
N 2
T

C
E
C
E

1
1
2
2

8
7
6
5

R 15 47K
R B5
R B4
R 16 47K

1
2
3
4

In 3
In 4

U 7
A
C
A
C

PC 817
N 1
T
N 2
T

C
E
C
E

1
1
2
2

1
2
3
4

D 7_PW M 2

Vcc
IN
C O M
LO

Vb
H O
Vs
N C

Vs2

LO 2

D 5

R 6
50K

D 7

R 20
4x150

C 6
103

5VD C

2
3
4
5

5
4
3
2

D 8

2
3
4
5

5VD C

PO R TVC C

C O N 1

C O N 1

U 3A

C 13
3 3 u F -1 6 V

2
S e n s in g

R 4
1K

LM 358
R 5
1K

AN 0

C
1
D 0
D 1
D 2
D 3
D 4
D 5_PW
D 6
D 7_PW
R B 0 /IN
R B 1 /IN
R E2
R E1
R B4
R B5

LM358

M 1
M 2
T0
T1

24VD C

15VD C
U 4

24VD C

K I7 8 1 5

IN

O U T
G N D

C 9
104

4
3
2
1
0

V C C _ IO
E XTV C C

1
1
1
1
1

1
1
1
1
1
9
8
7
6
5
4
3
2
1

5VD C

R 14
4x22K

J2

1
2
3
4
5
6
7
8
9
0
1
2
3
4

U 3B

C 5 /S D O
C 4 /S D I
C 3 /S C K
E 0 /R D
R C 0 /T1 C K I
R C 1
R C 2 /C A P 1
G N D
AN 0
24VD C
R E SET#

R 19
4x470

R
R
R
R

J5

R B 1 /IN T 1

R C 0 /T1 C K I
R C 2 /C A P 1
R B 0 /IN T 0

Encoder

G N D

R C 1

D 6

J1

H O 2

4
3
2
1
0
9
8
7
6
5
4
3
2
1

R 17 47K

R 18 47K

5
4
3
2
1

C 2
104

8
7
6
5

IR 2 1 0 5
8
7
6
5

5VD C

J3

U 2

1
2
3
4

In 1

U 6

1
1
1
1
1

3
C 7
104

C 12
3 3 u F -6 4 V

T it le
F u ll B r id g e D r iv e r
S iz e
A4
D a te :

D ocum ent N um ber

A -0 1
F r id a y , M a y 2 0 , 2 0 0 5

R ev
1 .0
Sheet

of

H V

H O 1

LO 1

O u tp u t2

C 3
104

O u tp u t 1

1
H V
H V
J2
Q B
IR F 5 4 0
H O 2

O u t2

G N D
O u tp u t2
O u tp u t1
In p u t3
G N D 3
In p u t4
G N D 4

R 5
10
1
3

J3
VS2
Q A
IR F 5 4 0
R 6
10
1

LO 2

1
2
3
4
5
6
7
8
O u tp u t 2

O u t1
O u t2
H O 1
Vs1
LO 1
H O 2
Vs2
LO 2
In p u t4
In p u t3
In p u t2
In p u t1
C u rrA m p

Q C
IR F 5 4 0
R 4
10

1
2
3
4
5
6
7
8

14
13
12
11
10
9
8
7
6
5
4
3
2
1

G N D
M 1
M 2
In p u t1
G N D 1
In p u t2
G N D 2

VS1

T2
IR F 5 4 0

T o H - B r id g e D r iv e r

J1
C 4
1 0 0 0 u F -6 4 V

C 6
104

R 3
10

O u t1

O u tp u t1
2

T1
IR F 5 4 0

H V
2

Q D
IR F 5 4 0

F1
FU SE

C u rrA m p

R 2
0 .0 1 -1 W

R 1
0 .0 1 -1 W

C 5
3 .3 u F -6 4 V

T it le
H - B r id g e P o w e r M O S F E T
S iz e
A
D a te :

D ocum ent N um ber

A -0 2
Tuesday , M ay 10, 2005

R ev
1
Sheet

of

11
SEN 2

13

12

R 7

5V D C

R 2

LM 324

R 5
0 . 0 1 -1 W

VC C O U T

R 8

O SC 40
1

N C

62K

O SC 1

SEN 1

R 3

1 .2 K
R 1
0 .0 1 -1 W

LM 324

R 4

62K

C 6

103

4
8
10
11
7
5

SEN 1
EN ABLE1
IN 2 _ 1
IN 1 _ 1

5VD C
8

1 .2 K

U 6A

C u rre n t_ F B 1

1 .2 K

LM 324

U 1

R 16
4 .7 K

14

C u rre n t_ F B 2

T r ip _ 1

1 .2 K

11

11

LM324

R 6

U 6D

11
+
4

R 14
4 .7 K

C 1

103

C 2

103

R 15
1K

10

5VD C
U 6B
-

T r ip _ 2

5VD C

R 13
1K

5V D C
U 6C

BO O
BO O
SEN
EN A
IN 2
IN 1

T1
T2
SE
B LE

C 4
104

C 12 103

G N D

R D
TX2
C C P4
C C P5

R F 6
C 15 R F 4
104 R F 2

R D _2
TX2 _2
C C P4_2
C C P5_2

1
1
1
1

2
4
6
8
0
2
4
6

1
1
1
1

2
4
6
8
0
2
4
6

5VD C

R F6_2
R F4_2
R F2_2

J3

J7

1
3
5
7
9
11
13
15

W R
E nc_B
R X2
M C LR 1

1
3
5
7
9
11
13
15

W R _2
E nc_B_2
R X2 _2
M C LR 2

AN 5

5V D C

AN 2
C u rre n t _ F B 1

R F 7
R F 5
R F 3

E nc_Z
D IR 1
R X1

C 16
104

A N 5_2

5V D C

A N 2_2
C u rre n t _ F B 2
C 20
104

R F 7_2
R F 5_2
R F 3_2

Enc_Z _2
D IR 2
R X1_2

1
2
2
2
2
2
3
3

8
0
2
4
6
8
0
2

1
2
2
2
2
2
3
3

8
0
2
4
6
8
0
2

J4

J8

17
19
21
23
25
27
29
31

R F1

17
19
21
23
25
27
29
31

R F 1_2

SW 1
T r ip _ 1
R B5

AN 3
AN 1

O SC 1
R B7
SD I
PW M1

AN 4
E nc_A
TX1

SW 1_2
T r ip _ 2
R B5_2

A N 3_2
A N 1_2

O SC 2
R B7_2
SD I
PW M2

A N 4_2
E nc_A _2
TX1_2

104
C 19

4
4
4
4
3
3
3
3

7
5
3
1
9
7
5
3

4
4
4
4
3
3
3
3

7
5
3
1
9
7
5
3

J5

J9

4
4
4
4
4
3
3
3

8
6
4
2
0
8
6
4

S
S
R
R
E

4
4
4
4
4
3
3
3

8
6
4
2
0
8
6
4

S
S
R
R
E

W
W
B
B
N

5VD C
0
2
4
6
ABLE 1

SD O
SC K

W
W
B
B
N

5VD C

C 18
104

SD O
SC K

5VD C

C 22
104

C 21
104

S
S
S
S

P
P
P
P

7
5
3
1

C N T_R S T
R E5
R E3

C 17
104

0_2 5VD C
2_2
4_2
6_2
ABLE 2

P
P
P
P

P
P
P
P

S
S
S
S

P
P
P
P

7
5
3
1

_2
_2
_2
_2

C N T_R S T_2
R E5_2
R E3_2

4
5
5
5
5
5
6
6

9
1
3
5
7
9
1
3

4
5
5
5
5
5
6
6

9
1
3
5
7
9
1
3

J6

J10

5
5
5
5
5
6
6
6

0
2
4
6
8
0
2
4

PSP6
PSP4
PSP2

5
5
5
5
5
6
6
6

0
2
4
6
8
0
2
4

PSP6_2
PSP4_2
PSP2_2

P
U
R
C

P
U
R
C

IN 2 _ 1

SP0
/D
E4
S

4
8
10
11
7
5

SEN 2
E N AB LE2
IN 2 _ 2
IN 1 _ 2

O SC 1

5VD C
VC C O U T
O SC 40
N C

G N D

R 18
150

O SC 2

R 19
150

R 20
150

C S
R D
W R
U /D

_
_
_
_

2
2
2
2

Enc_A_2
Enc_B_2
Enc_Z_2

Y 2
5VD C
5VD C

5VD C
R S232_2

R S232
4
3
2
1

RX1
TX1

R X1
TX1

4
3
2
1

RX1_2
TX1_2

C N 5

R X1 _2
TX1_2

C N 17

C N 25

9
8
7
6
5
4
3
2
1

9
8
7
6
5
4
3
2
1

C N 15
C N T1_2

R 17
150

R 21
150

R 25
150

5
4
3
2
1

C N 26
SD O
SD I
SC K

P
P
P
P
P
P
P
P
C

SP 0_2
SP 1_2
SP 2_2
SP 3_2
SP 4_2
SP 5_2
SP 6_2
SP 7_2
N T_R ST_2

C N 16
C N T2_2

5VD C

5VD C

4
3
2
1

RX2
TX2

5V D C

5VD C

C N 23

C 13
104

R X2
TX2

4
3
2
1

RX2_2
TX2_2

C N 6

R 10
150

R X2 _2
TX2_2

R 11
150

R 12
150

9
8
7
6
5
4
3
2
1

9
8
7
6
5
4
3
2
1

C N 11
C N T1

C N 12
C N T2

Enc_A
Enc_B
Enc_Z

C N 18

2
1

9
10

IN 2 _ 2

C PU R eset
C N 24
2
1

5VD C

C N 33

M C LR 1
R eset
SW

M C LR 2

C C P4
C C P5

5
4
3
2
1

S
R
R
R
R
R
R
R

W 2_2
B 7_2
B 6_2
B 5_2
B 4_2
E 5_2
E 4_2
E 3_2

C N 10

10
9
8
7
6
5
4
3
2
1

S
R
R
R
R
R
R
R

W 2
B7
B6
B5
B4
E5
E4
E3

D is p la y _ 2

10
9
8
7
6
5
4
3
2
1

S
S
R
R
R
R
R
R
R

5VD C

10
9
8
7
6
5
4
3
2
1

W 1_2
W 0_2
F 7_2
F 6_2
F 5_2
F 4_2
F 3_2
F 2_2
F 1_2

R 24
10

V_M O TO R

1Y
1A
1B
2Y
2A
2B
G N D

Vcc
4Y
4B
4A
3Y
3B
3A

14
13
12
11
10
9
8

D IR 2
PW M 2

S
S
R
R
R
R
R
R
R

D IG I_ P o rt_ 2

10
9
8
7
6
5
4
3
2
1

W 1
W 0
F7
F6
F5
F4
F3
F2
F1

5VD C
C N 22

Servo_SW2
Servo_SW1
Servo_SW0

C N 14

D is p la y

5VD C
C N 27

3
2
1

AN 1

C 28
104

3
2
1

AN 2

AD 1

5VD C
C N 28

C 29
104

5VD C
C N 29

3
2
1

AN 3

AD 2

C 30
104

5VD C
C N 30

AD 3

5VD C
C N 31

D I G I _ P o rt
3
2
1

3
2
1

A N 2_2

3
2
1

AN 3_2

5VD C

C C P4_2
C C P5_2

V_M O TO R
5VD C
R e s e t_ S W

4
3
2
1

C N 9
V _M O TO R
5V D C
R e s e t_ S W

Aux_P ower 2

Enc2
C 24 C 23
104 104

C 31
104

4
3
2
1

Aux_P ower 1
Enc2

C 11
224

74LS02

C N 19

5VD C

C N 8

R eset

5
4
3
2
1

VR EF

2
1

C 27
223

VS

AN 1_2

R 9
10K

M o to r 1
C N 2

3
1

O U T1
O U T2

U 4

1
2
3
4
5
6
7

IN 1 _ 2

+ C 14
4 7 0 u F -6 3 V

5VD C
C N 32

R e s e t_ S W

103

5VD C

R LY 1
5

C 8
T1
T2
SE
BLE

G N D

Servo_SW2_2
Servo_SW1_2
Servo_SW0_2

5VD C
SP0
SP1
SP2
SP3
SP4
SP5
SP6
SP7
N T_R S T

103

5V D C

SD O
SD I
SC K

P
P
P
P
P
P
P
P
C

C 7

V _M O TO R
D 1
LED

R 22
330

I2 C
C S
R D
W R
U /D

PW M1

(max 48VDC)

3
2
1
Power

C N 20

R S232

D IR 1

C 10
104

5VD C

5
4
3
2
1

4
3
2
1
0

L6203

I2 C
R S232

BO O
BO O
SEN
EN A
IN 2
IN 1

6
2

1
1
1
1
1
9
8

Vcc
4Y
4B
4A
3Y
3B
3A

U 2

SP0_2
/D _ 2
E4_2
S_2

5VD C
1

1Y
1A
1B
2Y
2A
2B
G N D
74LS02

J11

(max 48VDC)

5VD C
U 3

1
2
3
4
5
6
7

IN 1 _ 1

R 23
10

V _M O TO R

L6203

Y 1

5VD C

C 5
224

VS

2
1

C 9
223

VR EF

G N D

M o to r 1
C N 1

3
1

O U T1
O U T2

C 26 C 25
104 104

5V D C

A N 6_2
A N 5_2
A N 4_2

5VD C

C N 21
5
4
3
2
1
A N _ O u tp u t

AN 6
AN 5
AN 4

AD 1_2

C 32
104

AD 2_2

C 33
104

AD 3_2

C N 13
5
4
3
2
1

T it le

S iz e
A3
A N _ O u tp u t
D a te :

S e r v o D r iv e r I 2 C 1 8 F 6 5 2 0
D ocum ent N um ber
<D oc>
F r id a y , J u l y 3 0 , 2 0 0 4

R ev
1
Sheet

of