5 4 3 2 1

LEDs
LED_Verte_1

MOTOR1+
1
MOTOR4+
1
MOTOR7+
1 LED_Rouge_1
LED_Orange_1
Quartz optionnel
2 2 2
MOTOR1- MOTOR4- MOTOR7- LED_Bleue_1
LED_Blanche_1 os c1 os c0
MOTEUR1 MOTEUR4 MOTEUR7
U1 U2 U3 C1 C2
20pF 20pF
1 36 1 36 1 36
MOTOR1+ Out1_1 NC_14 MOTOR4+ Out1_1 NC_14 MOTOR7+ Out1_1 NC_14
2 35 R1 0.1 2 35 R2 0.1 2 35 R3 0.1
3 Out1_2 RNF_3 34 3 Out1_2 RNF_3 34 3 Out1_2 RNF_3 34
4 Out1_3 RNF_2 33 4 Out1_3 RNF_2 33 4 Out1_3 RNF_2 33 J1
R4 Q1
5 NC_1 RNF_1 32 5 NC_1 RNF_1 32 5 NC_1 RNF_1 32 R5 R6 R7 R8 36
NC_2 RNFS MOTOR1 ISens e NC_2 RNFS MOTOR4 ISens e NC_2 RNFS MOTOR7 ISens e P108
6 31 6 31 6 31 27 27 68 68 68 35
MOTOR1- Out2_1 NC_13 MOTOR4- Out2_1 NC_13 MOTOR7- Out2_1 NC_13 P107
7 30 7 30 7 30 34
Out2_2 NC_12 Out2_2 NC_12 Out2_2 NC_12 P106
8 29 8 29 8 29 33
Out2_3 GND_2 Out2_3 GND_2 Out2_3 GND_2 P105
9 28 9 28 9 28 32
NC_3 NC_11 NC_3 NC_11 NC_3 NC_11 P104
31
P103
D2 D3 D4 D5 D1 30
P102
10 27 10 27 10 27 WHITE BLUE ORANGE RED GREEN VDD_3.3V VDD_3.3V 29
NC_4 NC_10 NC_4 NC_10 NC_4 NC_10 P101
11 26 11 26 11 26 28

P144
P143
P142
P141
P140
P139
P138
P137
P136
P135
P134
P133
P132
P131
P130
P129
P128
P127
P126
P125
P124
P123
P122
P121
P120
P119
P118
P117
P116
P115
P114
P113
P112
P111
P110
P109
MOTOR1_PWM_H IN1 Vcc_3 MOTOR4_PWM_H IN1 Vcc_3 MOTOR7_PWM_H IN1 Vcc_3 P100
12 25 12 25 12 25 27

MOTORA Encoder Index

MOTORB Encoder Index

MOTOR1_PWM_L IN2 Vcc_2 40V_MOT MOTOR4_PWM_L IN2 Vcc_2 40V_MOT MOTOR7_PWM_L IN2 Vcc_2 40V_MOT P99
13 24 13 24 13 24 26
DISABLE_MOTORS PS Vcc_1 DISABLE_MOTORS PS Vcc_1 DISABLE_MOTORS PS Vcc_1 C9 P98

SPI3_SS_ETHERNET
MOTORA Encoder B

MOTORA Encoder A

MOTORB Encoder B

MOTORB Encoder A
14 23 C3 C4 14 23 C5 C6 14 23 C7 C8 25
P97

MOTOR7_FAULT
MOTOR3_PWM_L

MOTOR2_PWM_L

MOTOR1_PWM_L
MOTOR2_PWM_H

MOTOR1_PWM_H
15 NC_5 NC_9 22 15 NC_5 NC_9 22 15 NC_5 NC_9 22 24
100u 100n 100u 100n 100u 100n P96

SPI1_SS_ENC1

SPI1_SS_ENC2

SPI1_SS_ENC3

SPI1_SS_ENC4

SPI1_SS_ENC5

SPI1_SS_ENC6

SPI1_SS_ENC7

SPI1_SS_ENC8
LED_Blanche_1
TEST GND_1 TEST GND_1 TEST GND_1

MOTOR7 ISense
16 21 R12 12k 16 21 R13 12k 16 21 R14 12k 23

LED_Bleue_1
VDD_3.3V VDD_3.3V VDD_3.3V P95

LED_Orange_1
R9 10k 17 FAILA NC_8 20 R10 10k 17 FAILA NC_8 20 R11 10k 17 FAILA NC_8 20 22

ANA_22-A6

SPI2_INT2

SPI2_INT1

SPI2_INT3

SPI2_INT4
NC_6 VREF NC_6 VREF NC_6 VREF 100n P94

FIN_1

FIN_2

FIN_1

FIN_2

FIN_1

FIN_2
18 19 18 19 18 19 21
TEST1 NC_7 TEST1 NC_7 TEST1 NC_7 P93
R15 R16 R17 20

36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
MOTOR1_FAULT MOTOR4_FAULT MOTOR7_FAULT P92

9
8
7
6
5
4
3
2
1
19

Jack
10k 10k 10k 10u
bd63150afm VDD_3.3V bd63150afm VDD_3.3V bd63150afm VDD_3.3V LEDs 18
P91
P90

37

38

37

38

37

38
C10 17
LED_Verte_2 P89
16
LED_Rouge_2 P88
15

P144

P143
P142

P141

P140

P139

P138

P137

P136

P135

P134

P133

P132

P131

P130

P129

P128

P127

P126
P125

P124

P123

P122

P121

P120

P119

P118

P117

P116

P115

P114
P113

P112

P111

P110

P109
LED_Orange_2 J2 P87
14
LED_Bleue_2 CON36 P86
13
LED_Blanche_2 P85
12
P84
11
P83
10
P82
D
9 D
P81
8
P80

144

143

142

141

140

139

138

137

136

135

134

133

132

131

130

129

128

127

126

125

124

123

122

121

120

119

118

117

116

115

114

113

112

111

110

109
1 1 7
MOTOR2+ MOTOR5+ U5 P79
2 2 6
MOTOR2- MOTOR5- P78
R18 5

VCAP
AN28/PWM3L/RP84/RE4

AN27/PWM2H/RPI83/RE3

AN26/PWM2L/RP82/RE2

VSS_141

RP125/RG13

RPI124/RG12

RP126/RG14

AN25/PWM1H/RPI81/RE1

AN24/PWM1L/RP80/RE0

PMA7/RJ7

PMA6/RJ6

PMA5/RJ5

PMA4/RJ4

AN23/RPI23/RA7

AN22/RPI22/RA6

RP112/RG0

RP113/RG1

VCMPST2/RP97/RF1

VCMPST1/RP96/RF0

VSS_125

VDD_124

C3IN1+/VCMPST3/RP71/RD7

C3IN2-/RP70/RD6

RP69/RD5

RP68/RD4

PMA3/RJ3

PMA2/RJ2

PMA1/RJ1

PMA0/RJ0

RPI77/RD13

RPI76/RD12

VDD_112

RP67/RD3

DPH/RP66/RD2

VCPCON/RP65/RD1
P77
MOTEUR2 MOTEUR5 R19 R20 R21 R22 C11 4
VDD_3.3V DISABLE_MOTORS P76
PWM_1-2 27 27 68 68 68 100n 1 3
U4 U6 P1 RP127/RG15 P75
2
VDD_3.3V P74
1 2 1
P2 VDD_2 P73
1 36 1 36 2
MOTOR2+ Out1_1 NC_14 MOTOR5+ Out1_1 NC_14 MOTOR3_PWM_H
2 35 R23 0.1 2 35 R24 0.1 3 3
Out1_2 RNF_3 Out1_2 RNF_3 MOTOR1_PWM_H P3 AN29/PWM3H/RP85/RE5 CON36
3 34 3 34 4 D6 D7 D8 D9 D10
Out1_3 RNF_2 Out1_3 RNF_2 MOTOR1_PWM_L MOTOR4_PWM_L
4 33 4 33 5 WHITE BLUE ORANGE RED GREEN 4
NC_1 RNF_1 NC_1 RNF_1 MOTOR2_PWM_H P4 AN30/PWM4L/RPI86/RE6
5 32 5 32 6
NC_2 RNFS MOTOR2 ISens e NC_2 RNFS MOTOR5 ISens e MOTOR2_PWM_L MOTOR4_PWM_H
6 31 6 31 5
MOTOR2- Out2_1 NC_13 MOTOR5- Out2_1 NC_13 P5 AN31/PWM4H/RP87/RE7
7 30 7 30 PWM_1-2
Out2_2 NC_12 Out2_2 NC_12 MOTOR7_PWM_L
8 29 8 29 6
Out2_3 GND_2 Out2_3 GND_2 P6 PWM7L/PMA8/RJ8
9 28 9 28
NC_3 NC_11 NC_3 NC_11 MOTOR7_PWM_H P108
VDD_3.3V PWM_3-4 7 108
P7 PWM7H/PMA9/RJ9 VSS_108
LED_Rouge_1 SPI3_MISO
10 27 10 27 1 8 107
NC_4 NC_10 NC_4 NC_10 P8 PMA10/RJ10 PGEC2/SOSCO/C3IN1-/T1CK/RPI62/RC14 P107
11 26 11 26 2
MOTOR2_PWM_H
MOTOR2_PWM_L
12 IN1
IN2
Vcc_3
Vcc_2
25
40V_MOT
MOTOR5_PWM_H
MOTOR5_PWM_L
12 IN1
IN2
Vcc_3
Vcc_2
25
40V_MOT MOTOR3_PWM_H
3 LEDs LED_Verte_1
P9
9
PMA11/RJ11 PGED2/SOSCI/C3IN3-/RPI61/RC13
106
P106
MOTOR6_FAULT
13 24 13 24 4
DISABLE_MOTORS PS Vcc_1 DISABLE_MOTORS PS Vcc_1 MOTOR3_PWM_L MOTOR5_PWM_L SPI1_MOSI
14 23 C12 C13 14 23 C14 C15 5 10 105
NC_5 NC_9 NC_5 NC_9 MOTOR4_PWM_H LED_Blanche_3 P10 AN16/PWM5L/RPI49/RC1 INT0/DMH/RP64/RD0 P105
15 22 100u 100n 15 22 100u 100n 6
TEST GND_1 TEST GND_1 MOTOR4_PWM_L MOTOR5_PWM_H ENCODER8_INT
16 21 R27 12k 16 21 R28 12k 11 104
VDD_3.3V FAILA NC_8 VDD_3.3V FAILA NC_8 P11 AN17/PWM5H/RPI50/RC2 RH15 P104
R25 10k 17 20 R26 10k 17 20 PWM_3-4
NC_6 VREF NC_6 VREF MOTOR6_PWM_L ENCODER7_INT
FIN_1

FIN_2

FIN_1

FIN_2
18 19 18 19 12 103
TEST1 NC_7 TEST1 NC_7 P12 AN18/PWM6L/RPI51/RC3 RH14 P103
MOTOR2_FAULT R29 MOTOR5_FAULT R30 MOTOR6_PWM_H ENCODER6_INT
10k 10k VDD_3.3V PWM_5-6 13 102
P13 AN19/PWM6H/RPI52/RC4 RH13 P102
VDD_3.3V VDD_3.3V
bd63150afm bd63150afm Enable_Tir ENCODER5_INT
37

38

37

38
1 R31 14 101
P14 PMA12/RJ12 RH12 P101
2
Tir_1 SPI2_INT_IMU
3 27 15 100
MOTOR5_PWM_H P15 PMA13/RJ13 RPI75/RD11 P100
4
MOTOR5_PWM_L SPI2_CLK I2C_SCL
5 16 99
MOTOR6_PWM_H P16 C1IN3-/SCK2/RP118/RG6 ASCL1/RPI74/RD10 P99
6
MOTOR6_PWM_L SPI2_MISO I2C_SDA
17 98
P17 C1IN1-/SDI2/RPI119/RG7 ASDA1/DPLN/RPI73/RD9 P98
PWM_5-6 D11
SPI2_MOSI MOTOR5_FAULT
WHITE 18 97
P18 C2IN3-/SDO2/RP120/RG8 RTCC/DMLN/RPI72/RD8 P97
MCLR ENCODER4_INT
19 96
P19 MCLR RPI31/RA15 P96
INT_ETHERNET ENCODER3_INT
1 1 20 95
MOTOR3+ MOTOR6+ P20 C2IN1-/RPI121/RG9 RPI30/RA14 P95
2 2
MOTOR3- MOTOR6- Tir_2 ENCODER2_INT
21 94
P21 RJ14 PMCS1/RK11 P94
MOTEUR3 MOTEUR6 TP_GND_1 Tir_3 ENCODER1_INT
HeatSink1 22 93
U7 U8 P22 RJ15 PMCS2/RK12 P93
1 23 92
VDD_5V P23 VSS_23 VSS_92 P92
1 36 1 36 2 C16
MOTOR3+ Out1_1 NC_14 MOTOR6+ Out1_1 NC_14 os c0
2 35 R32 0.1 2 35 R33 0.1 100n 24 91
Out1_2 RNF_3 Out1_2 RNF_3 TP_GND_2 VDD_3.3V P24 VDD_24 OSC2/CLKO/RC15 P91
3 34 3 34 C17
Out1_3 RNF_2 Out1_3 RNF_2 LED_Blanche_2 os c1
4 33 4 33 HEAT 25 90 100n
NC_1 RNF_1 NC_1 RNF_1 P25 TMS/RPI16/RA0 OSC1/RPI60/RC12 P90
5 32 5 32
NC_2 RNFS MOTOR3 ISens e NC_2 RNFS MOTOR6 ISens e MOTOR1 ISens e VDD_3.3V
6 31 6 31 26 89
MOTOR3- Out2_1 NC_13 MOTOR6- Out2_1 NC_13 P26 AN20/RPI88/RE8 VDD_89 P89
7 30 7 30 VDD_3.3V VDD_3.3V
Out2_2 NC_12 Out2_2 NC_12 VIS_HS_5 MOTOR2 ISens e UART3_RX
8 29 8 29 SPI2_1 SPI2_2 27 88
Out2_3 GND_2 Out2_3 GND_2 VIS_HS_1 VIS_1 P27 AN21/RPI89/RE9 TDO/RPI21/RA5 P88
9 28 9 28
NC_3 NC_11 NC_3 NC_11 Tir_4 MOTOR1_FAULT
1 1 28 87
P28 RK0 TDI/RPI20/RA4 P87
2 2 TP_RK1
SPI1_MISO
10 27 10 27 3 3 29 86
NC_4 NC_10 NC_4 NC_10 SPI2_CLK SPI2_CLK P29 RK1 ASDA2/RPI19/RA3 P86
11 26 11 26 4 4
MOTOR3_PWM_H IN1 Vcc_3 MOTOR6_PWM_H IN1 Vcc_3 VIS_HS_6 SPI2_MOSI SPI2_MOSI MOTOR3 ISens e UART2_RX
12 25 12 25 5 5 30 85
MOTOR3_PWM_L IN2 Vcc_2 40V_MOT MOTOR6_PWM_L IN2 Vcc_2 40V_MOT VIS_HS_2 VIS_2 SPI2_MISO SPI2_MISO P30 AN5/C1IN1+/VBUSON/VBUSST/RPI37/RB5 ASCL2/RPI18/RA2 P85
13 24 13 24 6 6
DISABLE_MOTORS PS Vcc_1 DISABLE_MOTORS PS Vcc_1 SPI2_SS2 SPI2_SS1 MOTOR4 ISens e SPI2_SS_IMU
14 23 C20 C21 14 23 C18 C19 7 7 31 84
NC_5 NC_9 NC_5 NC_9 SPI2_INT2 SPI2_INT1 P31 AN4/C1IN2-/USBOEN/RPI36/RB4 RH11 P84
15 22 100u 100n 15 22 100u 100n
TEST GND_1 TEST GND_1 MOTOR5 ISens e MOTOR4_FAULT
16 21 R36 12k 16 21 R37 12k 32 83
VDD_3.3V FAILA NC_8 VDD_3.3V FAILA NC_8 VIS_HS_7 VDD_3.3V VDD_3.3V P32 AN3/C2IN1+/VPIO/RPI35/RB3 RH10 P83
R34 10k 17 20 R35 10k 17 20 SPI SPI
NC_6 VREF NC_6 VREF VIS_HS_3 VIS_3 MOTOR6 ISens e MOTOR3_FAULT
FIN_1

FIN_2

FIN_1

FIN_2
18 19 18 19 SPI2_3 SPI2_4 33 82
TEST1 NC_7 TEST1 NC_7 P33 AN2/C2IN2-/VMIO/RPI34/RB2 RH9 P82
R38 R39
MOTOR3_FAULT MOTOR6_FAULT MOTOR7 ISens e MOTOR2_FAULT
10k 10k 1 1 34 81
P34 PGEC3/AN1/RPI33/RB1 RH8 P81
VDD_3.3V VDD_3.3V 2 2
bd63150afm bd63150afm VIS_HS_8 ANA_0-B0 D+
37

38

37

38
3 3 35 80
VIS_HS_4 VIS_4 SPI2_CLK SPI2_CLK P35 PGED3/AN0/RPI32/RB0 D+/RG2 P80
4 4
SPI2_MOSI SPI2_MOSI D-
5 5 36 79
SPI2_MISO SPI2_MISO P36 VSS_36 D-/RG3 P79
6 6
SPI2_SS3 SPI2_SS4 J3 VDD_3.3V
7 7 78
SPI2_INT3 SPI2_INT4 VUSB3V3 P78
1
P1 VBUS

PGED1/AN7/RCV/RPI39/RB7
2 77
Hacheurs 45V - 5A P2 VBUS P77

AN10/CVREF/RPI42/RB10
SPI SPI 3
P3 UART3_TX

PGEC1/AN6/RPI38/RB6
4 76
P4 RP104/RF8 P76
5
P5 UART2_TX
6 75

AN11/RPI43/RB11

AN12/RPI44/RB12

AN13/RPI45/RB13

AN14/RPI46/RB14

AN15/RPI47/RB15
P6 P75

SDA2/RP100/RF4

SCL2/RP101/RF5
7 RP98/RF2

AN8/RPI40/RB8

AN9/RPI41/RB9

TCK/RPI17/RA1
C P7 SPI1_CLK C
8 74
P8 P74

VREF+/RA10

PMWR/RK14
USBID/RP99/RF3

RP109/RF13

RP108/RF12
VDD_3.3V VDD_3.3V 9

PMRD/RK15

RPI78/RD14
PMBE/RK13

RP79/RD15
VREF-/RA9
P9

PMD0/RH0

PMD1/RH1

PMD2/RH2

PMD3/RH3

PMD4/RH4

PMD5/RH5

PMD6/RH6

PMD7/RH7
UART1 I2C1 10 73
P10 VSS_73 P73

VDD_52

VDD_64
VSS_51

VSS_63
11

Carte Moteur V7 P11

AVDD

AVSS
1 1 12 ds PIC33EP512MU814-I/PL
P12
2 2 13
P13
3 3 14
UART1_TX I2C_SCL P14
4 4 15
UART1_RX I2C_SDA P15

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72
16
Robot Club Toulonnais VDD_3.3V
UART1 I2C
P16
P17
P18
17
18
19
R40 R41
Entrées Sorties avec ou sans diviseur UART2 1k2 1k2
P19
P20
20 J4
21 CON36
P21
1 22
P22
2 23 P37 P38 P39 P40 P41 P42 P43 P44 P45 P46 P47 P48 P49 P50 P51 P52 P53 P54 P55 P56 P57 P58 P59 P60 P61 P62 P63 P64 P65 P66 P67 P68 P69 P70 P71 P72
VDD_3.3V VDD_3.3V P23
CON6 CON6 3 24
UART2_TX P24
ARU_MOTOR 4 VDD_3.3V 25
UART2_RX P25

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
1 1 26
P26
B02P-VL 2 2 27
P27
3 3 UART2 28

Inter1

Inter2

Inter3
ANA_0-B0 ANA_12-B12 VDD_3.3V P28
4 4 29

PGC

PGD

UART1_TX
SPI2_SS1

SPI2_SS2

SPI2_SS3

SPI2_SS4
ANA_8-B8

ANA_9-B9
VDD_5V VDD_5V P29

UART1_RX
Config1

Config2

Config3

Config4

SPI3_MOSI
SPI3_CLK
ANA_10-B10

ANA_11-B11

ANA_12-B12

ANA_13-B13

ANA_14-B14

ANA_15-B15
R42 R43

LED_Bleue_2

LED_Verte_2

LED_Orange_2
LED_Rouge_2

LED_Blanche_3
5 5 I2C2 30
R44 D12 20V_CMD 20V_CMD P30
2
1

MOTOR_PWR_1 F1 6 6 31
40V_FUSE P31
1 4 1 32
20V_MOTOR_ALIM2 IN1 OUT2 40V_MOT 40V_MOT P32
1 2 33

P37
P38
P39
P40
P41
P42
P43
P44
P45
P46
P47
P48
P49
P50
P51
P52
P53
P54
P55
P56
P57
P58
P59
P60
P61
P62
P63
P64
P65
P66
P67
P68
P69
P70
P71
P72
R45 ANA_0-B1 R46 ANA_12-B1
40k 40k P33
2 10k 10k 3 34
2k BLUE I2C_SCL P34 C24 C25 C26
2 3 4 35
IN2 OUT1 VDD_3.3V VDD_3.3V I2C_SDA P35
CON6 CON6 36
P36
B02P-VL
FUSE_HOLDER_KEYSTONE
1 1 I2C
MOTOR_PWR_2 2 2 CON36 100n 100n 100n
3 3
1 20V_MOTOR_ALIM1 TRACO-5V1
ANA_8-B8
R47 VDD_5V
4
ANA_13-B13
R48 VDD_5V
4 Bus Série SPI I2C
2 20V_CMD 5 5
20V_CMD 20V_CMD
6 6 VDD_3.3V VDD_3.3V VDD_3.3V
R49 D13
B02P-VL 1 3 R50 ANA_8-B1 R51 ANA_13-B1
GND

Vin Vout VDD_5V VDD_5V 40k 40k

ARU_CMD 10k 10k
C27
B02P-VL Alimentations 100u
150 ORANGE VDD_3.3V
CON6
VDD_3.3V
CON6
2

20V_CMD 1 1 Programmateur
CMD_PWR1 2 2
VDD_3.3V
2
1

F2 3 3
20V_CMD_ALIM 20V_CMD_FUSE ANA_9-B9 ANA_14-B14 U9
1 1 4 4 4
2 IN1 OUT2 R52 VDD_5V
5 R53 VDD_5V
5 1 10 R56
Filtrage ESD optionnel
20V_CMD 20V_CMD CLK INT INT_ETHERNET MCLR
6 6 10k
2 3 TRACO-3_3V1 2 9 VBUS
IN2 OUT1 WOL MISO SPI3_MISO
B02P-VL C29 C28 20V_CMD R54 ANA_9-B1 R55 ANA_14-B1 R58
40k 40k CON6
100u 100n 10k 10k 3 8 470
FUSE_HOLDER_KEYSTONE
1 3 VDD_3.3V
R57 D14
VDD_3.3V VDD_3.3V
SPI3_MOSI
4
MOSI SCK
7
SPI3_CLK
1
2
USB Device
GND

VDD_3.3V VDD_3.3V CON6 CON6 SPI3_SS_ETHERNET

Vin Vout CS RST 3 C31
C30 1 1 5 6 4 C32 100n
68 RED VDD_3.3V Vcc GND PGD U10 FB1 U11

1
100u 2 2 5 100n
R59 D15 PGC
2

3 3 6 1

Vcc
ANA_10-B10 ANA_15-B15 CON_BRIDGE_ENC28J60 VBUS VBUS
4 4 2 3
20V_CMD R60 VDD_5V R61 VDD_5V D- D- D- IO1
5 5 PROG1
3 742792651
20V_CMD 20V_CMD D+ D+
6 6 4 2
2k BLUE GND 5 NC
R64
R62 ANA_10-B1 R63 ANA_15-B1 SHIELD1 6 100k C33 5
D+

Gnd
40k 40k SHIELD2 10u IO2
TRACO-1_8V1 10k 10k
20V_CMD
VDD_3.3V VDD_3.3V USB-B
CON6 CON6
Module Ethernet

4
TPD2E001DRL
1 3 1 1
Alimentations
GND

Vin Vout VDD_1.8V

2 2
C34 3 3
ANA_11-B11 ANA_22-A6
100u 4 4
R65 VDD_5V R66 VDD_5V
2

5 5
20V_CMD 20V_CMD
6 6

R67
10k
40k
ANA_11-B1 R68
10k
40k
ANA_22-A1 Liaison USB

B B

SPI2_SS_IMU_1.8V
SPI2_CLK_1.8V
SPI2_MOSI_1.8V
U13
VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V
VDD_1.8V
Level Shifter

25
24
23
22
21
20
19
INTER1 INTER2 INTER3
1 2 1 2 1 2 VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V U12

SCL/SCLK
nCS
AUX_DA
GND_PAD
SDA/SDI

RESV_3
RESV_2
1 2 1 2 1 2 Jack1 Config1 Config2 Config3 Config4 TIR1 2 19
VccA - 1.2V - 3.6V VccB - 1.65V - 5.5V
1 1 1 1 1 1 1 18 1 20
RESV_1 GND SPI2_CLK_1.8V A1 B1 SPI2_CLK
3 4 3 4 3 4 2 2 2 2 2 2 2 17 3 18
Inter2 3 4 Inter3 3 4 Inter1 3 4 Jack Config1 Config2 Config3 Config4 NC_1 NC_9 SPI2_MOSI_1.8V A2 B2 SPI2_MOSI
3 3 16 4 17
Tir_1 NC_2 NC_8 SPI2_MISO_1.8V A3 B3 SPI2_MISO
R69 R70 R73 R71 R72 R74 R75 R76 4 4 15 VDD_3.3V 5 16
Switch Button PTS645 Switch Button PTS645 Switch Button PTS645 Tir_2 NC_3 NC_7 SPI2_SS_IMU_1.8V A4 B4 SPI2_SS_IMU
JACK CFG1 CFG2 CFG3 CFG4 5 5 14 6 15

AD0/SDO
REGOUT
10k 10k 10k 10k 10k 10k 10k 10k Tir_3 SPI2_INT_IMU_1.8V SPI2_INT_IMU

AUX_CL
6 6 NC_4 NC_6 13 7 A5 B5 14

FSYNC
VDDIO
Tir_4 NC_5 VDD A6 B6
7 C35 8 13
Enable_Tir A7 B7

INT
9 12
100n A8 B8
TIR 10 11
VDD_1.8V

7
8
9
10
11
12
ICM-20948 OE GND

Entrées numériques SPI2_INT_IMU_1.8V txs 0108epw

VDD_1.8V
C36 C37

10n 100n

SPI2_MISO_1.8V
Centrale inertielle
C44 C45 C46 C47
Encodeur1 Encodeur3 Encodeur4
U14 Encodeur1 U15 U16 Encodeur3 U17 Encodeur4
1 14 1 1 14 1 Encodeur2 1 14 1 1 14 1
FCKO Vdd VDD_3.3V
100n MOTOR1 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR2 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR3 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR4 Encoder B
2 2 Encodeur2 2 2
VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V
2 13 3 2 13 3 2 13 3 2 13 3
VDD_3.3V VDD_3.3V OSC_QEI FCKI CNT_EN MOTOR1 Encoder A OSC_QEI FCKI CNT_EN MOTOR2 Encoder A OSC_QEI FCKI CNT_EN MOTOR3 Encoder A OSC_QEI FCKI CNT_EN MOTOR4 Encoder A
4 4 4 4
MOTOR1 Encoder Index MOTOR2 Encoder Index MOTOR3 Encoder Index MOTOR4 Encoder Index
3 12 5 3 12 5 3 12 5 3 12 5
Vss A MOTOR1 Encoder A Vss A MOTOR2 Encoder A Vss A MOTOR3 Encoder A Vss A MOTOR4 Encoder A
C38 4 11 4 11 4 11 4 11
Q2 SPI1_SS_ENC1 SS B MOTOR1 Encoder B SPI1_SS_ENC2 SS B MOTOR2 Encoder B SPI1_SS_ENC3 SS B MOTOR3 Encoder B SPI1_SS_ENC4 SS B MOTOR4 Encoder B
1 4 5 10 5 10 5 10 5 10
EN VDD SPI1_CLK SCK INDEX MOTOR1 Encoder Index SPI1_CLK SCK INDEX MOTOR2 Encoder Index SPI1_CLK SCK INDEX MOTOR3 Encoder Index SPI1_CLK SCK INDEX MOTOR4 Encoder Index
10n
6 9 6 9 6 9 6 9
SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG
2 3
GND OUT OSC_QEI
7 8 7 8 7 8 7 8
SPI1_MOSI MOSI LFLAG ENCODER1_INT SPI1_MOSI MOSI LFLAG ENCODER2_INT SPI1_MOSI MOSI LFLAG ENCODER3_INT SPI1_MOSI MOSI LFLAG ENCODER4_INT
ASDMB-12.000MHZ-LC-T
R77 R78 R79 R80
LS7366R-TS LS7366R-TS LS7366R-TS LS7366R-TS
10k 10k 10k 10k
Liaison RS232
U22 MAX3232ECPWR
VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V
13 12 P1
C50 C49 C51 C48 Rx_12V R1IN R1OUT UART3_RX
8 9
Encodeurs SPI U18
Encodeur5
Encodeur5 U19
Encodeur6
Encodeur6 U20
Encodeur7
Encodeur7 U21
Encodeur8
Encodeur8 11
R2IN R2OUT
14
M2
UART3_TX T1IN T1OUT
1 14 1 1 14 1 1 14 1 1 14 1 10 7 5
FCKO Vdd VDD_3.3V
100n MOTOR5 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR6 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR7 Encoder B FCKO Vdd VDD_3.3V
100n MOTOR8 Encoder B T2IN T2OUT
2 2 2 2 100n 9
VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V
2 13 3 2 13 3 2 13 3 2 13 3 C39 1 4
OSC_QEI FCKI CNT_EN MOTOR5 Encoder A OSC_QEI FCKI CNT_EN MOTOR6 Encoder A OSC_QEI FCKI CNT_EN MOTOR7 Encoder A OSC_QEI FCKI CNT_EN MOTOR8 Encoder A C1+
4 4 4 4 3 8
MOTOR5 Encoder Index MOTOR6 Encoder Index MOTOR7 Encoder Index MOTOR8 Encoder Index C1-
3 12 5 3 12 5 3 12 5 3 12 5 C40 4 3
Vss A MOTOR5 Encoder A Vss A MOTOR6 Encoder A Vss A MOTOR7 Encoder A Vss A MOTOR8 Encoder A C2+ Rx_12V
100n 5 7
4 11 4 11 4 11 4 11 100n 2 C2- 2
SPI1_SS_ENC5 SS B MOTOR5 Encoder B SPI1_SS_ENC6 SS B MOTOR6 Encoder B SPI1_SS_ENC7 SS B MOTOR7 Encoder B SPI1_SS_ENC8 SS B MOTOR8 Encoder B V+
C41 6 6
5 10 5 10 5 10 5 10 V- 1

GND
VCC
SPI1_CLK SCK INDEX MOTOR5 Encoder Index SPI1_CLK SCK INDEX MOTOR6 Encoder Index SPI1_CLK SCK INDEX MOTOR7 Encoder Index SPI1_CLK SCK INDEX MOTOR8 Encoder Index
100n CONNECTOR DB9
A 6 9 6 9 6 9 6 9 C42 M1 A
SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG SPI1_MISO MISO DFLAG

16

15
7 8 7 8 7 8 7 8 VDD_3.3V
SPI1_MOSI MOSI LFLAG ENCODER5_INT SPI1_MOSI MOSI LFLAG ENCODER6_INT SPI1_MOSI MOSI LFLAG ENCODER7_INT SPI1_MOSI MOSI LFLAG ENCODER8_INT
100n
R81 R82 R83 R84
LS7366R-TS LS7366R-TS LS7366R-TS LS7366R-TS
10k 10k 10k 10k
C43

VDD_3.3V
VDD_3.3V VDD_3.3V VDD_3.3V VDD_3.3V

Encodeur_A Encodeur_B
EncodeurA EncodeurB
1 1
MOTORA Encoder B MOTORB Encoder B
2 2
VDD_3.3V VDD_3.3V
3 3
MOTORA Encoder A MOTORB Encoder A
4 4
Encodeurs dsPIC MOTORA Encoder Index
5
MOTORB Encoder Index
5

Title
Carte Moteur V6

Size Docum ent Num ber Rev

Cus tom Rev1 1

Date: Wednes day, Novem ber 06, 2019 Sheet 1 of 1

5 4 3 2 1