Embedded System Design and Joint Motion Control of a

Embedded System Design and Joint Motion Control of a Quadruped Robot

by

Chonghan Ma

B. Eng., Hubei University of Technology, 2017

A Thesis Submitted in Partial Fulfillment of the

Requirements for the Degree of

MASTER OF APPLIED SCIENCE

in the Department of Mechanical Engineering

c© Chonghan Ma, 2020

University of Victoria

All rights reserved. This thesis may not be reproduced in whole or in part, by

photocopying or other means, without the permission of the author.

ii

Embedded System Design and Joint Motion Control of a Quadruped Robot

by

Chonghan Ma

B. Eng., Hubei University of Technology, 2017

Supervisory Committee

Dr. Yang Shi, Supervisor

(Department of Mechanical Engineering)

Dr. Keivan Ahmadi, Departmental Member


iii

Supervisory Committee

Dr. Yang Shi, Supervisor


Dr. Keivan Ahmadi, Departmental Member


Abstract

In recent decades, mobile robotics have become one of the fastest growing research

fields. Compared with wheeled and tracked robots, legged robots can step over ob-

stacles and traverse unstructured terrains. This thesis focuses on two main tasks for

supporting the development of a quadruped robot, i.e., the robot embedded system

design and the joint motion control.

To develop the robot embedded system fulfilling the technical requirements, a

controller board using an ARM-based STM32 microcontroller is designed. First, we

select the key components properly, according to the practical requirements and the

marketing research. Then the onboard hardware architecture is proposed, and the

circuit schematic diagrams for all the functional modules are designed. The specifi-

cations and a comparison of two versions of PCBs are also presented and analyzed.

Based on the designed embedded system, the actuators and sensors are tested,

and selected to set up the robot experimental platform. Moreover, the firmware

is configured, and the software is developed to control the position and velocity of

iv

the motors. Furthermore, the moving average filter (MAF) based cascaded PID

control algorithm is designed, and is implemented to manipulate the robot joints. The

experimental results demonstrate the effectiveness of the proposed control method.

v

Table of Contents

Supervisory Committee ii

Abstract iii

Table of Contents v

List of Tables viii

List of Figures ix

Acronyms xi

Acknowledgements xii

Dedication xiii

1 Introduction 1

1.1 An Overview on Mobile Robots . . . . . . . . . . . . . . . . . . . . . 1

1.1.1 Wheeled and Tracked Robots . . . . . . . . . . . . . . . . . . 2

1.1.2 Legged Robots . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Robot Control System . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2.1 Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.2.2 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.2.3 Embedded System . . . . . . . . . . . . . . . . . . . . . . . . 11

vi

1.3 Objectives and Contributions . . . . . . . . . . . . . . . . . . . . . . 12

1.3.1 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3.2 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 Thesis Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Robot Specifications and Mechanical Structure 16

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.2 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.3 Robot Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.3.1 Kinematic Structure . . . . . . . . . . . . . . . . . . . . . . . 18

2.3.2 Torso . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.3.3 Legs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.4 Main Stages of the Robot Development . . . . . . . . . . . . . . . . . 22

2.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3 Embedded System Hardware Design 24

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.2 Component Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.2.1 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.2.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.3 Circuit Schematic Design . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.3.1 Hardware Architecture . . . . . . . . . . . . . . . . . . . . . . 34

3.3.2 Pin Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.3.3 Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.3.4 Voltage Regulation . . . . . . . . . . . . . . . . . . . . . . . . 40

3.3.5 Sensor Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.4 PCB Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

vii

3.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.4.2 Power Distribution . . . . . . . . . . . . . . . . . . . . . . . . 45

3.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4 Joint Motion System Design and Tests 48

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.2 Hardware Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.2.1 Potentiometer Selection . . . . . . . . . . . . . . . . . . . . . 49

4.2.2 Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.3 Software Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.3.1 Firmware Configuration . . . . . . . . . . . . . . . . . . . . . 53

4.3.2 Software Development . . . . . . . . . . . . . . . . . . . . . . 55

4.3.3 MAF Algorithm Design . . . . . . . . . . . . . . . . . . . . . 56

4.3.4 Cascaded PID Controller Design . . . . . . . . . . . . . . . . . 57

4.4 Joint Motion Experiments . . . . . . . . . . . . . . . . . . . . . . . . 59

4.4.1 Knee Joint Test . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.4.2 Hip Joint Test . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.5 Structural Problems and Solutions in Mechanical Design . . . . . . . 61

4.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5 Conclusions and Future Work 63

5.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Bibliography 66

viii

List of Tables

Table 1.1 Comparison of three conventional actuator types [36]. . . . . . . 9

Table 1.2 Key specifications of four electric-powered quadruped robots. . . 15

Table 2.1 Key specifications of the designed quadruped robot. . . . . . . . 17

Table 2.2 The weight of the robot components. . . . . . . . . . . . . . . . 18

Table 2.3 Torso components of the quadruped robot. . . . . . . . . . . . . 19

Table 3.1 Specification requirements of the microcontroller. . . . . . . . . 29

Table 3.2 Comparison of specifications of 5 MCUs. . . . . . . . . . . . . . 30

Table 3.3 Comparison of the characteristics of LDO and switching regulators. 32

Table 3.4 Comparison of two version of printed circuit board. . . . . . . . 47

Table 4.1 Taper measurement of the tested potentiometerts. . . . . . . . . 51

Table 4.2 Test and selection results of 18 motors. . . . . . . . . . . . . . . 53

Table 4.3 Parameter settings of the joint motion control system. . . . . . . 58

ix

List of Figures

Figure 1.1 (a) “Toyota monopod” [22] and (b) “Salto-1P” [23, 24]. . . . . 4

Figure 1.2 (a) “REEM-C” [25] and (b) “TALOS” [26]. . . . . . . . . . . . 5

Figure 1.3 (a) “HyQReal” [27] and (b) “Cheetah 3” [28]. . . . . . . . . . . 6

Figure 1.4 (a) “Laikago” [29] and (b) “ANYmal” [30]. . . . . . . . . . . . 7

Figure 1.5 Flow diagram for embedded system [41]. . . . . . . . . . . . . . 11

Figure 2.1 Robot 3D-CAD model with components description. . . . . . . 17

Figure 2.2 Kinematic structure of the robot with hip and knee joints. . . . 18

Figure 2.3 CAD model of the hip joint. . . . . . . . . . . . . . . . . . . . . 20

Figure 2.4 CAD model of the knee joint. . . . . . . . . . . . . . . . . . . . 21

Figure 2.5 Forward and backward movement of the robot. . . . . . . . . . 21

Figure 2.6 Lateral movement of the robot. . . . . . . . . . . . . . . . . . . 22

Figure 3.1 First version of the PCB (left) and second version of the PCB

(right). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 3.2 Block diagram of MCU with required I/Os. . . . . . . . . . . . 27

Figure 3.3 Main processor bit size in 2017 embedded markets study [46]. . 28

Figure 3.4 Power distribution of the quadruped robot. . . . . . . . . . . . 33

Figure 3.5 The hardware block diagram of the embedded system. . . . . . 35

Figure 3.6 Circuit schematic diagram of the MCU. . . . . . . . . . . . . . 37

Figure 3.7 First version of the motor drive design. . . . . . . . . . . . . . . 38

Figure 3.8 Second version of the motor drive design. . . . . . . . . . . . . 39

x

Figure 3.9 First version of the voltage regulation design. . . . . . . . . . . 40

Figure 3.10Second version of the voltage regulation design. . . . . . . . . . 40

Figure 3.11Two versions of the potentiometer interface design. . . . . . . . 41

Figure 3.12Two versions of the IMU interface design. . . . . . . . . . . . . 41

Figure 3.13Layer structure of the designed double-sided PCB. . . . . . . . 42

Figure 3.14Process flow of the PCB design. . . . . . . . . . . . . . . . . . . 44

Figure 3.15First version of the power distribution design. . . . . . . . . . . 45

Figure 3.16Second version of the power distribution design. . . . . . . . . . 46

Figure 4.1 Experimental platform of the quadruped robot. . . . . . . . . . 49

Figure 4.2 Potentiometer schematic representation. . . . . . . . . . . . . . 49

Figure 4.3 Pin configuration of the microcontroller. . . . . . . . . . . . . . 54

Figure 4.4 Clock configuration of the microcontroller. . . . . . . . . . . . . 54

Figure 4.5 Experimental software flowchart. . . . . . . . . . . . . . . . . . 55

Figure 4.6 Control block diagram of the closed-loop joint motion system. . 58

Figure 4.7 Knee joint rotates from position (a) to (b) in handstand status. 59

Figure 4.8 Comparison of filtered and unfiltered joint control. . . . . . . . 59

Figure 4.9 Knee joint rotates from position (a) to (b) in “standing” status. 60

Figure 4.10Keyed joint connection between bevel gear and shaft sleeve. . . 62

Figure 5.1 Leg structure with three active joints and one passive joint [61]. 64

xi

Acronyms

DOF degree of freedomCOG center of gravityCPU central processing unitPC personal computerCAN controller area networkPAs proprioceptive actuatorsSEAs series elastic actuatorsBLDC brushless direct currentIMU inertial measurement unitPID proportional-integral-derivativeOS operation systemCAD computer-aided designUART universal asynchronous receiver/transmitterUSART universal synchronous/asynchronous receiver/transmitterRTOS real time operation systemRAM random access memoryROM read only memoryFPU floating point unitSWD serial wire debugI/O input/outputMCU microprogrammed control unitSPI serial peripheral interfaceDC/DC direct current to direct currentAC/DC alternating current to direct currentLDO low-dropoutIC integrated circuitPWM pulse-width modulationPCB printed circuit boardMOSFET metal–oxide–semiconductor field-effect transistorA/D analog to digitalMAF moving average filterIDE integrated development environmentFPGA field-programmable gate array

xii

Acknowledgements

Firstly, I would like to express my sincere gratitude to my supervisor, Dr. Yang

Shi for providing me with the precious opportunity to work in such an amazing field

during my MASc study at UVic. His immense knowledge and insightful suggestions

always inspire me to move forward. He not only encouraged me with great patience

to promote my academic abilities, but also provided tons of experience on becoming

a responsible and mature person. I have gained an invaluable amount of knowledge

and experience working under his supervision.

I wish to thank the thesis committee members, Dr. xxx and Dr. xxx, for their

constructive suggestions.

Moreover, I am also thankful to all my labmates from Applied Control and Infor-

mation Processing Lab (ACIPL), it is my honor to work with you all. In particular,

I am grateful to Dr. Bingxian Mu for picking me up when I arrived in Victoria, to

Xiang Sheng for providing kindness help on the project. I would also like to thank

Dr. Chao Shen, Dr. Yuanye Chen, Jicheng Chen, Kunwu Zhang, Yuan Yang, Qi Sun,

Qiao Zhang, Changxin Liu, Henglai Wei, Tianyu Tan, Xinxin Shang, Zhang Zhang,

Chen Ma, Huaiyuan Sheng, Zhuo Li, and Tianxiang Lu for the impressive time we

spent together. Thanks also go to my reliable friends Dr. Chunxi Yang, Dr. Liying

Hao, Dr. Fengqiu Xu, Kenan Yong, Hongwei Sun, Xin Jin, Shichang Cui, Chengsi

Shang, Chenglong Du, Meng Li, Dong Wang and Lu Ren for their selfless help.

Finally, I would like to thank my parents for their never-ending love, support and

encouragement during this whole journey.

xiii

To my parents

To my grandfather

Chapter 1

Introduction

1.1 An Overview on Mobile Robots

Autonomous robots can be roughly classified into two categories, stationary robots

and mobile robots. One type of stationary robotic systems is the manipulator, which

places surface-mounted components with extremely high precision [1], i.e., in the

assembly line, a robot arm is able to move with high speed and accuracy to perform

repetitive tasks, such as spot welding [2] and painting [3]. Another important type of

stationary robotic systems is the grasping device [4], which is commonly used to grasp

the desired objects. Nowadays, a variety of robotic hand and finger mechanics have

been developed and have been widely applied in agriculture [5], etc. Unfortunately,

these stationary robots are suffering from the lack of mobility and limited range of

motion.

In contrast, mobile robots are able to move over rough terrains. Due to flexibility

of the mobile robots, they are widely applied in many areas such as planetary ex-

ploration, medical care, and construction, etc. In these application scenarios, mobile

robots can be classified into land-based robots, aerial robots, and underwater robots.

2

Furthermore, according to different mechanical structures, the land-based robots can

be divided into wheeled robots, tracked robots, and legged robots, respectively.

1.1.1 Wheeled and Tracked Robots

As one of the most important systems for robot locomotion, wheeled robots play

significant roles in transportation [6] and logistics [7]. Generally, wheeled robots

move faster and consume less energy than tracked vehicles. Meanwhile, they also

tend to be much cheaper and do not present difficulties in terms of balance issues,

in comparison with their legged counterparts. Therefore, the control strategies for

wheeled robots are less complex than other solutions. Compared to conventional

wheeled robots, tracked robots feature larger ground contact patches and less ground

impact [8]. However, they are less precise in maneuverability and more difficult to

get repaired.

1.1.2 Legged Robots

In nature, there are some specific places, such as planetary surfaces [9, 10, 11], con-

struction [12, 13], and disaster salvation [14, 15], etc. These circumstances are mostly

uneven terrains, which limit the application of wheeled robots and tracked robots.

However, legged robots are more suitable in these situations for locomotion imple-

mentation, by virtue of their terrain adaptation ability. In addition, they can also be

applied in plenty of fields, such as medical applications [16, 17] and education [18].

Therefore, the legged robot has become a hot spot in robotics research, due to their

advantages over wheeled and tracked robots.

Firstly, legged robots present superior mobility in natural terrains. Unlike wheeled

robots, they can avoid small obstacles by making discrete footholds without the neces-

sity of continuous support surface. Moreover, the use of multiple degrees of freedom

3

(DOFs) in the leg joints adjusts the leg extension to position the center of gravity

(COG) of the body, and further varies the body height. Hence, legged robots are able

to move over irregular terrains by adjusting their leg configurations.

The other advantage is that legged robots have redundant legs, and therefore they

can maintain balance and continue walking even with one leg mutilated during static

locomotion, which improves failure tolerance [19, 20]. Additionally, the legs can work

as an active support base to flexibly actuate the robot body when feet are fixed to

the ground [21].

Although legged locomotion is advantageous compared with traditional wheeled

and tracked vehicles, legged robots also have drawbacks. They require complex me-

chanical design and control algorithm. Furthermore, they are heavier and consume

larger energy since a large number of actuators are required to manipulate multiple

DOFs legs. There are many types of walking robots depending on the number of legs.

• Monopod

The Monopod robots have only one type of locomotion gait, i.e., hopping, which

represents a highly nonlinear dynamical behavior, consisting of alternating flight and

stance phases. As shown in Figure 1.1(a), a Toyota monopod robot [22] developed

by Tajima and Suga in 2006 has a total of seven DOFs, three at the hip, one at the

knee, two at the ankle, and one at the toe, with one extra DOF for 3D motion. This

redundancy is beneficial for reducing the excessive joint speed when it is hopping.

Another distinctive jumping robot, named as Salto-1p [23, 24], was created by UC

Berkeley’s Biomimetic Millisystems Lab in 2017. It is designed to mimic saltatorial

animals like galago or bushbaby, which has a strong vertical jumping agility, as shown

in Figure 1.1(b).

4

(a) (b)

Figure 1.1: (a) “Toyota monopod” [22] and (b) “Salto-1P” [23, 24].

• Bipedal robot

Bipedal robots make use of sensors to reproduce human capabilities, such as going up

and down stairs, jumping, or even doing somersaults. As illustrated in Figure 1.2(a),

the biped “REEM-C” is a 100% ROS-based bipedal robotics platform, which was

launched by PAL Robotics in 2013 [25]. It is controlled by two computers with Intel

Core i7-2710QE CPUs. The sonars and cameras help to map its environment, perform

path planning, and achieve obstacle avoidance. The MTi-30 AHRS sensor provides

the real-time attitude information and improves walking stability. In addition, all

the motors and sensors communicate with the PC via CAN network. In 2017, a new

humanoid robot “TALOS” [26], also launched by PAL Robotics, is mainly used for

artificial intelligence and human-robot interaction, as shown in Figure 1.2(b). It is a

fully electrical actuated and torque-controllable robot, assembled with torque sensors

and EtherCAT communication network to manipulate up to 6 kg payload for each

stretched arm.

5

(a) (b)

Figure 1.2: (a) “REEM-C” [25] and (b) “TALOS” [26].

• Quadruped robot

Quadruped robots have the advantage of being statically stable when they are not

moving. However, dynamic walking control for leg coordination becomes more com-

plicated and high computational speed is required. Moreover, according to different

types of actuators, the application scenarios and control performance are different.

As shown in Figure 1.3(a), the “HyQReal” is developed to support humans in emer-

gency scenarios, presented by IIT (Istituto Italiano di Tecnologia) in 2019 [27]. It is an

electro-hydraulic powered quadruped robot that features high ruggedness, reliability

and energy efficiency. Combined with large output driving force, fast response speed

of the hydraulic actuator and compact structure of the electric motors, it can pull a

small passenger airplane weighing more than 3 tons. Additionally, it is controlled by

two computers on board: One is dedicated to vision and the other is for control.

As pictured in Figure 1.3(b), the “Cheetah 3” is designed to move across rough

terrain and through obstacles without relying on vision, built by MIT in 2018 [28].

It is driven by self-made proprioceptive actuators (PAs), which have high torque

density to improve the load-carrying ability and low-speed efficiency. The actuation

6

system is designed to achieve certain tasks, such as power plant inspection and blind

locomotion, which makes the robot suited for reconnaissance and rescue missions.

The locomotion control and state estimation are handled by an embedded computer

with a second GEN Core i7 CPU, while the leg controller is performed by an ARM-A8

processor.

(a) (b)

Figure 1.3: (a) “HyQReal” [27] and (b) “Cheetah 3” [28].

Laikago [29], released by Unitree Robotics in 2017, is a lightweight quadruped

robot research platform and actuated by 12 Unitree brushless DC motors, as shown

in Figure 1.4(a). It is capable to maintain stability as the terrain changes and adjust

the posture automatically. Therefore, Laikago is applied to perform tasks such as

security patrolling, deliveries or research studies.

ANYmal is designed for autonomous operation in challenging environments, cre-

ated by ETH Zurich and ANYbotics in 2016 [30]. Driven by special compliant and

highly integrated series elastic actuators (SEAs), the robot is capable of wide range

of motion and high-mobile climbing. The robot navigation is achieved by using on-

board thermal cameras, microphones and Lidar scanners. Furthermore, it can open

doors autonomously, walk upstairs in any terrain, and crawl through tight spaces by

changing the leg configurations.

7

(a) (b)

Figure 1.4: (a) “Laikago” [29] and (b) “ANYmal” [30].

The performance of mobile robots can be further improved by using different loco-

motion modes, and thus hybrid locomotion robots have been studied and developed in

recent years [31, 32, 33]. This type of robot structure takes the advantages of various

locomotion modes and switches between different modes according to the practical

requirements and terrain conditions.

1.2 Robot Control System

Essentially, an industrial robot control system consists of three elements: Actuator,

sensor and the embedded system. The actuators are used to produce mechanical

movements in robots or tell what the robot is doing. Moreover, the sensors measure

the physical properties of the surrounding environment to increase the performance

of robot to a large extent. More importantly, the embedded system globally inter-

connects every subsystem and performs different tasks simultaneously. Thus, the

embedded system is the centerpiece of a robot control system.

8

1.2.1 Actuators

There are three types of actuators (electric, hydraulic and pneumatic) which are most

commonly used to actuate the robot joints.

Electric robots are usually driven by permanent magnet servo motors, brushless

motors and stepper motors. Compared with fluid power machines, electric actuation

systems are easily maintained and are suitable for electronic control. However, unless

incorporating direct-drive motors, electrically driven robots have the limitation of

requiring transmission systems. It can not only add cost and weight, but also reduce

precision and efficiency due to gear backlash or undesired friction. Furthermore, if

their maximum permitted torque is exceeded, the gears are increasingly becoming the

weakest element of an electric motor unit [34] with the risk of breaking. Additionally,

electric motors produce low torque relative to their size and weight.

Hydraulically powered robots have very good power-to-weight ratio and hydraulic

force can be applied directly at the desired point without the necessity of a trans-

mission system. In addition, there are no backlash problems, as hydraulic fluid is

incompressible. Because of the sturdy construction, they can withstand higher shock

loads than other robot types. However, they tend to be less reliable than electric

robots due to fluid leaks which contaminates the work areas and causes performance

loss. Moreover, hydraulic robots tend to be much more expensive than their electric

counterparts.

Pneumatic powered robots are the cheapest and least sophisticated type. They are

fast, reliable and easily understood by technicians. Meanwhile, they can also be used

to detect gas leakage [35]. The major weakness of the pneumatic robots is that precise

servo control is not practical due to compressibility of the air, particularly when

moving heavier loads. Thus, pneumatic robots are usually found in light-load and

fixed-speed applications. The most important properties of the electric, pneumatic

9

and hydraulic actuators are listed in Table 1.1.

Table 1.1: Comparison of three conventional actuator types [36].

Property Electric Hydraulic Pneumatic

Working principle electricityhigh quality oil,

synthetic liquids

air, nitrogen,

combustion

Power supply ≤460V 0.4-70MPa 0.04-0.9MPa

Efficiency high low low

Speed fast relatively fast slow

Position accuracy high good good

Energy consumption low high high

Power-to-weight ratio low high relatively high

Noise low relatively high relatively high

Temperature sensitivity insensitive sensitive relatively sensitive

Cost relatively low high low

1.2.2 Sensors

It is vital for an autonomous mobile robot to acquire knowledge about its work

environment. This can be achieved by collecting data via sensors. For instance, the

use of sensors makes it possible to perform robot positioning and localization tasks

[37]. In addition, they are widely used for mapping [38] and object recognition [39].

Generally, the sensors can be grouped into internal and external sensors. Internal

sensors are utilized to measure the parameters of the robot itself, such as the motor

speed, joint angle, etc. External sensors obtain surrounding information, such as the

distance, light intensity, and sound amplitude. The most common sensors used in the

robot control systems are as follows:

10

• Potentiometers are a type of resistive transducers and the output voltage

is proportional to the displacement. They are primarily used to measure the

angular position in the robot control systems, with feedback loops to ensure

that the joints reach the desired positions.

• Force and torque sensors are always mounted in each leg of the robot. They

can detect the ground contact angle and measure the amount of force between

the foot and ground, and further adjust the robot posture.

• Encoders measure the position and speed of the motors, i.e., a rotary shaft

encoder uses a disk which is read by an optical photodetector inside the encoder

to output the digital signal that indicates the angular position of the shaft.

• IMUs usually contain accelerometers and gyroscopes. Accelerometers measure

the acceleration, from which velocity can be obtained by integration. In most

cases, IMU is used to measure angular velocities and orientation.

• Laser range finder uses a laser beam to generate highly precise distance

measurements. The distance between sensor and target is measured by calcu-

lating the speed of light and the time it takes for emitted light to return to the

receiver.

• Vision-based sensors process data from any modality and use the electro-

magnetic spectrum to produce images. The two current technologies for devising

vision sensors are CCD and CMOS [40].

• Depth sensors are used in object detection, scene reconstruction, 3D inspec-

tion, and so on. Two elements must always be present in a depth sensor: An

infrared (IR) projector and an IR camera.

11

1.2.3 Embedded System

Embedded system is a scaled down computer, which is designed to perform specific

tasks. Compared with a computer platform, embedded system is much easier to

design, less expensive and more portable, therefore, it is widely used in the mobile

robot applications. The embedded system interfaces with the robot internal and

external sensors, actuators, and other peripheral components. Thus, it is capable to

handle serial and parallel data transmission at various rates, and carry out A/D and

D/A conversion. The flow diagram of an overall embedded system is illustrated in

Figure 1.5.

Figure 1.5: Flow diagram for embedded system [41].

It can also perform the functions necessarily for the servo control. For example,

in an electric-actuated robot system, the low-voltage control signals are sent out to

the motor drive amplifiers to produce power for the motors. Meanwhile, the internal

sensors measure the actual position of the motors and sent back to the microcontroller.

Additionally, the software development of an embedded system is closely related

to the hardware, which could be tailored to make the system suitable for various

robot applications. Typically, four electric-actuated quadruped robots with key spec-

ifications are presented in Table 1.2.

12

1.3 Objectives and Contributions

1.3.1 Objectives

To develop a dynamic and versatile quadruped robot, powered by electric actuators,

the objectives of the project are summarized as follows:

• Design of a robot experimental platform : Firstly, we intend to develop

the robot embedded system, including the onboard hardware and software co-

design. By integrating the designed embedded system, actuators and sensors,

the robot experimental platform is then constructed.

• Control of joint motion and leg locomotion : Based on the first objective,

we aim to design and apply the control algorithm to test the joint motion and

to further manipulate each leg to complete certain locomotion and gestures.

The goal of present thesis is to make a contribution toward the achievement of

the above objectives. This thesis describes the design and development of an embed-

ded system for joint motion control in details. Moreover, it provides a foundation

for further improvement and implementation of the robot platform and locomotion

control. In addition, it also provides a reference for people conducting research within

the project and its collaborators.

1.3.2 Contributions

The main contributions of the thesis project are listed below:

• The hardware of the robot embedded system is designed to provide the under-

lying platform for motor control.

13

• The software of the robot embedded system is developed in Keil uVision IDE

and programmed into a STM32 microcontroller.

• Based on the designed embedded system, actuators and sensors are then tested

and selected to set up the robot experimental platform.

• The moving average filter based cascaded PID control strategy is designed and

implemented on the closed-loop joint motion system.

• Existing mechanical design problems are analyzed and possible solutions re-

garding motor torque transmission are proposed to further improve the joint

structures.

1.4 Thesis Organization

The remainder of this thesis is organized as follows:

• Chapter 2 introduces the robot system specifications, joint structures, and

the principles of leg motions. In addition, the research development process is

reported based on the predefined objectives.

• Chapter 3 presents the hardware design of the embedded system in details,

with descriptions of robot component selections. Next, the circuit schematic

diagrams and PCBs in two versions are discussed and analyzed with compar-

isons.

• Chapter 4 studies the robot joint motion system, based on the testing of

sensors and actuators, firmware configuration and software development. By

implementing the MAF-based cascaded PID control strategy, experimental re-

sults are shown with respect to the motion performance of both knee and hip

joints.

14

• Chapter 5 summarizes this thesis with the conclusions and future research

directions.

15

Table 1.2: Key specifications of four electric-powered quadruped robots.

Index

TypeLaikago Mini Cheetah Jueying SpotMini

Dimensions

(L×W×H;cm)55×35×60 48×27×30 85×50×65 84 (H)

Weight (kg) 22 9 40 30

DOF 12 18 12 17

Speed (km/h) 2.88 8.8 ≥7 5.76

Actuatorscustomed

BLDC motorselectric motors

customed

PMSM motorsall-electric

SensorsIMU, joint encoders

foot force sensors

IMU

hall-effect encoders

IMU, lidar,camera

foot force sensors

IMU, camera

position/force sensors

Powerlithium-ion

battery

lithium-ion

battery

lithium-ion

battery

lithium-ion

battery

Runtime (h) 3-4 2 2-4 1.5

ComputingARM processors,

extra PC

STM32F4 MCU,

Intel processorIntel Core i7

custom control

computing system

Software Ubuntu Linux OS Linux OS QNXGRPC-based API

Python client library

Application Research, Industrial Research Research, Industrial Research, Industrial

16

Chapter 2

Robot Specifications and

Mechanical Structure

2.1 Introduction

This chapter presents the overall specifications and the mechanical structure of the

quadruped robot. Firstly, the robot specifications in terms of mechanical and elec-

tronic properties are introduced in Section 2.2. Then the robot structure is shown

in 2.3, with focus on the kinematic structure, torso and legs. To further explain two

common walking patterns, principles of the robot leg motion are analyzed based on

the structures of hip and knee joints. Furthermore, a development process of the

thesis project is given in Section 2.4.

2.2 Robot Specifications

The robot mechanical structure is mainly built in a high-strength aluminum alloy

and stainless steel. Each leg features 3 DOFs and has compliance to moderate foot-

ground impact. The joints are fully actuated by 12 Maxon DC motors; each rotation

17

angle is measured by a potentiometer and controlled by a STM32F4 microcontroller.

The 3D-CAD model of the robot with components description is shown in Figure 2.1.

The key specifications of the quadruped robot are summarized in Table 2.1.

Torso

Driver Board Power

Right Hind Leg

Right Front Leg

Left Hind Leg

Left Front Leg

Potentiometer

Powered by TCPDF (www.tcpdf.org)


Figure 2.1: Robot 3D-CAD model with components description.

Table 2.1: Key specifications of the designed quadruped robot.

Specification Value

Dimensions (L×W×H;cm) 52×15×10

DOF 12; 3 per leg

Weight (kg) 8.8

Leg spring compliance (N/m) 5250

Joint range of motion () 200

Motor drive L298N

Actuators Swiss Maxon DC motor

Sensors potentiometers, IMU

Computing STM32F407VET6

Software Keil uVision5 with custom C code

18

2.3 Robot Structure

2.3.1 Kinematic Structure

The quadruped robot has four identical compliant legs. They are mounted to the

torso in a way that the pitching joints of the front and hind legs face each other,

as shown in Figure 2.2. Each leg features three active DOFs, with two lying on the

shoulder part (hip joint) and one on the knee joint. In addition, the robot components

with their weight are listed in Table 2.2, including the torso, legs, controller board

and power supply.

Pitching joint

Rolling joint



Figure 2.2: Kinematic structure of the robot with hip and knee joints.

Table 2.2: The weight of the robot components.

Component Weight (kg)

Torso 4

legs 4

Controller board 0.3

Power supply 0.5

Total weight 8.8

19

2.3.2 Torso

The torso, is designed not only to carry most of the robot components, but also to

provide a rigid platform for four legs to be easily mounted. In order to achieve weight

reduction and balance of the robot, some lightweight components are utilized and

symmetrically assembled on the main body. To ensure the construction materials

to be strong and impact-resistance, most parts of the robot including the torso, are

constructed by aluminum alloys 6061 that features high strength and toughness. The

main torso components are listed in Table 2.3.

Table 2.3: Torso components of the quadruped robot.

Component Quantity

Swiss Maxon DC motor 41.022.022 8

Sakae 22HP-10 Potentiometer 8

Aluminum plates 6

Timing belt 8

Bevel gear 8

Pulley 16

2.3.3 Legs

Among all components of the robot, legs are the most important parts. The prop-

erties, such as the weight, dimensions and joint actuation, will directly influence the

motion performance of legs and therefore the robot. Each leg consists of a hip joint,

thigh, knee joint, shank and a foot for ground contact.

The brass shaft is fixed along the motor shaft by a set of screw, and expected

to rotate synchronously with the motor. Pulley 1, sleeved on the brass shaft, is

connected to the pulley 2 via a timing belt to transfer the torque from the motor to

the pin joint. Different from the common structure in [42, 43] , three identical bevel

20

gears are assembled vertically to each other on the pin joint. Pulley 2 and bevel gear

1 (defined as pair A) are expected to rotate in the same pace, as well as pulley 3 and

bevel gear 2 (defined as pair B). The mechanical structure of the hip joint is shown

in Figure 2.3.

Pulley 3

Bevel gear 2

Motor

Brass shaft

Timing belt

Pulley 1

Pulley 2

Bevel gear 1

Bevel gear 3

Pin joint

Steel shaft Pair A

Pair B



Figure 2.3: CAD model of the hip joint.

The knee joint rotates forward and backward along the vertical plane with only

one DOF. The bevel gear 4 is fixed by a screw along the motor shaft. Meanwhile,

the bevel gear 5 is mounted vertically on the steel shaft and utilized to connect the

thigh rails. The actuation of knee joint is achieved by applying bevel gear 4 and 5

to transmit the driving force from the motor to the foot. Figure 2.4 illustrates the

structure of the knee joint.

Based on the structure of hip and knee joints mentioned above, leg motion is

then analyzed, which plays an essential role in the experimental testing and further

mechanical structure improvement. Intuitively, the hip joint is capable of rotating

forward and backward, and can also realize the movement of abduction and adduction.

When the bevel gear pairs A and B rotate in the opposite direction, and consequently,

21

Motor

Bevel gear 4

Bevel gear 5Potentiometer

Foot

Aluminum plate



Figure 2.4: CAD model of the knee joint.

the bevel gear 3 will drive the hip joint to rotate back and forth. On the contrary,

when the bevel gear pairs A and B rotate in the same direction and speed, the bevel

gear 3 will be locked along the pin joint and the thigh part will swing inside and

outside. Therefore, different gestures and leg locomotion of the quadruped robot can

be realized by cooperation between pair A and pair B. Two common walking patterns

of the quadruped robot are presented in Figures 2.5 and 2.6.

• Moving forward and backward

Pitching joint

Rolling joint



Figure 2.5: Forward and backward movement of the robot.

22

• Moving left and right

Pitching joint

Rolling joint



Figure 2.6: Lateral movement of the robot.

2.4 Main Stages of the Robot Development

This quadruped robot was originally designed and assembled with only the mechanical

structure, aiming at research purposes. However, the robot experimental platform

and motion testing were not developed and implemented. Therefore, the structural

rationality and locomotion feasibility of the robot were not verified.

To achieve the previous objectives mentioned in Chapter 1, we therefore decided

to divide the robot development process into 4 stages in sequence:

• Stage 1: Embedded system hardware design and firmware configuration.

• Stage 2: Software development and hardware testing.

• Stage 3: Component screening and mechanical assembly.

• Stage 4: Control strategy implementation and joint motion experiment.

23

2.5 Conclusions

The quadruped robot has the following torso dimensions of 52cm×15cm×10cm (L×W

×H) and weighs 8.8kg in total. After a brief system overview, the mechanical struc-

ture of the robot is discussed systemically including the kinematic structure and

descriptions of torso and leg. Next, the geared architecture of hip and knee joints

are discussed to specify the leg motion principles. Each joint is actuated by a Swiss

Maxon DC motor that provides relatively low speed and high driving torque. In

addition, two types of walking patterns are illustrated based on the collaboration of

bevel gears. The chapter ends with a development procedure of the project, which

will be discussed in the following chapters.

24

Chapter 3

Embedded System Hardware

Design

3.1 Introduction

As a typical type of embedded system, the quadruped robot is characterized by strong

correlation between hardware and software. Therefore, during the development of a

robotic embedded system, a methodology of hardware/software co-design is emerged

frequently to meet system demands in an optimized manner. However, without the

basic and essential support of hardware platform, software and experimental tests are

meaningless and cannot be further conducted. Moreover, the onboard hardware is

usually customized for specific applications, which in turn integrates with a number of

heterogeneous components, and thus increases the complexity of the hardware design.

The hardware used to control the quadruped robot went through two versions,

which are both designed in Altium Designer [44]. The first version of the driver

board consists of all the required components with H-bridge circuitry symmetrically

distributed on both sides of the board. Unfortunately, due to the issues brought by

25

the irrational MCU pin allocation, excessive welding elements, and improper bypass

components, the chip was damaged by the unexpected current or voltage in the

experiment.

Chapter 3 introduces the hardware design of the embedded system. Firstly, we

introduce the selection of the main components, including MCU and power supply.

Secondly, after illustrating the hardware architecture, we discuss the circuit schematic

design for each functional module. Finally, we present and compare two versions of

the printed circuit board design. Figure 3.1 shows the appearance of two versions of

the PCB.

Figure 3.1: First version of the PCB (left) and second version of the PCB (right).

3.2 Component Selection

Component selection is an indispensable stage of the embedded system design, which

is usually prior or parallel to the software development. In order to build an embedded

system fulfilling the requirements, it is important to consider hardware properties,

functional requirements and comprehensive marketing research.

26

3.2.1 Microcontroller

A microcontroller is essentially a small computer, running on a single integrated chip.

It incorporates the memory, general input/output interfaces, and other peripherals.

The related most important factors [45] are shown as follows:

• Application

Our objective is to achieve motor speed and position control. To handle compute-

intensive tasks, such as massive A/D conversions and data filtering, which require

strong computing capability, we prefer to choose a floating point unit (FPU) for the

hardware design to better perform operations involving a lot of decimal numbers.

• Clock rate

Generally, motor control applications use a sampling rate of 100ksps or higher. How-

ever, the higher the clock rate is, the more power the system will consume. In

addition, the anti-interference performance is inversely proportional to the MCU op-

erating speed. Therefore, an MCU that features high clock rate with low power

consumption is definitely ideal. For our case, 12 DC motors are controlled in parallel,

which requires the sampling rate to be greater than 1Msps.

• Number of pinout and I/Os

Generally, a hardware block diagram is utilized to enumerate all the external interfaces

supported by the MCU. There are two types of interfaces which are commonly listed.

The first type is the communication interface, which affects the program space of the

MCU, i.e., USB, SWD, UART, etc. The second type is the digital inputs/outputs,

A/D inputs, PWM, etc. The two types of interfaces straightly dictate the number of

I/O pins required by the microcontroller. Figure 3.2 illustrates the hardware block

diagram of the MCU with required I/Os.

27

2 I/O

IC

2 I/O

2 I/O

12 I/O

2 I/O

24 I/O 12 I/O

10 I/O 2 I/O

Reserved

I/OButton

SWD

ADC

Input

USART

Motor

Input

Motor

PWM

Power

LED

Motor

LED

Program

LED



Figure 3.2: Block diagram of MCU with required I/Os.

• Memory requirements

There are three different types of memory associated with an MCU: Flash, SRAM

and EEPROM. The required memory depends on the size of the software. However, it

might not be easy to evaluate and instead, the workload of the MCU can be estimated

and predicted. For our case, it is critical to ensure that the program space is enough,

as the amount of code containing real-time applications and data optimization is

relatively large. The MCU with medium or large size memory is relatively suitable

in our hardware design.

• Bit size

Selecting an MCU with proper bit size is another basic requirement. For instance,

using an unsigned integer requires 16-bit of memory due to the data type. However,

the most significant byte may be lost if the data is executed on an 8-bit MCU. For

our case, the bit size of the MCU should be at least 16-bit, thus 32-bit MCU is the

28

most proper choice. Figure 3.2 illustrates the embedded market share of processors

in terms of bit size, researched by global electronics industry magazine “EE Times”.

© 2017 Copyright by AspenCore. All rights reserved.2017 Embedded Markets Study

70

12%9%

63%

13%

3%

9%

13%

68%

8%

3%

11%15%

64%

7%

3%

12%14%

63%

8%

3%

13%16%

63%

7%

2%

8-bit processor 16-bit processor 32-bit processor 64-bit processor Don’t know

2017 (N = 760) 2015 (N = 1,030) 2014 (N = 1,383) 2013 (N = 2,056) 2012 (N = 1,666)

My current embedded project's main processor is a:

Note. 52% of respondents said additional processors (if any) were 32-bit processors, 18% said they added 8-bit

processors, 14% added 16-bit processors, and 11% added 64-bit processors to their current embedded project.



Figure 3.3: Main processor bit size in 2017 embedded markets study [46].

• Development tools, cost and compatibility

It is prior to use an MCU with resourceful toolkit, i.e., data sheet, code samples, and

preferably a large online community, which can reduce the development time. Mean-

while, it is necessary to reduce the cost of components and the entire project as much

as possible on the premise of guaranteed performance. In our design, the compati-

bility of MCU is also considered. To realize the hierarchical communication between

high-level and underlying controller, the chip is required to work harmoniously on at

least two development platforms with assistance of compatible firmware.

Furthermore, some general principles of chip selection are listed as follows. Firstly,

to reduce energy consumption and extend the equipment life cycle, we prefer to

use low power MCU. Moreover, the chip with ‘QFP’ package is often adopted for

products with limited size, thereby reducing costs while simultaneously contributing

to electromagnetic compatibility (EMC) design.

29

Based on the above evaluation criteria, the minimum requirements of the ideal

MCU in terms of the performance specifications are summarized in Table 3.1.

Table 3.1: Specification requirements of the microcontroller.

Index Value

Pin count ≥80

I/O count ≥68

ADC pin count ≥12

Clock rate (MHz) ≥48

Bit size (bit) ≥16

Sampling rate (Msps) ≥1

Flash size (KB) ≥512

SRAM size (KB) ≥64

ADC resolution (bit) 12

Supply voltage (V) 1.8-5.5

Cost (USD) ≤10

The MCU is essentially chosen from the various semiconductor manufacturers.

After conducting the MCU marketing research in the field of motor control and real-

time data processing, 5 MCUs were finally taken into consideration, as illustrated in

Table 3.2.

The selection of MCU is conducted according to the following two steps:

• We first pick out the candidates that satisfy the minimum requirements by

comparing each indicator between the product and ideal MCU.

• Among the rest candidates, we estimate and screen out the most suitable MCU,

based on the key specifications, compatibility and the cost.

30

Table 3.2: Comparison of specifications of 5 MCUs.

Index

MCU Infineon

XMC1302

Microchip

SAMC21N18

Microchip

SAMD51N20

STMicroelectronics

STM32F407VET6

Texas Instruments

TMS320F28335

CoreARM

Cortex-M0

ARM

Cortex-M0+

ARM

Cortex-M4F

ARM

Cortex-M4F

DSP

C28x

Pin count 40 100 100 100 176

I/O count 34 84 81 82 88

Clock rate (MHz) 32 48 120 168 150

Sampling rate (Msps) 0.75 1 1 2.4 12.5

Bit size (bit) 32 32 32 32 32

Flash size (KB) 200 128/256 1024 1024 512

SRAM size (KB) 16 16/32 256 192 68

ADC resolution (bit)12×1

16 CHx

12×2

20 CHx

12×2

20 CHx

12×3

16 CHx

12×2

16 CHx

Supply voltage (V) 1.8-5.5 1.6-5.5 1.7-3.6 1.8-3.6 1.8-3.3

Package VQFN-40 TQFP-100 TQFP-100 LQFP-100 LQFP-176

Interface typeSPI, UART

I2C, I2S

SPI, UART

I2C, CAN

SPI, UART

I2C, CAN

SPI, UART/USART

I2C, I2S, SDIO, USB

SPI, UART

I2C, CAN

FPU N/A N/A X X X

Development tools X X X X X

Compatibility X X X X X

Cost (USD) 3.91 3.84 6.17 4.77 14.25

31

In the first stage of selection, the XMC1302 and SAMC21N18 chips are ex-

cluded. It is obvious that the number of I/Os, sampling rate and the memory size

of XMC1302 cannot meet the minimum requirements. Moreover, most specifications

of SAMC21N18 meet the basic requirements. However, the memory size is relatively

small. The program cannot be downloaded into the MCU completely and the follow-

up tasks are not able to be executed if the memory size is smaller than the program

size.

In the second stage of selection, the rest three candidates all meet the requirements

and therefore we further compare the key specification among each other. These

specifications should be clarified and served as decision factors to screen out the

MCU more effectively. The clock and sampling rate are important for real-time data

processing and motor control. ST chip has the highest clock rate at 168MHz, while

TI chip has the fastest sampling rate at 12.5Msps, much faster than the other two.

In terms of memory size, TI chip has only 512KB flash, while Microchip and ST chip

has 1MB flash. Furthermore, abundant peripheral interfaces and compatibility with

ROS [47] framework are also required. In addition, the cost cannot be neglected.

Although TI chip is the best at handling complex computation among these three

chips, however, its price is 3 times than that of ST chip. As a result, it is also

excluded.

Ultimately, the STM32F407VET6 is chosen as the main processor for hardware

design, with its large memory size, sufficient interfaces, and the lowest cost.

3.2.2 Power Supply

The operating voltage of each circuit component is not the same. Therefore, volt-

age converter should be used in our hardware circuit design. The power electronics

converter can be classified into AC/DC converter [48], DC/AC converter, AC/AC

32

converter, DC/DC converter [49]. These converters can be also divided into buck or

boost converters [50]. There are two approaches to regulate the low DC voltage to

the final rail voltage: Utilizing either an LDO [51] or a DC/DC switching converter.

The LDO can be only used in buck applications, while the switching regulator can

either be designed to boost or buck the output, or even do both seamlessly.

When the voltage difference between input and output is very large, the switching

regulator is always the first choice, primarily due to its high efficiency. However, If the

input and output voltages are close, the LDO is often adopted, because its inefficiency

relative to the switcher is often negligible and switching noise is not generated. The

differences between these two types of regulators are shown in Table 3.3.

Table 3.3: Comparison of the characteristics of LDO and switching regulators.

Index

TypeLDO converter Switching regulator

Conversion efficiency Low High

Ripple wave Small Big

Noise Low High

Function Buck Boost/Buck, Buck-Boost

Application scenario

Buck circuit

Power isolation

Filtering

Boost/Buck circuit

Charge pump

Inductive energy storage

Size Small Large

Complexity Low High

Heat generation High Low

Cost Low Relatively high

33

To design the power supply module, we purpose three possible solutions as follows:

• Solution 1: 24V to 5V, 5V to 3.3V LDO regulator.

• Solution 2: 24V to 12V, 12V to 5V, 5V to 3.3V LDO regulator.

• Solution 3: 24V to 5V switching regulator, 5V to 3.3V LDO regulator.

In Solution 1, the 24V/5V LDO is relatively not common. More importantly, there

is a 19V voltage drop during the conversion. When the power supply current reaches

100mA, the dissipation power is 1.9W, which will heat up the MCU severely. In

Solution 2, the cost is much higher and the overall power loss is also large. In Solution

3, the switching regulator has a large voltage regulation range with a small energy

loss. Meanwhile, the LDO is used to drop the voltage from 5V to 3.3V, which can

guarantee the performance with reasonable cost. In conclusion, solution 3 is finally

adopted. Figure 3.4 illustrates the power distribution of the quadruped robot.

AC/DC

Convertor

LM2596S-5

LM1117-3V3

Motor power

supply

L298N motor

drive

MCU/

peripherals

24V

5V

3.3V

110V AC

Voltage input110V



Figure 3.4: Power distribution of the quadruped robot.

34

The power supply of the quadruped robot can be divided into three parts: 24V

for actuating 12 brushless DC motor, 5V for driving L298N motor drive and 3.3V

for controlling the MCU and peripheral components, respectively. In consideration

of convenience and durability of the experiment, an 110/220V-24V AC/DC regulated

power supply is adopted, instead of a rechargeable battery.

3.3 Circuit Schematic Design

This section presents the circuit schematic design of the embedded system. After

determining the overall hardware architecture, the circuit diagram for each functional

module is ready to be designed. In order to better illustrate the different design

methods and improvements of the two versions, circuitry regarding each component

will be shown and compared.

3.3.1 Hardware Architecture

The modular hardware architecture consists of:

• STM32F407VET6 microcontroller.

• IMU: Measures the real-time attitude angle of the robot.

• Memory: Stores the basic firmware and programs of the control tasks.

• Motor control interface: Connects with the L298N motor drive circuitry.

• Potentiometer: Sends back the analog value of the joint position to the MCU.

• Communication interface: Connects with the PC and downloads the programs.

• Power supply: Provides the power to actuate the DC motors and the circuitry.

35

Combining these modules, the prototype of onboard hardware is completed. The

hardware block diagram of the embedded system is shown in Figure 3.5.

IMU

interface

Communication

interface

STM32F407VET6

MCU

Motor control

interfacePower supply

Memory

Potentiometer

interface

PWM

SWDIO

Power

Data

Voltage

Attitude angle USART

PC

USB



Figure 3.5: The hardware block diagram of the embedded system.

3.3.2 Pin Allocation

After selecting the MCU, we further allocate each pin function properly according

to objectives, based on the data sheets. Otherwise, it may waste the memory space

or even fail to complete circuit schematic design. In addition, pins can be further

divided into several types to realize different functions, which are shown as follows.

• PWM pin

The PWM duty cycle is used to vary motor speed by controlling the terminal voltage.

As the duty cycle increases, the higher average voltage is applied to the motor, the

36

faster the motor will rotate. In STM32F4 data sheet [52], timer output pins in

compare mode are preferred to generate PWM waveform instead of others.

• Analog/Digital pin

The analog-to-digital pins of MCU are directly connected to the terminal pin of the

potentiometer. Hence, the pins with ADC function can be allocated only. To improve

conversion accuracy, the ADC has an independent power supply that can be filtered

separately, and shielded from noise on the PCB.

• SWD pin

Serial Wire Debug (SWD) provides a debug port for small package MCUs. In order

to communicate with a device via SWD, 2 pins are required to connect with the

processor: SWDIO pin transmits and receives bi-directional data, while SWCLK pin

is used to synchronize the clock signal.

• USART pin

The USART is a microchip that facilitates communication through a computer serial

port using RS-232C protocol. The USART pins send the information of robot attitude

angle gathered from IMU to the microcontroller.

• Power supply/GND pin

The circuit is powered by a stabilized power supply VDD. Meanwhile, the ground pins,

such as VSS and VSSA must always be connected to the external power supply. In

addition, decoupling capacitors should be also considered to filter out high-frequency

noise from the power source.

After assigning each pin functions reasonably, the resource of MCU can be better

utilized, which further increases the efficiency of hardware design. Figure 3.6 shows

the overall circuit schematic diagram of the microcontroller.

37

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

9

10

10

11

11

12

12

D D

C C

B B

A A

Title

Number RevisionSize

A1

Date: 2019/9/17 Sheet ofFile: D:\UVIC机器狗\..\ motor_controller.SchDocDrawn By:

FB4

VIN1

ON/OFF5

GND3

TAB6

OUT2

U2

LM2596S-5

101

L1

D13SS34

330uF/35VC11

VCC_+5V

GND

1KR6

LED1

GND

104

C12

VCC_+24VVCC_+5V

VCC_+5V

330uF/35VC43

VIN1

VOUT3

2

GND

U3 LM1117-3V3

100nF

C15

100nF

C13

VCC_+3V3R5

0R

330uF/35VC16

VCC_+5V

BOOT0/VPP94

VCAP273

NRST14

PH0/OSC_IN12

PH1/OSC_OUT13

PA0-WKUP/USART4_TX/ADC123_IN023

PA1/USART4_RX/ADC123_IN1/ETH_REF_CLK24

PA2/USART2_TX/ADC123_IN2/ETH_MDIO25

PA3/USART2_RX/OTG_HS_ULPI_D0/ADC123_IN326

PA4/DCMI_HSYNC/OTG_HS_SOF/I2S3_WS/ADC12_IN4/DAC1_OUT29

PA5/SPI1_SCK/OTG_HS_ULPI_CK/ADC12_IN5/DAC2_OUT30

PA6/SPI1_MISO/DCMI_PIXCLK/ADC12_IN631

PA7/SPI1_MOSI/ADC12_IN7/ETH_RX_DV32

PA8/MCO1/I2C3_SCL/OTG_FS_SOF67

PA9/USART1_TX/I2C3_SMBA/DCMI_D0/OTG_FS_VBUS68

PA10/USART1_RX/OTG_FS_ID/DCMI_D169

PA11/CAN1_RX/OTG_FS_DM70

PA12/CAN1_TX/OTG_FS_DP71

PA13/JTMS/SWDIO72

PA14/JTCK/SWCLK76

PA15/JTDI/I2S3_WS77

PB0/OTG_HS_ULPI_D1/ADC12_IN835

PB1/OTG_HS_INTN/ADC12_IN936

PB2/BOOT137

PB3/JTDO/SPI3_SCK/I2S3_CK/SPI1_SCK89

PB4/JNTRST/SPI3_MISO/SPI1_MISO/I2S3ext_SD90

PB5/CAN2_RX/OTG_HS_ULPI_D7/DCMI_D10/I2S3_SD91

PB6/I2C1_SCL/CAN2_TX/OTG_FS_INTN/DCMI_D5/USART1_TX92

PB7/I2C1_SDA/FSMC_NL/DCMI_VSYNC/USART1_RX93

PB8/SDIO_D4/DCMI_D6/OTG_FS_SCL/I2C1_SCL/CAN1_RX95

PB9/I2S2_WS/OTG_FS_SDA/SDIO_D5/DCMI_D7/I2C1_SDA/CAN1_TX96

PB10/SPI2_SCK/I2S2_SCL/USART3_TX/OTG_HS_ULPI_D3/OTG_HS_SCL47

PB11/I2C2_SDA/USART3_RX/ETH_TX_EN48

PB12/I2S2_WS/I2S2_SMBA/CAN2_RX/ETH_TXD051

PB13/SPI2_SCK/I2S2_CK/CAN2_TX/ETH_TXD152

PB14/SPI2_MISO/OTG_HS_DMUSART3_53RTS/I2S2ext_SD53

PB15/SPI2_MOSI/I2S2_SD/OTG_HS_DP54

OTG_HS_ULPI_STP/ADC123_IN10/PC015

ETH_MDC/ADC123_IN11/PC116

SPI2_MISO/OTG_HS_ULPI_DIR/I2S2ext_SD/ADC123_IN12/PC217

SPI2_MOSI/I2S2_SD/OTG_HS_ULPI_NXT/ADC123_IN13/PC318

ETH_RXD0/ADC12_IN14/PC433


I2S2_MCK/SDIO_D6/USART6_TX/DCMI_D0/PC663

I2S3_MCK/SDIO_D7/USART6_RX/DCMI_D1/PC764

SDIO_D0/DCMI_D2/PC865

I2S_CKIN/MCO2/SDIO_D1/I2C3_SDA/DCMI_D3/PC966

SPI3_SCK/I2S3_CK/UART4_TX/SDIO_D2/USART3_TX/PC1078

UART4_RX/SPI3_MISO/SDIO_D3/DCMI_D4/USART3_RX/I2S3ext_SD/PC1179

UART5_TX/SDIO_CK/DCMI_D9/SPI3_MOSI/I2S3_SD/USART3_CK/PC1280

TAMPER-RTC_AF1/PC137

PC14-OSC32_IN8

PC15-OSC32_OUT9

FSMC_D2/CAN1_RX/PD081

FSMC_D3/CAN1_TX/PD182

UART5_RXSDIO_CMD/DCMI_D11/PD283

FSMC_CLK/USART2_CTS/PD384

FSMC_NOE/USART2_RTS/PD485

FSMC_NWE/USART2_TX/PD586

FSMC_NWAIT/USART2_RX/PD687

FSMC_NE1/FSMC_NCE2/PD788

FSMC_D13/USART3_TX/PD855

FSMC_D14/USART3_RX/PD956

FSMC_D15/USART3_CK/PD10 P P57

FSMC_A16/USART3_CTS/PD1158

FSMC_A17/USART3_RTS/PD1259

FSMC_A18/PD1360

FSMC_D0/PD1461

FSMC_D1/PD1562

FSMC_NBL0/DCMI_D2/PE097


TRACECLK/FSMC_A23/PE21

TRACED0/FSMC_A19/PE32

TRACED1/FSMC_A20/DCMI_D4/PE43



FSMC_D4/PE738

FSMC_D5/PE839

FSMC_D6/PE940

FSMC_D7/PE1041

FSMC_D8/PE1142

FSMC_D9/PE1243

FSMC_D10/PE1344

FSMC_D11/PE1445

FSMC_D12/PE1546

VDD_150

VDD_275

VDD_3100

VDD_428

VDD_511

VDDA22

VSSA20

VREF+21

VCAP149

VSS_274

VSS_399

VSS_427

VSS_510

VSSA19

VBAT6

U4

STM32F407VxTx

PE10PE11PE12PE13

PE15

PA8

PA11PA12PA13PA14PA15

PB3PB4PB5PB6PB7

PB9PB10PB11

PB14PB15

CY18M

C27 22pF

C28 22pF

C33

2.2uF

BOOT0

NREST

R26

10K

R810K

C18100nF

RST1

NREST

SWDIOSWCLK

D14

D15

LED1

LED2

LED1LED2

R20

10K

123

456

P7

Header 3X2A

BOOT1

BOOT1 BOOT0

12345

P1

Header 5

12345

P2

Header 5

12345

P3

Header 5

PC14PC15

R9

1K

R11

1K

KEY0

PB2

C32

2.2uF

R231M

C31

2.2uF

VCC_+5V VCC_+3V3

GND

GND

GND

GND

GND

GND

GND

GND

GND

VCC_+3V3VCC_+3V3

VCC_+3V3

VCC_+3V3

VCC_+3V3 VCC_+3V3

VCC_+3V3

C36100nF

C37100nF

C38100nF

C39100nF

C40100nF

C41100nF

C42100nF

GNDGND

GND

VCC_+3V3

12345

P5

Header 5

NREST

SWDIOSWCLK

VCC_+3V3

SW1

SW2

KEY0

KEY1GND

GND

VCC_+3V3

ADC_IN0

ADC_IN1

ADC_IN2ADC_IN3ADC_IN4

ADC_IN5ADC_IN6

ADC_IN7

ADC_IN8

ADC_IN9ADC_IN10

ADC_IN11

TIM1_CH1_PWM

TIM1_CH2_PWM

TIM1_CH4_PWM

PA15

TIM2_CH2_PWM

TIM2_CH3_PWMTIM2_CH4_PWM

TIM3_CH2_PWM


123

JK1

22HP-10

100

R17

Res2

100

R18

Res2

USART1_TXDUSART1_RXD

1234

P6

VCC_+3V3

GND


VCC_+3V3

R12

470R

GND

ADC_IN0

123

JK2

22HP-10

VCC_+3V3

R13

470R

GND

123

JK3

22HP-10

VCC_+3V3

R14

470R

GND

123

JK4

22HP-10

VCC_+3V3

R15

470R

GND

123

JK5

22HP-10

VCC_+3V3

R16

470R

GND

123

JK6

22HP-10

VCC_+3V3

R19

470R

GND

123

JK7

22HP-10

VCC_+3V3

R21

470R

GND

123

JK8

22HP-10

VCC_+3V3

R22

470R

GND

123

JK9

22HP-10

VCC_+3V3

R25

470R

GND

123

JK10

22HP-10

VCC_+3V3

R27

470R

GND

123

JK11

22HP-10

VCC_+3V3

R28

470R

GND

123

JK12

22HP-10

VCC_+3V3

R29

470R

GND

ADC_IN1

ADC_IN2

ADC_IN3

ADC_IN4

ADC_IN5

ADC_IN6

ADC_IN7

ADC_IN8

ADC_IN9

ADC_IN10

ADC_IN11

1K

R7

LED2

GNDVCC_+3V3

1 2 3 4 5

6 7 8 910 P4

Header 5X2A

repeat(MOTORA_INP)

repeat(MOTORA_INN)

repeat(MOTORB_INP)

repeat(MOTORB_INN)

repeat(MOTORA_EN)

repeat(MOTORB_EN)

repeat(MOTOR_OUT_A+)

repeat(MOTOR_OUT_A-)

repeat(MOTOR_OUT_B+)

repeat(MOTOR_OUT_B-)

repeat

(VC

C_+

24

V)

repeat

(VC

C_+

5V

)

repeat

(VC

C_+

3V

3)

repeat

(GN

D)

repeat(DR,1,6)driver.SchDoc

VCC_+3V3

VCC_+5V

VCC_+24V

GND

MOTOR_OUT_A+[1..6]MOTOR_OUT_A+

MOTOR_OUT_A-[1..6]MOTOR_OUT_A-

MOTOR_OUT_B+[1..6]MOTOR_OUT_B+

MOTOR_OUT_B-[1..6]MOTOR_OUT_B-

MOTOR_OUT_A+1

MOTOR_OUT_A+2MOTOR_OUT_A+3MOTOR_OUT_A+4MOTOR_OUT_A+5MOTOR_OUT_A+6

MOTOR_OUT_A-1MOTOR_OUT_A-2MOTOR_OUT_A-3MOTOR_OUT_A-4MOTOR_OUT_A-5MOTOR_OUT_A-6

MOTOR_OUT_B+1MOTOR_OUT_B+2MOTOR_OUT_B+3MOTOR_OUT_B+4MOTOR_OUT_B+5MOTOR_OUT_B+6

MOTOR_OUT_B-1MOTOR_OUT_B-2MOTOR_OUT_B-3MOTOR_OUT_B-4MOTOR_OUT_B-5MOTOR_OUT_B-6

MOTOR_OUT_A+1MOTOR_OUT_A-1






MOTOR_OUT_B+1MOTOR_OUT_B-1






MOTORA_INP

MOTORA_INN

MOTORB_INP

MOTORB_INN

MOTORA_EN

MOTORB_EN

MOTORA_INP[1..6]

MOTORA_INN[1..6]

MOTORB_INP[1..6]

MOTORB_INN[1..6]

MOTORA_EN[1..6]

MOTORB_EN[1..6]

MOTORA_INP1

MOTORA_INP2MOTORA_INP3MOTORA_INP4MOTORA_INP5MOTORA_INP6

MOTORA_INN1

MOTORA_INN2MOTORA_INN3MOTORA_INN4MOTORA_INN5MOTORA_INN6

MOTORB_INP1

MOTORB_INP2MOTORB_INP3MOTORB_INP4MOTORB_INP5MOTORB_INP6

MOTORB_INN1

MOTORB_INN2MOTORB_INN3MOTORB_INN4MOTORB_INN5MOTORB_INN6

MOTORA_EN1

MOTORA_EN2MOTORA_EN3MOTORA_EN4MOTORA_EN5MOTORA_EN6

MOTORB_EN1

MOTORB_EN2MOTORB_EN3MOTORB_EN4MOTORB_EN5MOTORB_EN6

MOTORA_EN1

MOTORA_EN2

MOTORA_EN3

MOTORA_EN4

MOTORA_EN5

MOTORA_EN6

MOTORB_EN1

MOTORB_EN2

MOTORB_EN4

MOTORB_EN5

MOTORB_EN6

MOTORA_INP1

MOTORA_INP2

MOTORA_INP3

MOTORA_INP4

MOTORA_INP5

MOTORA_INP6

MOTORA_INN1

MOTORA_INN2

MOTORA_INN3

MOTORA_INN4

MOTORA_INN5

MOTORA_INN6

MOTORB_INP1

MOTORB_INP2

MOTORB_INP3

MOTORB_INP4

MOTORB_INP5

MOTORB_INP6

MOTORB_INN1

MOTORB_INN2

MOTORB_INN3

MOTORB_INN4

MOTORB_INN5

MOTORB_INN6

电机驱动

电机接口

角位移传感器接口陀螺仪模块接口程序运行指示灯启动方式选择复位程序下载

单片机

退耦

预留IO

电源预留按键

104

C9

1KR10

100nF

C19

GND

100nF

C20

GND

100nF

C21

GND

100nF

C22

GND

100nF

C23

GND

100nF

C24

GND

100nF

C25

GND

100nF

C26

GND

100nF

C29

GND

100nF

C30

GND

100nF

C34

GND

100nF

C35

GND

100nFC10

GND

12

P30

Header 2

VCC_+24V

GND

GND12345

P31

Header 5

VCC_+24V

12

P8

Header 2

12

P9

Header 2

12

P10

Header 2

12

P11

Header 2

12

P12

Header 2

12

P13

Header 2

12

P14

Header 2

12

P15

Header 2

12

P16

Header 2

12

P17

Header 2

12

P18

Header 2

12

P19

Header 2

C44100nF

TIM9_CH2_PWM


MOTORB_EN3

KEY1

PD7

PD

7PA

15

PC10

PC

10

PC11PC12

PC

11

PC

12

PD0PD1PD2

PD

0

PD

1

PD

2PA

8

PD14

PD

14

PIC901

PIC902 COC9

PIC1001

PIC1002 COC10 PIC1101

PIC1102 COC11

PIC1201

PIC1202 COC12

PIC1301

PIC1302 COC13

PIC1501


PIC1602 COC16

PIC1801

PIC1802 COC18

PIC1901 PIC1902

COC19

PIC2001 PIC2002

COC20

PIC2101 PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26

PIC2701 PIC2702 COC27


PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3201 PIC3202

COC32

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601

PIC3602 COC36

PIC3701

PIC3702 COC37

PIC3801

PIC3802 COC38

PIC3901

PIC3902 COC39

PIC4001

PIC4002 COC40

PIC4101

PIC4102 COC41

PIC4201

PIC4202 COC42

PIC4301

PIC4302 COC43

PIC4401

PIC4402 COC44

PICY101

PICY102 COCY1

PID1301

PID1302 COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PIJK101

PIJK102

PIJK103

COJK1

PIJK201

PIJK202

PIJK203

COJK2

PIJK301

PIJK302

PIJK303

COJK3

PIJK401

PIJK402

PIJK403

COJK4

PIJK501

PIJK502

PIJK503

COJK5

PIJK601

PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PILED101

PILED102 COLED1

PILED201 PILED202

COLED2

PIP101

PIP102

PIP103

PIP104

PIP105

COP1

PIP201

PIP202

PIP203

PIP204

PIP205

COP2

PIP301

PIP302

PIP303

PIP304

PIP305

COP3

PIP401 PIP402 PIP403 PIP404 PIP405

PIP406 PIP407 PIP408 PIP409 PIP4010 COP4

PIP501

PIP502

PIP503

PIP504

PIP505

COP5

PIP601

PIP602

PIP603

PIP604

COP6

PIP701

PIP702

PIP703

PIP704

PIP705

PIP706

COP7

PIP801

PIP802

COP8

PIP901

PIP902

COP9

PIP1001

PIP1002

COP10

PIP1101

PIP1102

COP11

PIP1201

PIP1202

COP12

PIP1301

PIP1302

COP13

PIP1401

PIP1402

COP14

PIP1501

PIP1502

COP15

PIP1601

PIP1602

COP16

PIP1701

PIP1702

COP17

PIP1801

PIP1802

COP18

PIP1901

PIP1902

COP19

PIP3001

PIP3002

COP30

PIP3101

PIP3102

PIP3103

PIP3104

PIP3105

COP31

PIR501 PIR502

COR5

PIR601

PIR602 COR6

PIR701 PIR702

COR7

PIR801

PIR802 COR8

PIR901 PIR902

COR9

PIR1001

PIR1002 COR10

PIR1101 PIR1102

COR11

PIR1201 PIR1202

COR12

PIR1301 PIR1302

COR13

PIR1401 PIR1402

COR14

PIR1501 PIR1502

COR15

PIR1601 PIR1602

COR16

PIR1701 PIR1702

COR17

PIR1801 PIR1802

COR18

PIR1901 PIR1902

COR19

PIR2001 PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301

PIR2302

COR23

PIR2501 PIR2502

COR25

PIR2601 PIR2602

COR26 PIR2701 PIR2702

COR27

PIR2801 PIR2802

COR28

PIR2901 PIR2902

COR29

PIRST101

PIRST102

CORST1

PISW101 PISW102

COSW1

PISW201 PISW202

COSW2

PIU201 PIU202

PIU203

PIU204 PIU205

PIU206

COU2

PIU301

PIU302

PIU303

COU3

PIU401

PIU402

PIU403

PIU404

PIU405

PIU406

PIU407

PIU408

PIU409

PIU4010

PIU4011

PIU4012

PIU4013

PIU4014

PIU4015

PIU4016

PIU4017

PIU4018

PIU4019

PIU4020

PIU4021

PIU4022

PIU4023

PIU4024

PIU4025

PIU4026

PIU4027

PIU4028

PIU4029

PIU4030

PIU4031

PIU4032

PIU4033

PIU4034

PIU4035

PIU4036

PIU4037

PIU4038

PIU4039

PIU4040

PIU4041

PIU4042

PIU4043

PIU4044

PIU4045

PIU4046

PIU4047

PIU4048

PIU4049

PIU4050

PIU4051

PIU4052

PIU4053

PIU4054

PIU4055

PIU4056

PIU4057

PIU4058

PIU4059

PIU4060

PIU4061

PIU4062

PIU4063

PIU4064

PIU4065

PIU4066

PIU4067

PIU4068

PIU4069

PIU4070

PIU4071

PIU4072

PIU4073

PIU4074

PIU4075

PIU4076

PIU4077

PIU4078

PIU4079

PIU4080

PIU4081

PIU4082

PIU4083

PIU4084

PIU4085

PIU4086

PIU4087

PIU4088

PIU4089

PIU4090

PIU4091

PIU4092

PIU4093

PIU4094

PIU4095

PIU4096

PIU4097

PIU4098

PIU4099

PIU40100

COU4

PIR1202

PIU4032

NLADC0IN0

PIR1302

PIU4015

NLADC0IN1

PIR1402

PIU4031

NLADC0IN2

PIR1502

PIU4030

NLADC0IN3

PIR1602

PIU4029

NLADC0IN4

PIR1902

PIU4023

NLADC0IN5

PIR2102

PIU4016

NLADC0IN6

PIR2202

PIU4025

NLADC0IN7

PIR2502

PIU4034

NLADC0IN8

PIR2702

PIU4036

NLADC0IN9

PIR2802

PIU4035

NLADC0IN10

PIR2902

PIU4033

NLADC0IN11

PIP705

PIR2602

NLBOOT0 PIP702

PIR2001

NLBOOT1

PIC1002

PIC1102 PIC1201 PIC1301 PIC1501 PIC1602

PIC1802 PIC1902

PIC2002

PIC2102

PIC2202

PIC2302

PIC2402

PIC2502

PIC2602

PIC2702

PIC2802

PIC2902

PIC3002

PIC3102

PIC3202

PIC3302

PIC3402

PIC3502

PIC3602 PIC3702 PIC3802 PIC3902 PIC4002 PIC4102 PIC4202

PIC4302

PIC4402

PID1301

PIJK103

PIJK203

PIJK303

PIJK403

PIJK503

PIJK603

PIJK703

PIJK803

PIJK903

PIJK1003

PIJK1103

PIJK1203

PILED102

PILED202

PIP301

PIP302

PIP303

PIP304

PIP305

PIP502 PIP604 PIP703 PIP706

PIP3001

PIR1001

PIRST102

PISW202

PIU203 PIU206 PIU302

PIU4010

PIU4020

PIU4027

PIU4074

PIU4099

PISW101

PIU4058

NLKEY0

PISW201

PIU4059

NLKEY1

PID1402

PIU4057

NLLED1

PID1502

PIU4056

NLLED2

PIC901 PIR1002

PIU205 PIC1601

PIR501 PIU303

PIC2701 PICY102 PIR2301

PIU4012


PIU4013

PIC3201 PIU4049

PIC3301 PIU4073

PID1302

PIL101 PIU202

PID1401 PIR902

PID1501 PIR1102

PIJK102 PIR1201

PIJK202 PIR1301

PIJK302 PIR1401

PIJK402 PIR1501

PIJK502 PIR1601

PIJK602 PIR1901

PIJK702 PIR2101

PIJK802 PIR2201

PIJK902 PIR2501

PIJK1002 PIR2701

PIJK1102 PIR2801

PIJK1202 PIR2901

PILED101 PIR601

PILED201 PIR701

PIR1702 PIU4068

PIR1802 PIU4069

PIR2601 PIU4094

PIU407

PIU4051

PIU4097

PIC1801 PIP501

PIR801 PIRST101

PIU4014

NLNREST PIP409

PIU4067

NLPA8

PIU4071

NLPA12

PIP402

PIU4077

NLPA15

PIR2002 PIU4037 NLPB2

PIU4089

NLPB3 NLTIM20CH20PWM

PIU4090 NLPB4

PIU4091 NLPB5

PIU4092

NLPB6

PIU4093 NLPB7

PIP403

PIU4078

NLPC10

PIP406

PIU4079

NLPC11

PIP404

PIU4080

NLPC12

PIU408 NLPC14

PIU409 NLPC15

PIP407

PIU4081

NLPD0

PIP405

PIU4082

NLPD1

PIP408

PIU4083

NLPD2

PIP401

PIU4088

NLPD7

PIP4010

PIU4061

NLPD14

PIU4041

NLPE10

PIU4046 NLPE15

PIP503

PIU4076 NLPA14

NLSWCLK PIP504

PIU4072 NLPA13

NLSWDIO

PIP603

PIR1801

NLUSART10RXD PIP602

PIR1701

NLUSART10TXD PIC1001 PIC1502

PIC1901

PIC2001

PIC2101

PIC2201

PIC2301

PIC2401

PIC2501

PIC2601

PIC2901

PIC3001

PIC3101

PIC3401

PIC3501

PIC3601 PIC3701 PIC3801 PIC3901 PIC4001 PIC4101 PIC4201 PIC4401

PIJK101

PIJK201

PIJK301

PIJK401

PIJK501

PIJK601

PIJK701

PIJK801

PIJK901

PIJK1001

PIJK1101

PIJK1201

PIP201

PIP202

PIP203

PIP204

PIP205

PIP505 PIP601

PIP701 PIP704

PIR502

PIR702

PIR802

PIR901

PIR1101

PISW102

PIU406

PIU4011

PIU4019

PIU4021

PIU4022

PIU4028

PIU4050

PIU4075

PIU40100

PIC1202 PIC1302

PIC4301

PIL102

PIP101

PIP102

PIP103

PIP104

PIP105

PIR602

PIU204

PIU301 PIC902 PIC1101

PIP3002 PIP3101

PIP3102

PIP3103

PIP3104

PIP3105

PIU201

PIP801

NLMOTOR0OUT0A0010060

NLMOTOR0OUT0A01

NLMOTOR0OUT0A0

PIP901

NLMOTOR0OUT0A0010060 NLMOTOR0OUT0A0

NLMOTOR0OUT0A02

PIP1001


NLMOTOR0OUT0A03

PIP1101


NLMOTOR0OUT0A04

PIP1201


NLMOTOR0OUT0A05

PIP1301


NLMOTOR0OUT0A06

PIP802


NLMOTOR0OUT0A01

NLMOTOR0OUT0A0

PIP902


NLMOTOR0OUT0A02

PIP1002


NLMOTOR0OUT0A03

PIP1102


NLMOTOR0OUT0A04

PIP1202


NLMOTOR0OUT0A05

PIP1302


NLMOTOR0OUT0A06

PIP1401

NLMOTOR0OUT0B0010060

NLMOTOR0OUT0B01

NLMOTOR0OUT0B0

PIP1501

NLMOTOR0OUT0B0010060 NLMOTOR0OUT0B0

NLMOTOR0OUT0B02

PIP1601


NLMOTOR0OUT0B03

PIP1701


NLMOTOR0OUT0B04

PIP1801


NLMOTOR0OUT0B05

PIP1901


NLMOTOR0OUT0B06

PIP1402


NLMOTOR0OUT0B01

NLMOTOR0OUT0B0

PIP1502


NLMOTOR0OUT0B02

PIP1602


NLMOTOR0OUT0B03

PIP1702


NLMOTOR0OUT0B04

PIP1802


NLMOTOR0OUT0B05

PIP1902


NLMOTOR0OUT0B06

PIU4096

NLMOTORA0EN010060 NLMOTORA0EN

NLMOTORA0EN1


PIU4070


NLMOTORA0EN2

NLPA11

PIU4060


NLMOTORA0EN3

PIU4040


NLMOTORA0EN4

NLTIM10CH10PWM

PIU4026


NLMOTORA0EN5

PIU4047


NLMOTORA0EN6


PIU402

NLMOTORA0INN010060 NLMOTORA0INN

NLMOTORA0INN1

PIU4085


NLMOTORA0INN2

PIU4063


NLMOTORA0INN3

PIU4018


NLMOTORA0INN4

PIU4039


NLMOTORA0INN5

PIU4053


NLMOTORA0INN6

NLPB14

PIU401

NLMOTORA0INP010060 NLMOTORA0INP

NLMOTORA0INP1

PIU4084


NLMOTORA0INP2

PIU4062


NLMOTORA0INP3

PIU4017


NLMOTORA0INP4

PIU4038


NLMOTORA0INP5

PIU4052


NLMOTORA0INP6

PIU405

NLMOTORB0EN010060 NLMOTORB0EN

NLMOTORB0EN1

NLTIM90CH20PWM

PIU4095


NLMOTORB0EN2 NLTIM100CH10PWM

PIU4066


NLMOTORB0EN3

NLTIM30CH40PWM

PIU4042


NLMOTORB0EN4

NLPE11 NLTIM10CH20PWM

PIU4045


NLMOTORB0EN5

NLTIM10CH40PWM

PIU4048


NLMOTORB0EN6


PIU404

NLMOTORB0INN010060 NLMOTORB0INN

NLMOTORB0INN1

PIU4087


NLMOTORB0INN2 PIU4065


NLMOTORB0INN3

NLTIM30CH30PWM

PIU4098


NLMOTORB0INN4

PIU4044


NLMOTORB0INN5

NLPE13

PIU4055


NLMOTORB0INN6

PIU403

NLMOTORB0INP010060 NLMOTORB0INP

NLMOTORB0INP1

PIU4086


NLMOTORB0INP2

PIU4064


NLMOTORB0INP3

NLTIM30CH20PWM

PIU4024


NLMOTORB0INP4

PIU4043


NLMOTORB0INP5

NLPE12

PIU4054


NLMOTORB0INP6

NLPB15

Figure 3.6: Circuit schematic diagram of the MCU.

3.3.3 Motor Drive

There are two types of motor drive that are designed to actuate the motors:

• MOSFET/Gate driver IC

In the first version of motor drive, gate driver ICs produce the high-current to rapidly

switch on/off power MOSFETs in the bridge circuits. Moreover, the EL357N opto-

coupler is placed between the isolated PWM signal and input of NAND gate. Unfor-

tunately, the gate drivers are burnt as voltage exceeded their max value. Figure 3.7

illustrates the motor drive using MOSFETs and gate driver ICs.

However, it is often troublesome to build H-bridges with discrete components. As

a result, the size of circuit board and the number of components will largely increase.

38

机器狗

转电路

++

存储模块

下载接口

用于接外部指示灯

1

2

3

71

4

U9A

74VHC08MX

自恢复保险丝印字

4

56

U5B

74VHC00MX

+24V

GND3

4

56

U9B

74VHC08MXD10

1N4148

D121N4148

VCC

C26

100nF

DA-1

DA-2

1

23

Q13NCE6075K

1

23

Q11

SUD50P06-15

+24V

R28

1MC24

1nF

1

23

Q8

SUD50P06-15

+24V

1

23

Q16NCE6075K

R29

1MC25

1nF

1

23

714

U5A

74VHC00MX

IN1_T

IN2_T

ENA_24

IN1_24

IN2_24

MOTOR_1_+ MOTOR_1_-

PIC101

PIC102

COC1 PIC201

PIC202

COC2

PIC301

PIC302

COC3 PIC401

PIC402

COC4 PIC501

PIC502

COC5

PIC601 PIC602

COC6

PIC701 PIC702

COC7

PIC801

PIC802

COC8

PIC901

PIC902 COC9

PIC1001

PIC1002 COC10

PIC1101 PIC1102

COC11 PIC1201 PIC1202

COC12 PIC1301 PIC1302 COC13

PIC1401 PIC1402



PIC1701

PIC1702 COC17

PIC1801

PIC1802

COC18

PIC1901

PIC1902

COC19

PIC2001

PIC2002 COC20

PIC2101

PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26

PIC2701 PIC2702

COC27

PIC2801 PIC2802

COC28

PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601 PIC3602

COC36

PIC3701 PIC3702

COC37

PIC3801 PIC3802

COC38

PIC3901 PIC3902

COC39

PIC4001 PIC4002

COC40

PIC4101 PIC4102

COC41

PIC4201 PIC4202

COC42

PIC4301 PIC4302

COC43

PIC4401 PIC4402

COC44

PIC4501 PIC4502

COC45

PIC4601 PIC4602

COC46

PIC4701 PIC4702

COC47

PIC4901 PIC4902

COC49

PIC5001 PIC5002

COC50

PIC5101 PIC5102

COC51

PIC5201 PIC5202

COC52

PIC5301 PIC5302

COC53

PICN101 PICN102

PICN103

PICN104

PICN105

PICN106

COCN1

PICV101

PICV102

COCV1 PICV201

PICV202

COCV2

PID101

PID102 COD1

PID201

PID202 COD2

PID301

PID302 COD3

PID401

PID402 COD4

PID501

PID502

COD5

PID601

PID602

COD6

PID701

PID702 COD7

PID801

PID802 COD8

PID901 PID902

COD9

PID1001

PID1002

COD10

PID1101

PID1102

COD11

PID1201

PID1202 COD12

PID1301

PID1302

COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PID1601 PID1602

COD16

PID1701

PID1702

COD17

PID1801

PID1802

COD18

PID1901

PID1902 COD19

PID2001

PID2002 COD20

PID2101 PID2102

COD21

PID2201 PID2202

COD22

PID2301

PID2302

COD23

PID2401

PID2402

COD24

PID2501

PID2502

COD25

PID2601

PID2602 COD26

PID2701 PID2702

COD27

PID2801 PID2802

COD28

PID2901

PID2902

COD29

PID3001

PID3002

COD30

PID3101

PID3102 COD31

PID3201

PID3202 COD32

PID3301 PID3302

COD33

PID3401 PID3402

COD34

PID3501

PID3502

COD35 PID3601

PID3602

COD36

PID3701

PID3702 COD37

PID3801

PID3802 COD38

PID3901 PID3902

COD39

PID4001

PID4002

COD40

PID4101 PID4102

COD41

PID4201

PID4202

COD42

PID4301

PID4302 COD43

PID4401

PID4402 COD44

PID4501 PID4502

COD45

PID4601 PID4602

COD46

PID4701 PID4702

COD47

PID4801 PID4802

COD48

PID4901 PID4902

COD49

PID5001 PID5002

COD50

PID5101 PID5102

COD51

PID5201 PID5202

COD52

PID5301 PID5302

COD53

PID5401 PID5402

COD54

PID5501 PID5502

COD55

PID5601 PID5602

COD56

PIDS101

PIDS102 CODS1

PIF101

PIF102 COF1

PIFB101 PIFB102

COFB1

PIFB201 PIFB202

COFB2

PIJ001 PIJ002

COJ0

PIJ101

PIJ102

COJ1

PIJ201

PIJ202

COJ2

PIJ301

PIJ302

COJ3

PIJ401

PIJ402

COJ4

PIJ501

PIJ502

COJ5

PIJ601

PIJ602

COJ6

PIJ701

PIJ702

COJ7 PIJ801

PIJ802

COJ8

PIJ901

PIJ902

COJ9

PIJ1001

PIJ1002

COJ10

PIJ1101

PIJ1102

COJ11

PIJ1201

PIJ1202

COJ12

PIJ1301

PIJ1302

COJ13

PIJK101 PIJK102

PIJK103

COJK1

PIJK201 PIJK202

PIJK203

COJK2

PIJK301 PIJK302

PIJK303

COJK3

PIJK401 PIJK402

PIJK403

COJK4

PIJK501 PIJK502

PIJK503

COJK5

PIJK601 PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PIP101

PIP102

PIP103

PIP104

COP1

PIP201

PIP202

PIP203 PIP204

COP2

PIQ101

PIQ102

PIQ103 COQ1

PIQ201

PIQ202

PIQ203 COQ2

PIQ301

PIQ302

PIQ303 COQ3

PIQ401

PIQ402

PIQ403 COQ4

PIQ501

PIQ502

PIQ503

COQ5

PIQ601

PIQ602

PIQ603

COQ6

PIQ701

PIQ702

PIQ703 COQ7

PIQ801

PIQ802

PIQ803 COQ8

PIQ901

PIQ902

PIQ903 COQ9

PIQ1001

PIQ1002

PIQ1003 COQ10

PIQ1101

PIQ1102

PIQ1103 COQ11

PIQ1201

PIQ1202

PIQ1203

COQ12

PIQ1301

PIQ1302

PIQ1303

COQ13

PIQ1401

PIQ1402

PIQ1403 COQ14

PIQ1501

PIQ1502

PIQ1503

COQ15

PIQ1601

PIQ1602

PIQ1603

COQ16

PIQ1701

PIQ1702

PIQ1703 COQ17

PIQ1801

PIQ1802

PIQ1803

COQ18

PIQ1901

PIQ1902

PIQ1903 COQ19

PIQ2001

PIQ2002

PIQ2003 COQ20

PIQ2101

PIQ2102

PIQ2103 COQ21

PIQ2201

PIQ2202

PIQ2203 COQ22

PIQ2301

PIQ2302

PIQ2303 COQ23

PIQ2401

PIQ2402

PIQ2403 COQ24

PIQ2501

PIQ2502

PIQ2503 COQ25

PIQ2601

PIQ2602

PIQ2603 COQ26

PIQ2701

PIQ2702

PIQ2703 COQ27

PIQ2801

PIQ2802

PIQ2803 COQ28

PIQ2901

PIQ2902

PIQ2903

COQ29

PIQ3001

PIQ3002

PIQ3003 COQ30

PIQ3101

PIQ3102

PIQ3103

COQ31

PIQ3201

PIQ3202

PIQ3203

COQ32

PIQ3301

PIQ3302

PIQ3303

COQ33

PIQ3401

PIQ3402

PIQ3403

COQ34

PIQ3501

PIQ3502

PIQ3503 COQ35

PIQ3601

PIQ3602

PIQ3603 COQ36

PIQ3701

PIQ3702

PIQ3703 COQ37

PIQ3801

PIQ3802

PIQ3803

COQ38 PIQ3901

PIQ3902

PIQ3903 COQ39

PIQ4001

PIQ4002

PIQ4003 COQ40

PIQ4101

PIQ4102

PIQ4103 COQ41

PIQ4201

PIQ4202

PIQ4203

COQ42

PIQ4301

PIQ4302

PIQ4303

COQ43

PIQ4401

PIQ4402

PIQ4403

COQ44

PIQ4501

PIQ4502

PIQ4503 COQ45

PIQ4601

PIQ4602

PIQ4603

COQ46

PIQ4701

PIQ4702

PIQ4703

COQ47

PIQ4801

PIQ4802

PIQ4803

COQ48

PIQ4901

PIQ4902

PIQ4903 COQ49

PIQ5001

PIQ5002

PIQ5003 COQ50

PIQ5101

PIQ5102

PIQ5103 COQ51

PIQ5201

PIQ5202

PIQ5203 COQ52

PIQ5301

PIQ5302

PIQ5303 COQ53

PIQ5401

PIQ5402

PIQ5403 COQ54

PIQ5501

PIQ5502

PIQ5503

COQ55

PIQ5601

PIQ5602

PIQ5603

COQ56

PIQ5701

PIQ5702

PIQ5703

COQ57

PIQ5801

PIQ5802

PIQ5803 COQ58

PIQ5901

PIQ5902

PIQ5903

COQ59

PIQ6001

PIQ6002

PIQ6003

COQ60

PIQ6101

PIQ6102

PIQ6103

COQ61

PIQ6201

PIQ6202

PIQ6203 COQ62

PIQ6301

PIQ6302

PIQ6303 COQ63

PIQ6401

PIQ6402

PIQ6403 COQ64

PIQ6501

PIQ6502

PIQ6503 COQ65

PIQ6601

PIQ6602

PIQ6603 COQ66

PIQ6701

PIQ6702

PIQ6703 COQ67

PIQ6801

PIQ6802

PIQ6803 COQ68

PIQ6901

PIQ6902

PIQ6903 COQ69

PIQ7001

PIQ7002

PIQ7003 COQ70

PIQ7101

PIQ7102

PIQ7103

COQ71

PIQ7201

PIQ7202

PIQ7203

COQ72

PIQ7301

PIQ7302

PIQ7303

COQ73

PIQ7401

PIQ7402

PIQ7403

COQ74

PIQ7501

PIQ7502

PIQ7503

COQ75

PIQ7601

PIQ7602

PIQ7603 COQ76

PIQ7701

PIQ7702

PIQ7703 COQ77

PIQ7801

PIQ7802

PIQ7803 COQ78

PIQ7901

PIQ7902

PIQ7903 COQ79

PIQ8001

PIQ8002

PIQ8003 COQ80

PIQ8101

PIQ8102

PIQ8103 COQ81

PIQ8201

PIQ8202

PIQ8203 COQ82

PIQ8301

PIQ8302

PIQ8303

COQ83

PIQ8401

PIQ8402

PIQ8403

COQ84

PIQ8501

PIQ8502

PIQ8503

COQ85

PIQ8601

PIQ8602

PIQ8603

COQ86

PIQ8701

PIQ8702

PIQ8703

COQ87

PIQ8801

PIQ8802

PIQ8803

COQ88

PIQ8901

PIQ8902

PIQ8903 COQ89

PIQ9001

PIQ9002

PIQ9003

COQ90

PIR101

PIR102 COR1

PIR201 PIR202

COR2

PIR301 PIR302

COR3

PIR401 PIR402

COR4

PIR501

PIR502

COR5

PIR601

PIR602 COR6

PIR701

PIR702 COR7

PIR801

PIR802 COR8

PIR901

PIR902 COR9

PIR1001

PIR1002 COR10

PIR1101

PIR1102 COR11 PIR1201

PIR1202

COR12

PIR1301

PIR1302 COR13

PIR1401 PIR1402




COR17

PIR1801

PIR1802

COR18

PIR1901

PIR1902 COR19

PIR2001

PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301 PIR2302

COR23

PIR2401 PIR2402

COR24

PIR2501

PIR2502

COR25

PIR2601 PIR2602


COR27

PIR2801 PIR2802


COR29

PIR3001 PIR3002


COR31

PIR3201 PIR3202

COR32

PIR3301 PIR3302

COR33

PIR3401

PIR3402 COR34

PIR3501 PIR3502

COR35

PIR3601 PIR3602

COR36

PIR3701 PIR3702

COR37

PIR3801 PIR3802

COR38

PIR3901

PIR3902

COR39

PIR4001 PIR4002

COR40

PIR4101 PIR4102

COR41

PIR4201 PIR4202

COR42

PIR4301 PIR4302

COR43

PIR4401

PIR4402

COR44

PIR4501 PIR4502 COR45



PIR4801 PIR4802

COR48

PIR4901

PIR4902 COR49

PIR5001 PIR5002


COR51

PIR5201 PIR5202

COR52


PIR5401

PIR5402 COR54

PIR5501 PIR5502


COR56

PIR5701 PIR5702

COR57

PIR5801 PIR5802

COR58

PIR5901

PIR5902 COR59



PIR6201 PIR6202

COR62

PIR6301 PIR6302

COR63

PIR6401

PIR6402

COR64

PIR6501 PIR6502


COR66

PIR6701 PIR6702

COR67

PIR6801 PIR6802

COR68

PIR6901

PIR6902 COR69

PIR7001 PIR7002


COR71

PIR7201 PIR7202

COR72


PIR7401

PIR7402

COR74

PIR7501 PIR7502


COR76

PIR7701 PIR7702

COR77

PIR7801 PIR7802


COR79

PIR8001 PIR8002

COR80

PIR8101 PIR8102 COR81 PIR8201 PIR8202 COR82

PIR8301

PIR8302 COR83

PIR8401 PIR8402

COR84

PIR8501 PIR8502

COR85

PIR8601 PIR8602

COR86


PIR8801

PIR8802

COR88

PIR8901 PIR8902


COR90

PIR9101 PIR9102

COR91

PIR9201 PIR9202

COR92

PIR9301

PIR9302 COR93



PIR9601 PIR9602

COR96

PIR9701 PIR9702

COR97

PIR9801

PIR9802

COR98

PIR9901 PIR9902

COR99 PIR10001 PIR10002

COR100

PIR10101 PIR10102

COR101 PIR10201 PIR10202

COR102

PIR10301 PIR10302

COR103

PIR10401 PIR10402 COR104

PIR10501 PIR10502 COR105

PIR10601 PIR10602

COR106

PIR10701

PIR10702 COR107

PIR10801 PIR10802

COR108 PIR10901 PIR10902

COR109

PIR11001 PIR11002 COR110

PIR11101 PIR11102

COR111

PIR11201

PIR11202 COR112

PIR11301 PIR11302

COR113

PIR11401 PIR11402

COR114

PIR11501 PIR11502

COR115

PIR11601 PIR11602

COR116

PIR11701

PIR11702

COR117

PIR11801 PIR11802

COR118 PIR11901 PIR11902

COR119

PIR12001 PIR12002 COR120

PIR12101 PIR12102

COR121

PIR12201

PIR12202 COR122

PIR12301 PIR12302

COR123 PIR12401 PIR12402

COR124

PIR12501 PIR12502

COR125

PIR12601 PIR12602 COR126

PIR12701

PIR12702 COR127

PIR12801 PIR12802

COR128

PIR12901 PIR12902

COR129

PIR13001 PIR13002

COR130

PIR13101 PIR13102

COR131

PIR13201 PIR13202

COR132

PIR13301 PIR13302

COR133

PIR13401

PIR13402

COR134

PIR13501 PIR13502

COR135 PIR13601 PIR13602

COR136

PIR13701 PIR13702

COR137 PIR13801 PIR13802

COR138

PIR13901 PIR13902 COR139

PIR14001 PIR14002

COR140

PIR14101

PIR14102 COR141

PIR14201 PIR14202

COR142 PIR14301 PIR14302

COR143

PIR14401 PIR14402

COR144

PIR14501 PIR14502 COR145

PIR14601

PIR14602

COR146

PIR14701 PIR14702

COR147 PIR14801 PIR14802

COR148

PIR14901 PIR14902 COR149

PIR15001 PIR15002

COR150

PIR15101

PIR15102 COR151

PIR15201 PIR15202

COR152 PIR15301 PIR15302

COR153

PIR15401 PIR15402

COR154

PIR15501 PIR15502 COR155

PIR15601

PIR15602 COR156

PIR15701 PIR15702

COR157

PIR15801 PIR15802

COR158

PIR15901 PIR15902

COR159

PIR16001 PIR16002

COR160

PIR16101

PIR16102

COR161

PIR16201 PIR16202

COR162 PIR16301 PIR16302

COR163

PIR16401 PIR16402

COR164

PIR16501 PIR16502

COR165

PIR16601

PIR16602 COR166


PIR16901 PIR16902

COR169

PIR17001 PIR17002

COR170

PIR17101

PIR17102

COR171

PIR17201 PIR17202 COR172

PIR17301 PIR17302 COR173

PIR17401 PIR17402 COR174

PIR17501 PIR17502 COR175

PIR17601 PIR17602

COR176

PIR17701 PIR17702

COR177

PIR17801 PIR17802

COR178

PIR17901 PIR17902 COR179

PIR18001

PIR18002

COR180

PIR18101 PIR18102

COR181 PIR18201 PIR18202

COR182

PIR18301 PIR18302

COR183

PIR18401 PIR18402

COR184

PIR18501

PIR18502 COR185

PIR18601 PIR18602

COR186 PIR18701 PIR18702

COR187

PIR18801 PIR18802

COR188

PIR18901 PIR18902 COR189

PIR19001

PIR19002 COR190

PIR19101 PIR19102

COR191 PIR19201 PIR19202

COR192

PIR19301 PIR19302

COR193

PIR19401 PIR19402

COR194

PIR19501

PIR19502 COR195

PIR19601 PIR19602

COR196 PIR19701 PIR19702

COR197

PIR19801 PIR19802

COR198

PIR19901 PIR19902

COR199

PIR20001 PIR20002 COR200

PIR20101 PIR20102 COR201

PIR20201 PIR20202 COR202

PIR20301 PIR20302 COR203

PIR20401

PIR20402 COR204

PIR20501 PIR20502

COR205 PIR20601 PIR20602

COR206

PIR20701 PIR20702

COR207

PIR20801 PIR20802

COR208

PIR20901

PIR20902

COR209


PIR21201 PIR21202

COR212

PIR21301 PIR21302

COR213

PIR21401

PIR21402

COR214

PIR21501 PIR21502

COR215 PIR21601 PIR21602

COR216

PIR21701 PIR21702

COR217

PIR21801 PIR21802 COR218

PIR21901

PIR21902 COR219

PIR22001 PIR22002 COR220

PIR22101 PIR22102 COR221

PIR22201 PIR22202

COR222

PIR22301 PIR22302

COR223

PIR22401

PIR22402 COR224

PIR22501 PIR22502 COR225

PIR22601 PIR22602

COR226 PIR22701 PIR22702

COR227

PIR22801 PIR22802 COR228 PIR22901

PIR22902

COR229

PIR23001

PIR23002

COR230

PIR23101

PIR23102

COR231

PIR23201

PIR23202 COR232

PIR23301 PIR23302

COR233

PIR23401 PIR23402

COR234 PIR23501 PIR23502

COR235

PIR23601 PIR23602

COR236

PIR23701 PIR23702

COR237

PIR23801 PIR23802 COR238

PIR23901

PIR23902 COR239


PIR24201

PIR24202

COR242

PIR24301

PIR24302

COR243

PIR24401

PIR24402

COR244

PIR24501 PIR24502

COR245

PIR24601 PIR24602

COR246

PIR24701 PIR24702

COR247 PIR24801 PIR24802

COR248

PIR24901 PIR24902

COR249

PIR25001 PIR25002 COR250

PIR25101 PIR25102 COR251

PIR25201

PIR25202

COR252

PIR25301 PIR25302

COR253

PIR25401

PIR25402

COR254

PIR25501

PIR25502

COR255

PIR25601

PIR25602 COR256

PIR25701 PIR25702

COR257

PIR25801 PIR25802

COR258

PIR25901 PIR25902

COR259

PIR26001 PIR26002 COR260

PIS101 PIS102

COS1

PIU101 PIU102

PIU103

PIU104 PIU105

PIU106

COU1

PIU2023

PIU2024

PIU2025

PIU2026

PIU2029

PIU2030

PIU2031 PIU2032

PIU2035

PIU2036

PIU2037

PIU2047

PIU2048

PIU2051

PIU2052 PIU2053

PIU2054

PIU2067

PIU2068

PIU2069

PIU2070

PIU2071

PIU2072

PIU2076

PIU2077

PIU2089

PIU2090 PIU2091

PIU2092

PIU2093

PIU2095

PIU2096

COU2A

PIU207

PIU208

PIU209

PIU2015

PIU2016

PIU2017

PIU2018

PIU2033

PIU2034

PIU2055

PIU2056

PIU2057

PIU2058

PIU2059 PIU2060

PIU2061

PIU2062

PIU2063

PIU2064

PIU2065

PIU2066

PIU2078

PIU2079

PIU2080

PIU2081

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

COU2B

PIU201

PIU202

PIU203

PIU204

PIU205 PIU2038

PIU2039

PIU2040

PIU2041

PIU2042

PIU2043

PIU2044

PIU2045

PIU2046

PIU2097

PIU2098

COU2C

PIU2012

PIU2013 PIU2014

PIU2049

PIU2073

PIU2094

COU2D

PIU206

PIU2010

PIU2011

PIU2019

PIU2020

PIU2021

PIU2022

PIU2027

PIU2028

PIU2050

PIU2074 PIU2075

PIU2099 PIU20100

COU2E

PIU301

PIU302

PIU303

PIU304 PIU305

PIU306

PIU307

PIU308

COU3

PIU401

PIU402

PIU403 COU4

PIU501

PIU502

PIU503

PIU507

PIU5014 COU5A

PIU504

PIU505

PIU506

COU5B

PIU5011

PIU5012

PIU5013

COU5C

PIU508

PIU509

PIU5010

COU5D

PIU601

PIU602 PIU603

PIU604

COU6

PIU701

PIU702 PIU703

PIU704

COU7

PIU801

PIU802 PIU803

PIU804

COU8

PIU901

PIU902

PIU903

PIU907

PIU9014 COU9A

PIU904

PIU905 PIU906

COU9B

PIU9011

PIU9012

PIU9013

COU9C

PIU908 PIU909

PIU9010

COU9D

PIU1001

PIU1002 PIU1003

PIU1004

COU10

PIU1101

PIU1102 PIU1103

PIU1104

COU11

PIU1201

PIU1202 PIU1203

PIU1204

COU12

PIU1301

PIU1302 PIU1303

PIU1304

COU13

PIU1401

PIU1402 PIU1403

PIU1404

COU14

PIU1501

PIU1502 PIU1503

PIU1504

COU15

PIU1601

PIU1602

PIU1603

PIU1607

PIU16014 COU16A

PIU1604

PIU1605

PIU1606

COU16B

PIU16011

PIU16012

PIU16013

COU16C

PIU1608

PIU1609

PIU16010

COU16D

PIU1701

PIU1702 PIU1703

PIU1704

COU17

PIU1801

PIU1802 PIU1803

PIU1804

COU18

PIU1901

PIU1902 PIU1903

PIU1904

COU19

PIU2001

PIU2002

PIU2003

PIU2007

PIU20014 COU20A

PIU2004

PIU2005

PIU2006

COU20B

PIU20011

PIU20012

PIU20013

COU20C

PIU2008

PIU2009

PIU20010

COU20D

PIU2101

PIU2102 PIU2103

PIU2104

COU21

PIU2201

PIU2202

PIU2203

PIU2207

PIU22014 COU22A

PIU2204

PIU2205

PIU2206

COU22B

PIU22011

PIU22012

PIU22013

COU22C

PIU2208

PIU2209

PIU22010

COU22D

PIU2301

PIU2302 PIU2303

PIU2304

COU23

PIU2401

PIU2402 PIU2403

PIU2404

COU24

PIU2501

PIU2502 PIU2503

PIU2504

COU25

PIU2601

PIU2602

PIU2603

PIU2607

PIU26014 COU26A

PIU2604

PIU2605 PIU2606

COU26B

PIU26011

PIU26012

PIU26013

COU26C

PIU2608

PIU2609

PIU26010

COU26D

PIU2701

PIU2702 PIU2703

PIU2704

COU27

PIU2801

PIU2802 PIU2803

PIU2804

COU28

PIU2901

PIU2902

PIU2903

PIU2907

PIU29014 COU29A

PIU2904

PIU2905

PIU2906

COU29B

PIU29011

PIU29012

PIU29013

COU29C

PIU2908 PIU2909

PIU29010

COU29D

PIU3001

PIU3002 PIU3003

PIU3004

COU30

PIU3101

PIU3102 PIU3103

PIU3104

COU31

PIU3201

PIU3202 PIU3203

PIU3204

COU32

PIU3301

PIU3302

PIU3303

PIU3307

PIU33014 COU33A

PIU3304

PIU3305

PIU3306

COU33B

PIU33011

PIU33012

PIU33013

COU33C

PIU3308

PIU3309

PIU33010

COU33D

PIU3401

PIU3402 PIU3403

PIU3404

COU34

PIU3501

PIU3502 PIU3503

PIU3504

COU35

PIU3601

PIU3602 PIU3603

PIU3604

COU36

PIU3701

PIU3702 PIU3703

PIU3704

COU37

PIU3801

PIU3802 PIU3803

PIU3804

COU38

PIU3901

PIU3902

PIU3903

PIU3907

PIU39014 COU39A

PIU3904

PIU3905

PIU3906

COU39B

PIU39011

PIU39012

PIU39013

COU39C

PIU3908

PIU3909

PIU39010

COU39D

PIU4001

PIU4002 PIU4003

PIU4004

COU40

PIU4101

PIU4102 PIU4103

PIU4104

COU41 PIU4201

PIU4202

PIU4203

PIU4207

PIU42014 COU42A

PIU4204

PIU4205

PIU4206

COU42B

PIU42011

PIU42012

PIU42013

COU42C

PIU4208

PIU4209

PIU42010

COU42D

PIU4301

PIU4302 PIU4303

PIU4304

COU43

PIU4401

PIU4402 PIU4403

PIU4404

COU44

PIU4501

PIU4502 PIU4503

PIU4504

COU45

PIU4601

PIU4602

PIU4603

PIU4607

PIU46014 COU46A

PIU4604

PIU4605

PIU4606

COU46B

PIU46011

PIU46012

PIU46013

COU46C

PIU4608

PIU4609

PIU46010

COU46D

PIU4701

PIU4702 PIU4703

PIU4704

COU47

PIU4801

PIU4802 PIU4803

PIU4804

COU48

PIU4901

PIU4902

PIU4903

PIU4907

PIU49014 COU49A

PIU4904

PIU4905

PIU4906

COU49B

PIU49011

PIU49012

PIU49013

COU49C

PIU4908

PIU4909

PIU49010 COU49D

PIU5001

PIU5002 PIU5003

PIU5004

COU50

PIU5101

PIU5102 PIU5103

PIU5104

COU51

PIU5201

PIU5202 PIU5203

PIU5204

COU52

PIU5301

PIU5302

PIU5303

PIU5307

PIU53014 COU53A

PIU5304

PIU5305

PIU5306

COU53B

PIU53011

PIU53012

PIU53013

COU53C

PIU5308

PIU5309

PIU53010

COU53D

PIU5401

PIU5402

PIU5403

PIU5407

PIU54014 COU54A

PIU5404

PIU5405

PIU5406

COU54B

PIU54011

PIU54012

PIU54013

COU54C

PIU5408

PIU5409

PIU54010

COU54D

PIU5501

PIU5502

PIU5503

PIU5507

PIU55014 COU55A

PIU5504

PIU5505

PIU5506

COU55B

PIU55011

PIU55012

PIU55013

COU55C

PIU5508

PIU5509

PIU55010

COU55D

PIV101

PIV102 PIV103

COV1

PIY101 PIY102

COY1

PIC201

PIC1101 PIC1201 PIC1301 PIC1401 PIC1501 PIC1601

PICN101

PICV201

PIJK101 PIJK201 PIJK301 PIJK401 PIJK501 PIJK601


PIP101

PIP201

PIR102

PIR502

PIR602 PIR702

PIR1201 PIR1302

PIR2301

PIR3201

PIR3701

PIR4201

PIR4701

PIR5201

PIR5701

PIR6201

PIR6701

PIR7201

PIR7701

PIR8601

PIR9101

PIR9601

PIR10301

PIR11001

PIR11501

PIR12001

PIR12501

PIR13001

PIR13901

PIR14401

PIR14901

PIR15401

PIR15901

PIR16401

PIR16901

PIR17801

PIR18301

PIR18801

PIR19301

PIR19801

PIR20701

PIR21201

PIR21701

PIR22201

PIU206

PIU2011

PIU2019

PIU2021

PIU2022

PIU2028

PIU2050

PIU2075

PIU20100

PIU308

PIV102

PIC101

PIC301 PIC401

PICV101

PIL102

PIU104 PIV103

PIC1702 PIC1801

PIC1901

PID302 PID402

PID502 PID602

PIF102

PIJ1301

PIQ703

PIQ803

PIQ903

PIQ1103

PIQ2403 PIQ2503

PIQ2703 PIQ2803

PIQ3603 PIQ3703

PIQ3903 PIQ4003

PIQ4903

PIQ5103 PIQ5203

PIQ5403

PIQ6503 PIQ6603

PIQ6803 PIQ6903

PIQ7703

PIQ7903

PIQ8003

PIQ8103

PIR1801

PIR1902

PIR2102

PIR3002

PIR3502

PIR4002

PIR4502

PIR5002

PIR5502

PIR6002

PIR6502

PIR7002

PIR7502

PIR8402

PIR8902

PIR9402

PIR10102

PIR10802

PIR11302

PIR11802

PIR12302

PIR12802

PIR13702

PIR14202

PIR14702

PIR15202

PIR15702

PIR16202

PIR16702

PIR17602

PIR18102

PIR18602

PIR19102

PIR19602

PIR20502

PIR21002

PIR21502

PIR22002

PIU5014

PIU16014

PIU22014

PIU29014

PIU39014

PIU46014

PIC501 PIJ001

PIU101

PIC2001

PIFB102

PIU403

PIR402 PIU2094 NLBOOT0

PID4601

PIR22602

PIU902

PIU904

PIU5301

PIU5302

NLDA01

PID1002

PID1202

PIR22601 PIR23001

NLDA02

PID4701

PIR22702

PIU9010

PIU9013

PIU5304

PIU5305

NLDB01

PID1102 PID1302

PIR22701 PIR23102

NLDB02

PID4801

PIR22802

PIU2002

PIU2005

PIU53012

PIU53013

NLDC01

PID1702

PID1902

PIR22801

PIR23202

NLDC02

PID4501

PIR22502

PIU2009

PIU20013

PIU5309

PIU53010

NLDD1

PID1802 PID2002

PIR22501 PIR22901

NLDD2

PID5101

PIR24002

PIU2602

PIU2604

PIU5401

PIU5402

NLDE1

PID2502 PID2602

PIR24001

PIR24302

NLDE2

PID5201

PIR24102

PIU26010

PIU26013

PIU5404

PIU5405

NLDF1

PID2302 PID2402

PIR24101

PIR24402

NLDF2

PID5001

PIR23802

PIU3302

PIU3305

PIU54012

PIU54013

NLDG1

PID3002

PID3202

PIR23801

PIR24201

NLDG2


PIC601

PIC701

PIC801 PIC901 PIC1001


PICN106

PICV102 PICV202 PID101

PID202

PIJ002



PIP104

PIP203

PIQ102 PIQ202 PIQ302 PIQ402

PIR202

PIR301

PIR401

PIS101

PIU103

PIU105

PIU106

PIU2010

PIU2020

PIU2027

PIU2074

PIU2099

PIU301

PIU302

PIU303

PIU304

PIU307

PIV101

PID4901

PIR23702

PIU33010

PIU33013

PIU5409

PIU54010

NLDH1

PID2902 PID3102

PIR23701

PIR23902

NLDH2

PID5601

PIR25302

PIU4202

PIU4205

PIU5501

PIU5502

NLDI1

PID3502 PID3702

PIR25301

PIR25602

NLDI2

PID5401

PIR25002

PIU4209

PIU42013

PIU5504

PIU5505

NLDJ1

PID3602 PID3802

PIR25001 PIR25401

NLDJ2

PID5501

PIR25102

PIU4902

PIU4904

PIU55012

PIU55013

NLDK1

PID4202 PID4402

PIR25101

PIR25502

NLDK2

PID5301

PIR24902

PIU49010

PIU49013

PIU5509

PIU55010

NLDL1

PID4002 PID4302

PIR24901 PIR25202

NLDL2

PIU2051

PIU602

NLENA

PIR2202

PIU502

PIU505

NLENA024

PID902 PIR2402

PIR23401

NLENA0T

PIU2054

PIU1002

NLENB

PIR4102

PIU5010

PIU5013

NLENB024

PID1402 PIR4302

PIR23501

NLENB0T

PIU2057

PIU1302

NLENC

PIR5602

PIU1602

PIU1605

NLENC024

PID1502 PIR5802

PIR23601

NLENC0T

PIU2060

PIU1702

NLEND

PIR7102

PIU1609

PIU16012

NLEND024

PID1602 PIR7302

PIR23301 NLEND0T

PIU2063

PIU2102 NLENE

PIR9002

PIU2201

PIU2204

NLENE024 PID2102 PIR9202

PIR24701

NLENE0T

PIU2066

PIU2502 NLENF

PIR10902

PIU2209

PIU22012

NLENF024

PID2202 PIR11102

PIR24801

NLENF0T

PIU2048

PIU3002 NLENG

PIR12402

PIU2902

PIU2905

NLENG024

PID2702 PIR12602

PIR24601

NLENG0T

PIU2045

PIU3402 NLENH

PIR14302

PIU29010

PIU29013

NLENH024

PID2802 PIR14502

PIR24501

NLENH0T

PIU2042

PIU3702

NLENI

PIR15802

PIU3902

PIU3905

NLENI024

PID3302 PIR16002

PIR26001 NLENI0T

PIU205

PIU4102 NLENJ

PIR17702

PIU3909

PIU39012

NLENJ024

PID3402 PIR17902

PIR25801 NLENJ0T

PIU202

PIU4502 NLENK

PIR19202

PIU4601

PIU4604

NLENK024

PID3902 PIR19402

PIR25901

NLENK0T

PIU2097

PIU5002

NLENL

PIR21102

PIU4609

PIU46012

NLENL024

PID4102 PIR21302

PIR25701 NLENL0T

PIC1902

PIC2102

PIC2202 PIC2302

PIC2402 PIC2502

PIC2601

PIC2702 PIC2802

PIC2902 PIC3002

PIC3101

PIC3302 PIC3402

PIC3502 PIC3602

PIC3701

PIC3802 PIC3902

PIC4002 PIC4102

PIC4201

PIC4302 PIC4402 PIC4502 PIC4602

PIC4701

PIC4902 PIC5002 PIC5102 PIC5202

PIC5301

PID501 PID601

PID701

PID801

PIDS102

PIFB202

PIJ1302

PIQ603

PIQ1002

PIQ1202

PIQ1303 PIQ1402

PIQ1503

PIQ1603

PIQ1702 PIQ1803

PIQ1902

PIQ2002

PIQ2102

PIQ2202

PIQ2302

PIQ2602

PIQ2902

PIQ3002

PIQ3103 PIQ3203

PIQ3303

PIQ3403

PIQ3502

PIQ3802

PIQ4102

PIQ4203

PIQ4302 PIQ4403

PIQ4502

PIQ4603

PIQ4703

PIQ4802

PIQ5002

PIQ5302

PIQ5502

PIQ5603 PIQ5703

PIQ5802

PIQ5903 PIQ6003

PIQ6102

PIQ6202

PIQ6302

PIQ6402

PIQ6702

PIQ7002

PIQ7103 PIQ7203

PIQ7302

PIQ7403 PIQ7503

PIQ7602

PIQ7802

PIQ8202

PIQ8302 PIQ8403

PIQ8503

PIQ8602

PIQ8703

PIQ8803

PIQ8902

PIQ9002

PIR201

PIR2002

PIR2501 PIR2602 PIR2702

PIR2802 PIR2902

PIR3401

PIR3901

PIR4401

PIR4901

PIR5401

PIR5901

PIR6401

PIR6901

PIR7401

PIR7802 PIR7902

PIR8102 PIR8202

PIR8301

PIR8801

PIR9301

PIR9801 PIR9902 PIR10002

PIR10402 PIR10502

PIR10701

PIR11201

PIR11701

PIR12201

PIR12701

PIR13102 PIR13202

PIR13401

PIR13502 PIR13602

PIR14101

PIR14601

PIR15101

PIR15601

PIR16101

PIR16601

PIR17101

PIR17202 PIR17302 PIR17402 PIR17502

PIR18001

PIR18501

PIR19001

PIR19501

PIR20002 PIR20102 PIR20202 PIR20302

PIR20401

PIR20901

PIR21401

PIR21901

PIR22401

PIR22902

PIR23002 PIR23101

PIR23201

PIR23901

PIR24202

PIR24301 PIR24401

PIR25201

PIR25402

PIR25501

PIR25601

PIU907

PIU2007

PIU2607

PIU3307

PIU4207

PIU4907

PIU5307

PIU5407

PIU5507

PIC2002

PIFB201 PIU401

PIC1701 PIC1802

PID401

PIQ602

PIU507

PIU1607

PIU2207

PIU2907

PIU3907

PIU4607

PIU2052

PIU702

NLIN1

PIR3102

PIU501

NLIN1024

PID1201

PIR3302

PIR3402 PIU703

PIU901 NLIN10T

PIU2053

PIU802

NLIN2

PIR3602

PIU504

NLIN2024

PID1001

PIR3802 PIR3902 PIU803

PIU905 NLIN20T

PIU2055

PIU1102

NLIN3

PIR4602

PIU509 NLIN3024

PID1301

PIR4801

PIR4902

PIU909

PIU1103

NLIN30T

PIU2056

PIU1202

NLIN4

PIR5102

PIU5012 NLIN4024

PID1101

PIR5301

PIR5402

PIU9012

PIU1203

NLIN40T

PIU2058

PIU1402

NLIN5

PIR6102

PIU1601

NLIN5024

PID1901

PIR6301 PIR6402 PIU1403

PIU2001 NLIN50T

PIU2059

PIU1502

NLIN6

PIR6602

PIU1604

NLIN6024

PID1701

PIR6801

PIR6902 PIU1503

PIU2004 NLIN60T

PIU2061

PIU1802

NLIN7

PIR7602

PIU16010 NLIN7024

PID2001 PIR8002

PIR8302 PIU1803

PIU20010

NLIN70T

PIU2062

PIU1902

NLIN8

PIR8502

PIU16013 NLIN8024

PID1801

PIR8702 PIR8802

PIU1903

PIU20012 NLIN80T

PIU2064

PIU2302

NLIN9

PIR9502

PIU2202

NLIN9024

PID2601

PIR9701 PIR9802 PIU2303

PIU2601 NLIN90T

PIU2065

PIU2402 NLIN10

PIR10202

PIU2205

NLIN10024

PID2501

PIR10601

PIR10702 PIU2403

PIU2605 NLIN100T

PIU2070

PIU2702

NLIN11

PIR11402

PIU22010 NLIN11024

PID2401

PIR11601 PIR11702

PIU2609

PIU2703

NLIN110T

PIU2071

PIU2802 NLIN12

PIR11902

PIU22013 NLIN12024

PID2301

PIR12101

PIR12202

PIU26012

PIU2803

NLIN120T

PIU2047

PIU3102

NLIN13

PIR12902

PIU2901

NLIN13024

PID3201

PIR13302 PIR13402 PIU3103

PIU3301

NLIN130T

PIU2046

PIU3202

NLIN14

PIR13802

PIU2904

NLIN14024

PID3001

PIR14002

PIR14102 PIU3203

PIU3304

NLIN140T

PIU2044

PIU3502

NLIN15

PIR14802

PIU2909 NLIN15024

PID3101 PIR15001

PIR15102 PIU33012 PIU3503

NLIN150T

PIU2043

PIU3602 NLIN16

PIR15302

PIU29012 NLIN16024

PID2901

PIR15501

PIR15602

PIU3309

PIU3603

NLIN160T

PIU2041

PIU3802 NLIN17

PIR16302

PIU3901 NLIN17024

PID3701

PIR16501

PIR16602 PIU3803

PIU4201 NLIN170T

PIU2040

PIU4002

NLIN18

PIR16802

PIU3904

NLIN18024

PID3501

PIR17001 PIR17102 PIU4003

PIU4204 NLIN180T

PIU204

PIU4302 NLIN19

PIR18202

PIU39010 NLIN19024

PID3801

PIR18402

PIR18502

PIU42010

PIU4303

NLIN190T

PIU203

PIU4402 NLIN20

PIR18702

PIU39013

NLIN20024

PID3601

PIR18902

PIR19002

PIU42012

PIU4403

NLIN200T

PIU201

PIU4702 NLIN21

PIR19702

PIU4602

NLIN21024

PID4401

PIR19901

PIR20402 PIU4703

PIU4901 NLIN210T

PIU2098

PIU4802

NLIN22

PIR20602

PIU4605

NLIN22024

PID4201

PIR20801 PIR20902 PIU4803

PIU4905 NLIN220T

PIU2096

PIU5102 NLIN23

PIR21602

PIU46010 NLIN23024

PID4301

PIR21801 PIR21902

PIU4909

PIU5103

NLIN230T

PIU2095

PIU5202

NLIN24

PIR22102

PIU46013 NLIN24024

PID4001

PIR22301

PIR22402

PIU49012

PIU5203

NLIN240T

PIR1401

PIU2081

NLLED1

PICN102

PIR1002

NLLED10OUT

PIR1501

PIU2080

NLLED2

PICN103

PIR1102

NLLED20OUT

PIR1601

PIU2079

NLLED3 PICN104

PIR802

NLLED30OUT

PIR1701

PIU2078

NLLED4 PICN105

PIR902

NLLED40OUT

PIJK102

PIU2023

NLM1

PIJK202

PIU2024

NLM2

PIJK302

PIU2025

NLM3

PIJK402

PIU2026 NLM4

PIJK502

PIU2029 NLM5

PIJK602

PIU2030

NLM6

PIJK702

PIU2031 NLM7

PIJK802

PIU2032 NLM8

PIJK902

PIU2035 NLM9

PIJK1002

PIU2036 NLM10

PIJK1102

PIU2015

NLM11 PIJK1202

PIU2016

NLM12

PIC2401

PIJ101

PIQ1102

PIQ1302

PIR2801

NLMOTOR0100

PIC2501

PIJ102

PIQ802

PIQ1602

PIR2901

NLMOTOR0100

PIC2201

PIJ201

PIQ902

PIQ1502

PIR2601

NLMOTOR0200

PIC2301

PIJ202

PIQ702

PIQ1802

PIR2701

NLMOTOR0200

PIC2701

PIJ301

PIQ2702

PIQ3102

PIR7801

NLMOTOR0300

PIC2801

PIJ302

PIQ2402

PIQ3302

PIR7901

NLMOTOR0300

PIC2901

PIJ401

PIQ2802

PIQ3202

PIR8101

NLMOTOR0400

PIC3001

PIJ402

PIQ2502

PIQ3402

PIR8201

NLMOTOR0400

PIC3501

PIJ501

PIQ3902

PIQ4402

PIR10401

NLMOTOR0500

PIC3601

PIJ502

PIQ3602

PIQ4702

PIR10501

NLMOTOR0500

PIC3301

PIJ601

PIQ4002

PIQ4202

PIR9901

NLMOTOR0600

PIC3401

PIJ602

PIQ3702

PIQ4602

PIR10001

NLMOTOR0600

PIC4001

PIJ701

PIQ5402

PIQ5702

PIR13501

NLMOTOR0700

PIC4101

PIJ702

PIQ5102

PIQ6002

PIR13601

NLMOTOR0700

PIC3801

PIJ801

PIQ5202

PIQ5602

PIR13101

NLMOTOR0800

PIC3901

PIJ802 PIQ4902

PIQ5902

PIR13201

NLMOTOR0800

PIC4301

PIJ901

PIQ6802

PIQ7102

PIR17201

NLMOTOR0900

PIC4401

PIJ902

PIQ6502

PIQ7402

PIR17301

NLMOTOR0900

PIC4501

PIJ1001

PIQ6902

PIQ7202

PIR17401

NLMOTOR01000

PIC4601

PIJ1002

PIQ6602

PIQ7502

PIR17501

NLMOTOR01000

PIC4901

PIJ1101

PIQ8002

PIQ8502

PIR20001

NLMOTOR01100

PIC5001

PIJ1102

PIQ7702

PIQ8802

PIR20101

NLMOTOR01100

PIC5101

PIJ1201

PIQ8102

PIQ8402

PIR20201

NLMOTOR01200

PIC5201

PIJ1202

PIQ7902

PIQ8702

PIR20301

NLMOTOR01200

PIC602 PIU2049

PIC702 PIU2073

PID102

PIL101 PIU102

PID201 PIR101

PID301

PIQ601 PIR2001

PID702 PIQ501

PIR1901

PID901 PIR2502 PIU603

PID1401 PIR4402 PIU1003

PID1501

PIR5902 PIU1303

PID1601

PIR7402 PIU1703

PID2101

PIR9302 PIU2103

PID2201

PIR11202 PIU2503

PID2701

PIR12702 PIU3003

PID2801 PIR14602

PIU3403

PID3301 PIR16102 PIU3703

PID3401 PIR18002

PIU4103

PID3901

PIR19502 PIU4503

PID4101 PIR21402 PIU5003

PIDS101 PIR1802

PIF101

PIQ502

PIQ101 PIR1402

PIQ103 PIR1001

PIQ201 PIR1502

PIQ203 PIR1101

PIQ301 PIR1602

PIQ303

PIR801

PIQ401 PIR1702

PIQ403

PIR901

PIQ701 PIU508

PIQ801 PIU503

PIQ901 PIU5011

PIQ1001 PIR2401

PIQ1003 PIR2101 PIR2201

PIQ1101 PIU506

PIQ1201 PIR3301

PIQ1203 PIR3001 PIR3101

PIQ1301 PIU906 PIQ1401 PIR3801

PIQ1403 PIR3501 PIR3601

PIQ1601 PIU903

PIQ1701 PIR4301

PIQ1703 PIR4001 PIR4101

PIQ1801 PIU908

PIQ1901 PIR4802

PIQ1903 PIR4501 PIR4601

PIQ2001 PIR5302

PIQ2003 PIR5001 PIR5101

PIQ2101 PIR5801

PIQ2103 PIR5501 PIR5601

PIQ2201 PIR6302

PIQ2203 PIR6001 PIR6101

PIQ2301 PIR6802

PIQ2303 PIR6501 PIR6601

PIQ2401 PIU1603

PIQ2501 PIU1608

PIQ2601 PIR7301

PIQ2603 PIR7001 PIR7101

PIQ2701 PIU1606

PIQ2801 PIU16011

PIQ2901 PIR8001

PIQ2903 PIR7501 PIR7601

PIQ3001 PIR8701

PIQ3003 PIR8401 PIR8501

PIQ3101 PIU2006

PIQ3201 PIU20011

PIQ3301 PIU2003

PIQ3401 PIU2008

PIQ3501 PIR9201

PIQ3503 PIR8901 PIR9001

PIQ3601 PIU2203 PIQ3701 PIU2208

PIQ3801 PIR9702

PIQ3803 PIR9401 PIR9501

PIQ3901 PIU2206 PIQ4001 PIU22011

PIQ4101 PIR10602

PIQ4103 PIR10101 PIR10201

PIQ4201 PIU26011

PIQ4301 PIR11101

PIQ4303 PIR10801 PIR10901

PIQ4401 PIU2606

PIQ4501 PIR11602

PIQ4503 PIR11301 PIR11401

PIQ4601 PIU2608

PIQ4701 PIU2603

PIQ4801 PIR12102

PIQ4803 PIR11801 PIR11901

PIQ4901 PIU2908 PIQ5001 PIR12601

PIQ5003 PIR12301 PIR12401

PIQ5101 PIU2903 PIQ5201 PIU29011

PIQ5301 PIR13301

PIQ5303 PIR12801 PIR12901

PIQ5401 PIU2906

PIQ5501 PIR14001

PIQ5503 PIR13701 PIR13801

PIQ5601 PIU3308

PIQ5701 PIU3306

PIQ5801 PIR14501

PIQ5803 PIR14201 PIR14301

PIQ5901 PIU33011

PIQ6001 PIU3303

PIQ6101 PIR15002

PIQ6103 PIR14701 PIR14801

PIQ6201 PIR15502

PIQ6203 PIR15201 PIR15301

PIQ6301 PIR16001

PIQ6303 PIR15701 PIR15801

PIQ6401 PIR16502

PIQ6403 PIR16201 PIR16301

PIQ6501 PIU3903 PIQ6601 PIU3908

PIQ6701 PIR17002

PIQ6703 PIR16701 PIR16801

PIQ6801 PIU3906 PIQ6901 PIU39011

PIQ7001 PIR17901

PIQ7003 PIR17601 PIR17701

PIQ7101 PIU4206 PIQ7201 PIU42011

PIQ7301 PIR18401

PIQ7303 PIR18101 PIR18201

PIQ7401 PIU4203 PIQ7501 PIU4208

PIQ7601 PIR18901

PIQ7603 PIR18601 PIR18701

PIQ7701 PIU4603

PIQ7801 PIR19401

PIQ7803 PIR19101 PIR19201

PIQ7901 PIU4608

PIQ8001 PIU4606

PIQ8101 PIU46011

PIQ8201 PIR19902

PIQ8203 PIR19601 PIR19701

PIQ8301 PIR20802

PIQ8303 PIR20501 PIR20601

PIQ8401 PIU49011

PIQ8501 PIU4906

PIQ8601 PIR21301

PIQ8603 PIR21001 PIR21101

PIQ8701 PIU4908

PIQ8801 PIU4903

PIQ8901 PIR21802

PIQ8903 PIR21501 PIR21601

PIQ9001 PIR22302

PIQ9003 PIR22001 PIR22101

PIR302 PIU2037

PIR2302 PIU601

PIR3202 PIU701

PIR3702 PIU801

PIR4202 PIU1001

PIR4702 PIU1101

PIR5202 PIU1201

PIR5702 PIU1301

PIR6202 PIU1401

PIR6702 PIU1501

PIR7202 PIU1701

PIR7702 PIU1801

PIR8602 PIU1901

PIR9102 PIU2101

PIR9602 PIU2301

PIR10302 PIU2401

PIR11002 PIU2501

PIR11502 PIU2701

PIR12002 PIU2801

PIR12502 PIU3001

PIR13002 PIU3101

PIR13902 PIU3201

PIR14402 PIU3401

PIR14902 PIU3501

PIR15402 PIU3601

PIR15902 PIU3701

PIR16402 PIU3801

PIR16902 PIU4001

PIR17802 PIU4101

PIR18302 PIU4301

PIR18802 PIU4401

PIR19302 PIU4501

PIR19802 PIU4701

PIR20702 PIU4801

PIR21202 PIU5001

PIR21702 PIU5101

PIR22202 PIU5201

PIR23302 PIU5308

PIR23402 PIU5303 PIR23502 PIU5306

PIR23602 PIU53011

PIR24502 PIU5408

PIR24602 PIU54011

PIR24702 PIU5403 PIR24802 PIU5406

PIR25702 PIU5508

PIR25802 PIU5506

PIR25902 PIU55011

PIR26002 PIU5503

PIU207

PIU2017

PIU2018

PIU2033

PIU2034

PIU2038

PIU2039

PIU2067

PIU2077

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

PIU2089

PIU2090 PIU2091

PIU208

NLOSC320IN

PIU209 NLOSC320OUT

PIC1002

PIU2012

PIY102

NLOSCIN

PIC902

PIU2013 PIY101 NLOSCOUT

PIC802

PIR501 PIS102

PIU2014

NLR\E\S\E\T\

PID4502

PID4602 PID4702

PID4802

PID4902

PID5002

PID5102 PID5202

PID5302

PID5402

PID5502

PID5602

PIU402

PIR1202

PIU2092

PIU306

NLSCL

PIR1301

PIU2093

PIU305

NLSDA

PIP202

PIR601

PIU2076

NLSWD0CLK

PIP204

PIR701

PIU2072 NLSWD0DAT

PIQ1501 PIU9011

NLU3011

PIP103

PIU2069

NLUART0RX

PIP102

PIU2068

NLUART0TX

PIC2101

PIC2602

PIC3102

PIC3702

PIC4202

PIC4702

PIC5302

PID802

PIFB101

PIQ503

PIU604

PIU704

PIU804

PIU9014

PIU1004

PIU1104

PIU1204

PIU1304

PIU1404

PIU1504

PIU1704

PIU1804

PIU1904

PIU20014

PIU2104

PIU2304

PIU2404

PIU2504

PIU26014

PIU2704

PIU2804

PIU3004

PIU3104

PIU3204

PIU33014

PIU3404

PIU3504

PIU3604

PIU3704

PIU3804

PIU4004

PIU4104

PIU42014

PIU4304

PIU4404

PIU4504

PIU4704

PIU4804

PIU49014

PIU5004

PIU5104

PIU5204

PIU53014

PIU54014

PIU55014


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D D

C C

B B

A A

Title

Number RevisionSize

Orcad E

Date: 2019/10/23 Sheet of

File: D:\UVIC机器狗 \..\STM32F407VET6.SchDocDrawn By:

DGND

330uH

L1

DGND

100uF/50VC5 D1

1N5819330uF/16V

C3

+5V

C4

104

GND3

OUT 2VIN1

FB4

ON/OFF5

GND6

U1

LM2575D2T-5

5V转3. 3 V电路

VIN3

GN

D1

OUT2

V1

AMS1117-3.3V

C1

104

+ CV2

10uF/16V

+ CV1

10uF/16V

C2

104

DGND DGND

+5V

+24VD

1K

R1

D2

DGND

1

2

J0

2EDG508DGND

+24VD

DGND0

R2

SWD_DAT

SWD_CLK

DGND

+3.3V

10K

R4DGND

20pF

C9

20pF

C10

DGND DGND

RESET

104

C8

+3.3V

DGND

SWD_DATSWD_CLK

BOOT0

UART_RXUART_TX

10K

R7

10K

R6

+3.3V

DGND

SCLSDA

10K

R5

存储模块

4.7KR12

4.7KR13

EEPROM +3.3V

DGND

A01

VCC8

VSS4 NC3

SCL6

SDA5

A12

WP7

U3

24C04

DGND

S1

1

23

4

P2

UART_RXUART_TX1

234

P1

+3.3V

PA0-WKUP(PA0)/USART2_CTS/UART4_TX/ETH_MII_CRS/TIM2_CH1_ETR/TIM5_CH1/TIM8_ETR/EVENTOUT/ADC123_IN0/WKUP23

PA1/USART2_RTS/UART4_RX/ETH_RMII_REF_CLK/ETH_MII_RX_CLK/TIM5_CH2/TIM2_CH2/EVENTOUT/ADC123_IN124

PA2/USART2_TX/TIM5_CH3/TIM9_CH1/TIM2_CH3/ETH_MDIO/EVENTOUT/ADC123_IN225

PA3/USART2_RX/TIM5_CH4/TIM9_CH2/TIM2_CH4/OTG_HS_ULPI_D0/ETH_MII_COL/EVENTOUT/ADC123_IN326

PA4/SPI1_NSS/SPI3_NSS/USART2_CK/DCMI_HSYNC/OTG_HS_SOF/I2S3_WS/EVENTOUT/ADC12_IN4/DAC1_OUT29

PA5/SPI1_SCK/OTG_HS_ULPI_CK/TIM2_CH1_ETR/TIM8_CHIN/EVENTOUT/ADC12_IN5/DAC2_OUT30

PA6/SPI1_MISO/TIM8_BKIN/TIM13_CH1/DCMI_PIXCLK/TIM3_CH1/TIM1_BKIN/EVENTOUT/ADC12_IN6 31

PA7/SPI1_MOSI/TIM8_CH1N/TIM14_CH1/TIM3_CH2/ETH_MII_RX_DV/TIM1_CH1N/RMII_CRS_DV/EVENTOUT/ADC12_IN732

PA8/MCO1/USART1_CK/TIM1_CH1/I2C3_SCL/OTG_FS_SOF/EVENTOUT 67

PA9/USART1_TX/TIM1_CH2/I2C3_SMBA/DCMI_D0/EVENTOUT/OTG_FS_VBUS68

PA10/USART1_RX/TIM1_CH3/OTG_FS_ID/DCMI_D1/EVENTOUT 69

PA11/USART1_CTS/CAN1_RX/TIM1_CH4/OTG_FS_DM/EVENTOUT70

PA12/USART1_RTS/CAN1_TX/TIM1_ETR/OTG_FS_DP/EVENTOUT71

PA13(JTMS-SWDIO)/JTMS-SWDIO/EVENTOUT72

PA14(JTCK-SWCLK)/JTCK-SWCLK/EVENTOUT76

PA15(JTDI)/JTDI/SPI3_NSS/I2S3_WS/TIM2_CH1_ETR/SPI1_NSS/EVENTOUT 77

PB0/TIM3_CH3/TIM8_CH2N/OTG_HS_ULPI_D1/ETH_MII_RXD2/TIM1_CH2N/EVENTOUT/ADC12_IN8 35

PB1/TIM3_CH4/TIM8_CH3N/OTG_HS_ULPI_D2/ETH_MII_RXD3/OTG_HS_INTN/TIM1_CH3N/EVENTOUT/ADC12_IN936

PB2-BOOT1(PB2)/EVENTOUT 37

PB3(JTDO/TRACESWO)/JTDO/TRACESWO/SPI3_SCK/I2S3_CK/TIM2_CH2/SPI1_SCK/EVENTOUT89

PB4(NJTRST)/NJTRST/SPI3_MISO/TIM3_CH1/SPI1_MISO/I2S3ext_SD/EVENTOUT90

PB5/I2C1_SMBA/CAN2_RX/OTG_HS_ULPI_D7/ETH_PPS_OUT/TIM3_CH2/SPI1_MOSI/SPI3_MOSI/DCMI_D10/I2S3_SD/EVENTOUT91

PB6/I2C1_SCL/TIM4_CH1/CAN2_TX/DCMI_D5/USART1_TX/EVENTOUT92

PB7/I2C1_SDA/FSMC_NL/DCMI_VSYNC/USART1_RX/TIM4_CH2/EVENTOUT93

PB8/TIM4_CH3/SDIO_D4/TIM10_CH1/DCMI_D6/ETH_MII_TXD3/I2C1_SCL/CAN1_RX/EVENTOUT95

PB9/SPI2_NSS/I2S2_WS/TIM4_CH4/TIM11_CH1/SDIO_D5/DCMI_D7/I2C1_SDA/CAN1_TX/EVENTOUT 96

PB10/SPI2_SCK/I2S2_CK/I2C2_SCL/USART3_TX/OTG_HS_ULPI_D3/ETH_MII_RX_ER/TIM2_CH3/EVENTOUT47

PB11/I2C2_SDA/USART3_RX/OTG_HS_ULPI_D4/ETH_RMII_TX_EN/ETH_MII_TX_EN/TIM2_CH4/EVENTOUT 48

PB12/SPI2_NSS/I2S2_WS/I2C2_SMBA/USART3_CK/TIM1_BKIN/CAN2_RX/OTG_HS_ULPI_D5/ETH_RMII_TXD0/ETH_MII_TXD0/OTG_HS_ID/EVENTOUT51

PB13/SPI2_SCK/I2S2_CK/USART3_CTS/TIM1_CH1N/CAN2_TX/OTG_HS_ULPI_D6/ETH_RMII_TXD1/ETH_MII_TXD1/EVENTOUT/OTG_HS_VBUS52

PB14/SPI2_MISO/TIM1_CH2N/TIM12_CH1/OTG_HS_DM/USART3_RTS/TIM8_CH2N/I2S2ext_SD/EVENTOUT53

PB15/SPI2_MOSI/I2S2_SD/TIM1_CH3N/TIM8_CH3N/TIM12_CH2/OTG_HS_DP/EVENTOUT54

U2A

STM32F407VET6

PC0/OTG_HS_ULPI_STP/EVENTOUT/ADC123_IN1015

PC1/ETH_MDC/EVENTOUT/ADC123_IN1116

PC2/SPI2_MISO/OTG_HS_ULPI_DIR/TH_MII_TXD2/I2S2ext_SD/EVENTOUT/ADC123_IN1217

PC3/SPI2_MOSI/I2S2_SD/OTG_HS_ULPI_NXT/ETH_MII_TX_CLK/EVENTOUT/ADC123_IN1318

PC4/ETH_RMII_RX_D0/ETH_MII_RX_D0/EVENTOUT/ADC12_IN1433

PC5/ETH_RMII_RX_D1/ETH_MII_RX_D1/EVENTOUT/ADC12_IN15 34

PC6/I2S2_MCK/TIM8_CH1/SDIO_D6/USART6_TX/DCMI_D0/TIM3_CH1/EVENTOUT63

PC7/I2S3_MCK/TIM8_CH2/SDIO_D7/USART6_RX/DCMI_D1/TIM3_CH2/EVENTOUT 64

PC8/TIM8_CH3/SDIO_D0/TIM3_CH3/USART6_CK/DCMI_D2/EVENTOUT65

PC9/I2S_CKIN/MCO2/TIM8_CH4/SDIO_D1//I2C3_SDA/DCMI_D3/TIM3_CH4/EVENTOUT 66

PC10/SPI3_SCK/I2S3_CK/UART4_TX/SDIO_D2/DCMI_D8/USART3_TX/EVENTOUT78

PC11/UART4_RX/SPI3_MISO/SDIO_D3/DCMI_D4/USART3_RX/I2S3ext_SD/EVENTOUT79

PC12/UART5_TX/SDIO_CK/DCMI_D9/SPI3_MOSI/I2S3_SD/USART3_CK/EVENTOUT80

PC13/EVENTOUT/RTC_AF17

PC14-OSC32_IN(PC14)/EVENTOUT/OSC32_IN 8

PC15-OSC32_OUT(PC15)/EVENTOUT/OSC32_OUT9

PD0/FSMC_D2/CAN1_RX/EVENTOUT81

PD1/FSMC_D3/CAN1_TX/EVENTOUT 82

PD2/TIM3_ETR/UART5_RX/SDIO_CMD/DCMI_D11/EVENTOUT83

PD3/FSMC_CLK/USART2_CTS/EVENTOUT84

PD4/FSMC_NOE/USART2_RTS/EVENTOUT85

PD5/FSMC_NWE/USART2_TX/EVENTOUT86

PD6/FSMC_NWAIT/USART2_RX/EVENTOUT87

PD7/USART2_CK/FSMC_NE1/FSMC_NCE2/EVENTOUT88

PD8/FSMC_D13/USART3_TX/EVENTOUT 55

PD9/FSMC_D14/USART3_RX/EVENTOUT56

PD10/FSMC_D15/USART3_CK/EVENTOUT 57

PD11/FSMC_CLE/FSMC_A16/USART3_CTS/EVENTOUT58

PD12/FSMC_ALE/FSMC_A17/TIM4_CH1/USART3_RTS/EVENTOUT59

PD13/FSMC_A18/TIM4_CH2/EVENTOUT60

PD14/FSMC_D0/TIM4_CH3/EVENTOUT/EVENTOUT61

PD15/FSMC_D1/TIM4_CH4/EVENTOUT62

U2B

STM32F407VET6

PE0/TIM4_ETR/FSMC_NBL0/DCMI_D2/EVENTOUT97

PE1/FSMC_NBL1/DCMI_D3/EVENTOUT98

PE2/TRACECLK/FSMC_A23/ETH_MII_TXD3/EVENTOUT1

PE3/TRACED0/FSMC_A19/EVENTOUT2

PE4/TRACED1/FSMC_A20/DCMI_D4/EVENTOUT3

PE5/TRACED2/FSMC_A21/TIM9_CH1/DCMI_D6/EVENTOUT4

PE6/TRACED3/FSMC_A22/TIM9_CH2/DCMI_D7/EVENTOUT 5

PE7/FSMC_D4/TIM1_ETR/EVENTOUT38

PE8/FSMC_D5/TIM1_CH1N/EVENTOUT 39

PE9/FSMC_D6/TIM1_CH1/EVENTOUT40

PE10/FSMC_D7/TIM1_CH2N/EVENTOUT 41


PE12/FSMC_D9/TIM1_CH3N/EVENTOUT43



PE15/FSMC_D12/TIM1_BKIN/EVENTOUT 46

U2C

STM32F407VET6

VREF+21

VBAT6

VDD11

VDD19

VDD28

VDD50

VDD75

VDD100

VDDA22

VSS10

VSS 27

VSS74

VSS 99

VSSA20

U2E

STM32F407VET6

PH0-OSC_IN(PH0)/EVENTOUT/OSC_IN12

PH1-OSC_OUT(PH1)/EVENTOUT/OSC_OUT 13BOOT0/VPP

94

NRST14

VCAP_149

VCAP_273

U2D

STM32F407VET6

OSCIN

OSCOUT

C6 2.2uFC7 2.2uF

DGND

+3.3V

DGND

OSC32_INOSC32_OUT

C130.1uF

C140.1uF

C150.1uF

C160.1uF

C120.1uF

C110.1uF

+3.3V

10K

R3DGND

SCLSDA

DGND

+3.3V

下载接口

R81K

R91K

123

45

6

CN1

DGND DGND

DGND

LED3_OUT LED4_OUT

LED1_OUTLED2_OUT

LED3_OUTLED4_OUT 用于接外部指示灯LED4

+3.3V

1

32

Q3

S8050

10K

R16LED3 1

32

Q4

S8050

10K

R17

R101K

R111K

DGND DGND

LED1_OUT

LED1 1

32

Q1

S8050

10K

R14 1

32

Q2

S8050

10K

R15LED2

LED2_OUT

+3.3V

DGND

M11

23

JK1

22HP-10

+3.3V

DGND

M21

23

JK2

22HP-10

+3.3V

DGND

M31

23

JK3

22HP-10

+3.3V

DGND

M41

23

JK4

22HP-10

+3.3V

DGND

M51

23

JK5

22HP-10

+3.3V

DGND

M61

23

JK6

22HP-10

+3.3V

DGND

M71

23

JK7

22HP-10

+3.3V

DGND

M81

23

JK8

22HP-10

+3.3V

DGND

M91

23

JK9

22HP-10

+3.3V

DGND

M101

23

JK10

22HP-10

+3.3V

DGND

M111

23

JK11

22HP-10

+3.3V

DGND

M121

23

JK12

22HP-10

M1M2

M3M4

M5M6

M7M8

M9M10

M11

M12

1 2

8MHZ

Y1

12

D5SMCJ24A

12

D6SMCJ24A

1

32

Q12MMBT3904

1

32

Q14

MMBT3904

1

32

Q19MMBT3904

1

32

Q20MMBT3904

1

32

Q10MMBT3904

1

32

Q6

MMBT2907

11

12

13

U9C

74VHC08MX

1

2

3

71

4

U9A

74VHC08MX

1

2 3

4U6

EL357N

1

2 3

4U7

EL357N

1

2 3

4U11

EL357N

1

2 3

4U8

EL357N

1

2 3

4U12

EL357N

1112

13U5C

74VHC00MX

+24V

GN

D1

Reset#2

VC

C3

U4

IMP809MEUR-T

GND2

FB2

4.7uH

Reset#

4.38V

C20

22uF

FB1

4.7uH

VCC

VCC

VCC

VCC

VCC

VCC

1

23

Q5

2SD1760

R195.6K

D7

ZMM6V2

+24V

VCC

12

D8

SMAJ5.0A

C21

220uF 16V

F1

PPTC自恢复保险丝印字 5X5

D9

1N4148R25510R

ENA_T

R34

4.7K

R494.7K

R394.7K

R54

4.7K

R24

10K

R21

10K

R22

10K+24V

4

56

U5B

74VHC00MX

89

10U5D

74VHC00MX

+24V

GND3

D3

ZMM6V2

R205.6K

+24V

C18

22uF

GND3

R33

10K

R30

10K

R31

10K+24V

R48

10K

R45

10K

R46

10K+24V

R38

10K

R35

10K

R36

10K+24V

R53

10K

R50

10K

R51

10K+24V

ENA

IN1

IN2

IN3

IN4

R23

510R

R32

1K

R47

1K

R37

1K

R52

1K

D111N4148

4

56

U9B

74VHC08MXD10

1N4148

D131N4148

8

9

10

U9D

74VHC08MX

D121N4148

VCC

C26

100nF

DA-1

DA-2

DB-2

DB-1

1

23

Q13NCE6075K

1

23

Q11

SUD50P06-15

+24V

1

23

Q18

NCE6075K

R28

1MC24

1nF

1

23

Q8

SUD50P06-15

+24V

1

23

Q16NCE6075K

+24V

R26

1MC22

1nF

+24V

1

23

Q15NCE6075K

1

23

Q9SUD50P06-15

R27

1MC23

1nF

R29

1MC25

1nF

1

23

Q7SUD50P06-15

D4

ZMM6V2

GND3

R184.7K

C191000uF 35V

C17

100nF

GND3

1

23

714

U5A

74VHC00MX

U3-11

IN1_T

IN3_T

IN1_T

IN3_T

IN2_T

IN4_T

IN2_T

IN4_T

ENA_24

ENA_24

IN1_24

IN1_24

IN2_24

ENB_24

IN3_24

IN3_24

IN4_24

IN4_24

IN2_24

MOTOR_1_+ MOTOR_1_-MOTOR_2_+ MOTOR_2_-

+3.3V

+3.3V

+3.3V

+3.3V

+3.3V

DS1

1

32

Q17MMBT3904

1

2 3

4U10

EL357N

VCCD14

1N4148R44510R

R43

10K

R40

10K

R41

10K+24V

ENB

R42

510RENB_T

ENB_24+3.3V

IN1

IN2

ENA

IN3

IN4

ENB

1

23

71

4

U53A

74VHC00MX

4

56

U53B

74VHC00MX

R234

4.7K

R235

4.7K

VCC

D46

1N4148

Reset#

R226

10KR23010K

DA-1

DA-2 DB-2

Reset#

R227

10KR23110K

D47

1N4148

DB-1

ENA_T ENB_T

12

J2

2EDG508

12

J1

2EDG508

MOTOR_1_+

MOTOR_1_-

MOTOR_2_+

MOTOR_2_-

12

J13

2EDG508

+24V

1

32

Q29MMBT3904

1

32

Q30MMBT3904

1

32

Q26MMBT3904

89

10U20D

74VHC08MX

4

5

6

U20B

74VHC08MX

1

2 3

4U17

EL357N

1

2 3

4U18

EL357N

1

2 3

4U19

EL357N

VCC

VCC

VCCD16

1N4148R74

510R

END_T

R834.7K

R88

4.7K

R73

10K

R70

10K

R71

10K+24V

4

5

6U16B

74VHC00MX

8

9

10U16D

74VHC00MX

R80

10K

R75

10K

R76

10K+24V

R87

10K

R84

10K

R85

10K+24V

END

R72

510R

R77

1K

R86

1K

D18

1N4148

D20

1N4148

1

23

Q32

NCE6075K

1

23

Q28

SUD50P06-15

+24V

R81

1MC29

1nF

1

23

Q25

SUD50P06-15

+24V

1

23

Q34NCE6075K

R82

1MC30

1nF

IN7_T

IN8_T

END_24

IN7_24

IN8_24

MOTOR_4_+ MOTOR_4_-

+3.3V

+3.3V

+3.3V

IN8_24

IN7_T

IN8_T

DD1

DD2

1112

13

U20C

74VHC08MX

1

2

3

71

4

U20A

74VHC08MX

1

2

3

714

U16A

74VHC00MX

11

12

13U16C

74VHC00MX

+24V

GND3

D17

1N4148

D191N4148

VCC

C31

100nF

1

23

Q31NCE6075K

1

23

Q27

SUD50P06-15

+24V

R78

1MC27

1nF

1

23

Q24

SUD50P06-15

+24V

1

23

Q33NCE6075K

R79

1MC28

1nF

MOTOR_3_-MOTOR_3_+

DC-2

DC-1

IN5_T

IN6_T

IN5_24

IN6_24

ENC_24 IN7_24

END_24

1

32

Q21MMBT3904

1

2 3

4U13

EL357N

VCCD15

1N4148R59510R

R58

10K

R55

10K

R56

10K+24VR57

510RENC_T

ENC_24

1

32

Q22MMBT3904

1

32

Q23MMBT3904

1

2 3

4U14

EL357N

1

2 3

4U15

EL357N

VCC

VCC

R644.7K

R69

4.7K

R63

10K

R60

10K

R61

10K+24V

R68

10K

R65

10K

R66

10K+24V

R62

1K

R67

1K

IN5_T

IN6_T

IN5_24

IN6_24

ENC

IN5

IN6

+3.3V

+3.3V

+3.3V

IN5

IN6

ENC

IN7

IN8

END

R233

4.7K

D45

1N4148

Reset#

R225

10KR22910K

DD1

DD2

END_T11

12

13U53C

74VHC00MX

89

10U53D

74VHC00MX

R236

4.7K

DC-2

Reset#

R228

10KR23210K

D48

1N4148

DC-1

ENC_T

12

J3

2EDG508

12

J4

2EDG508

MOTOR_3_+MOTOR_3_-

MOTOR_4_+MOTOR_4_-

IN8

IN7

1112

13U26C

74VHC08MX

1

2

3

714

U26A

74VHC08MX

1

23

714

U22A

74VHC00MX

89

10U22D

74VHC00MX

+24V

GND3

D23

1N4148

D241N4148

VCC

C37

100nF

1

23

Q42NCE6075K

1

23

Q40

SUD50P06-15

+24V

R99

1MC33

1nF

1

23

Q37

SUD50P06-15

+24V

1

23

Q46NCE6075K

R100

1MC34

1nFMOTOR_6_-MOTOR_6_+

ENF_24

IN11_24

IN12_24

DF2

DF1

IN11_T

IN12_T

1112

13U22C

74VHC00MX

D251N4148

4

56

U26B

74VHC08MX

D261N4148

89

10

U26D

74VHC08MX

1

23

Q47

NCE6075K

+24V

R104

1MC35

1nF

+24V

1

23

Q44NCE6075K

1

23

Q39

SUD50P06-15

R105

1MC36

1nF

1

23

Q36

SUD50P06-15

4

56

U22B

74VHC00MX

MOTOR_5_+ MOTOR_5_-

ENE_24

IN9_24

IN10_24

IN9_T

IN10_T

DE2

DE1

1

32

Q43MMBT3904

1

2 3

4U25

EL357N

VCCD22

1N4148R112510R

R111

10K

R108

10K

R109

10K+24VR110

510RENF_T

ENF_24

1

32

Q45MMBT3904

1

32

Q48MMBT3904

1

2 3

4U27

EL357N

1

2 3

4U28

EL357N

VCC

VCC

R1174.7K

R122

4.7K

R116

10K

R113

10K

R114

10K+24V

R121

10K

R118

10K

R119

10K+24V

R115

1K

R120

1K

IN11_T

IN12_T

IN11_24

IN12_24

ENF

IN11

IN12

+3.3V

+3.3V

+3.3V

1

32

Q38MMBT3904

1

32

Q41MMBT3904

1

2 3

4U23

EL357N

1

2 3

4U24

EL357N

VCC

VCC

R984.7K

R107

4.7K

R97

10K

R94

10K

R95

10K+24V

R106

10K

R101

10K

R102

10K+24V

IN9

IN10

R96

1K

R103

1K

IN9_T

IN10_T

IN9_24

IN10_24

+3.3V

+3.3V

1

32

Q35

MMBT3904

1

2 3

4U21

EL357N

VCCD21

1N4148R93510R

R92

10K

R89

10K

R90

10K+24V

ENE

R91

510RENE_T

ENE_24+3.3V

IN10

IN11

IN12

ENF

IN9

ENE

4

56

U54B

74VHC00MX

1

23

714

U54A

74VHC00MX

VCC

R247

4.7K

DE2

Reset#

R240

10KR24310K

D51

1N4148

DE1

R248

4.7K

DF2

Reset#

R241

10KR24410K

D52

1N4148

DF1

ENE_T ENF_T

1

2

J5

2EDG508

1

2

J6

2EDG508

MOTOR_5_+MOTOR_5_-

MOTOR_6_+MOTOR_6_-

1

32

Q58

MMBT3904

1

2 3

4U34

EL357N

VCC D28

1N4148R146510R

R145

10K

R142

10K

R143

10K+24V

ENH

R144

510RENH_T

ENH_24+3.3V

1

32

Q61MMBT3904

1

32

Q62

MMBT3904

1

2 3

4U35

EL357N

1

2 3

4U36

EL357N

VCC

VCC

R1514.7K

R156

4.7K

R150

10K

R147

10K

R148

10K+24V

R155

10K

R152

10K

R153

10K+24V

IN15

IN16

R149

1K

R154

1K

IN15_T

IN16_T

IN15_24

IN16_24

+3.3V

+3.3V

1

32

Q53MMBT3904

1

32

Q55MMBT3904

1

2 3

4U31

EL357N

1

2 3

4U32

EL357N

VCC

VCC

R1344.7K

R141

4.7K

R133

10K

R128

10K

R129

10K+24V

R140

10K

R137

10K

R138

10K+24V

IN13

IN14

R130

1K

R139

1K

IN13_T

IN14_T

IN13_24

IN14_24

+3.3V

+3.3V

1

32

Q50MMBT3904

1

2 3

4U30

EL357N

VCCD27

1N4148R127

510R

ENG_T R126

10K

R123

10K

R124

10K+24V

ENG

R125

510R

ENG_24+3.3V

IN13

IN14

ENG

IN15

IN16

ENH8

9

10U33D

74VHC08MX

4

56

U33B

74VHC08MX

4

56

U29B74VHC00MX

89

10U29D

74VHC00MX

+24V

GND3

D301N4148

D321N4148

VCC

C42

100nF

1

23

Q57NCE6075K

1

23

Q54SUD50P06-15

+24V

R135

1MC40

1nF

1

23

Q51SUD50P06-15

+24V

1

23

Q60

NCE6075K

R136

1MC41

1nFMOTOR_7_+ MOTOR_7_-

ENG_24

IN13_24

IN14_24

DG1

DG2

IN13_T

IN14_T

1112

13U29C

74VHC00MX

D291N4148

1

2

3

714

U33A

74VHC08MX

D31

1N4148

11

12

13

U33C

74VHC08MX

1

23

Q59

NCE6075K

+24V

R131

1MC38

1nF

+24V

1

23

Q56NCE6075K

1

23

Q52SUD50P06-15

R132

1MC39

1nF

1

23

Q49SUD50P06-15

1

23

714

U29A

74VHC00MX

MOTOR_8_+ MOTOR_8_-

ENH_24

IN15_24

IN16_24

DH2

DH1

IN15_T

IN16_T

R246

4.7K

D50

1N4148

Reset#

R238

10KR242

10K

DG1

DG2

ENG_T11

12

13U54C

74VHC00MX

1

2

J7

2EDG508

MOTOR_7_+MOTOR_7_-

MOTOR_8_+

MOTOR_8_-12

J8

2EDG508

R245

4.7K

DH2

Reset#

R237

10KR23910K

D49

1N4148

DH1

ENH_T89

10U54D

74VHC00MX

1

32

Q73

MMBT3904

1

32

Q76MMBT3904

1

32

Q70MMBT3904

1

2 3

4U41

EL357N

1

2 3

4U43

EL357N

1

2 3

4U44

EL357N

VCC

VCC

VCCD34

1N4148R180

510R

ENJ_T

R1854.7K

R1904.7K

R179

10K

R176

10K

R177

10K+24V

R184

10K

R181

10K

R182

10K+24V

R189

10K

R186

10K

R187

10K+24V

ENJ

IN19

IN20

R178

510R

R183

1K

R188

1K

IN19_T

IN20_T

ENJ_24

IN19_24

IN20_24

+3.3V

+3.3V

+3.3V

1

32

Q63MMBT3904

1

2 3

4U37

EL357N

VCCD33

1N4148R161

510R

R160

10K

R157

10K

R158

10K+24VR159

510RENI_T

ENI_24

1

32

Q64MMBT3904

1

32

Q67

MMBT3904

1

2 3

4U38

EL357N

1

2 3

4U40

EL357N

VCC

VCC

R166

4.7K

R1714.7K

R165

10K

R162

10K

R163

10K+24V

R170

10K

R167

10K

R168

10K+24V

R164

1K

R169

1K

IN17_T

IN18_T

IN17_24

IN18_24

ENI

IN17

IN18

+3.3V

+3.3V

+3.3V

8

9

10U42D

74VHC08MX

4

56

U42B

74VHC08MX

4

56 U39B

74VHC00MX

89

10U39D

74VHC00MX

D361N4148

D381N4148

1

23

Q72NCE6075K

1

23

Q69SUD50P06-15

+24V

R174

1MC45

1nF

1

23

Q66SUD50P06-15

+24V

1

23

Q75

NCE6075K

R175

1MC46

1nFMOTOR_10_+ MOTOR_10_-

ENJ_24

IN19_24

IN20_24

DJ1

DJ2

IN19_T

IN20_T

11

12

13U42C

74VHC08MX

1

2

3

714

U42A74VHC08MX

1

23

714

U39A

74VHC00MX

1112

13U39C

74VHC00MX

+24V

GND3

D351N4148

D371N4148

VCC

C47

100nF

1

23

Q71NCE6075K

1

23

Q68SUD50P06-15

+24V

R172

1MC43

1nF

1

23

Q65SUD50P06-15

+24V

1

23

Q74

NCE6075K

R173

1MC44


ENI_24

IN17_24

IN18_24

DI2

DI1

IN17_T

IN18_T

4

56

U55B

74VHC00MX

R258

4.7K

VCC

D54

1N4148

Reset#

R250

10KR25410K

DJ1

DJ2

ENJ_T1

23

714

U55A

74VHC00MX

R260

4.7K

DI2

Reset#

R253

10KR256

10K

D56

1N4148

DI1

ENI_T

12

J10

2EDG508

12

J9

2EDG508

MOTOR_9_+MOTOR_9_-

MOTOR_10_+MOTOR_10_-

1

32

Q86

MMBT3904

1

2 3

4U50

EL357N

VCCD41

1N4148R214

510R

R213

10K

R210

10K

R211

10K+24VR212

510RENL_T

ENL_24

1

32

Q89MMBT3904

1

32

Q90

MMBT3904

1

2 3

4U51

EL357N

1

2 3

4U52

EL357N

VCC

VCC

R219

4.7K

R2244.7K

R218

10K

R215

10K

R216

10K+24V

R223

10K

R220

10K

R221

10K+24V

R217

1K

R222

1K

IN23_T

IN24_T

IN23_24

IN24_24

ENL

IN23

IN24

+3.3V

+3.3V

+3.3V

1

32

Q82

MMBT3904

1

32

Q83MMBT3904

1

2 3

4U47

EL357N

1

2 3

4U48

EL357N

VCC

VCC

R2044.7K

R209

4.7K

R199

10K

R196

10K

R197

10K+24V

R208

10K

R205

10K

R206

10K+24V

IN21

IN22

R198

1K

R207

1K

IN21_T

IN22_T

IN21_24

IN22_24

+3.3V

+3.3V

1

32

Q78

MMBT3904

1

2 3

4U45

EL357N

VCCD39

1N4148R195

510R

R194

10K

R191

10K

R192

10K+24V

ENK

R193

510RENK_T

ENK_24+3.3V

IN21

IN22

ENK

IN23

IN24

ENL

11

12

13U49C

74VHC08MX

1

2

3

714

U49A

74VHC08MX

4

5

6U46B

74VHC00MX

89

10U46D

74VHC00MX

+24V

GND3

D401N4148

D431N4148

VCC

C53

100nF

1

23

Q84NCE6075K

1

23

Q81SUD50P06-15

+24V

R202

1MC51

1nF

1

23

Q79SUD50P06-15

+24V

1

23

Q87

NCE6075K

R203

1MC52


ENL_24

IN23_24

IN24_24

DL2

DL1

IN23_T

IN24_T

1112

13U46C

74VHC00MX

D421N4148

4

56

U49B

74VHC08MX

D441N4148

8

9

10

U49D

74VHC08MX1

23

Q88

NCE6075K

+24V

R200

1MC49

1nF

+24V

1

23

Q85NCE6075K

1

23

Q80

SUD50P06-15

R201

1MC50

1nF

1

23

Q77

SUD50P06-151

2

3

714

U46A

74VHC00MX

MOTOR_11_+ MOTOR_11_-

ENK_24

IN21_24

IN22_24

DK2

DK1

IN21_T

IN22_T

1112

13U55C

74VHC00MX

R259

4.7K

DK2

Reset#

R251

10KR25510K

D55

1N4148

DK1

ENK_T

R257

4.7K

DL2

Reset#

R249

10KR252

10K

D53

1N4148

DL1

ENL_T8

9

10U55D

74VHC00MX

1

2

J11

2EDG508

1

2

J12

2EDG508

MOTOR_11_+MOTOR_11_- MOTOR_12_-

MOTOR_12_+

+3.3V

LED4LED3

LED1

LED2

ENAIN1

IN2ENB

IN4IN3

ENCIN5IN6

ENDIN7

IN8

ENE

IN9IN10

ENFIN11IN12

ENG

IN13

IN14

ENHIN15

IN16ENIIN17

IN18

ENJ

IN19IN20

ENL

ENK

IN22

IN21

IN23

IN24

PIC101

PIC102

COC1 PIC201

PIC202

COC2

PIC301

PIC302

COC3 PIC401

PIC402

COC4 PIC501

PIC502

COC5

PIC601 PIC602

COC6

PIC701 PIC702

COC7

PIC801

PIC802

COC8

PIC901

PIC902 COC9

PIC1001

PIC1002 COC10

PIC1101 PIC1102



PIC1401 PIC1402



PIC1701

PIC1702 COC17

PIC1801

PIC1802

COC18

PIC1901

PIC1902

COC19

PIC2001

PIC2002 COC20

PIC2101

PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26

PIC2701 PIC2702

COC27

PIC2801 PIC2802

COC28

PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601 PIC3602

COC36

PIC3701 PIC3702

COC37

PIC3801 PIC3802

COC38

PIC3901 PIC3902

COC39

PIC4001 PIC4002

COC40

PIC4101 PIC4102

COC41

PIC4201 PIC4202

COC42

PIC4301 PIC4302

COC43

PIC4401 PIC4402

COC44

PIC4501 PIC4502

COC45

PIC4601 PIC4602

COC46

PIC4701 PIC4702

COC47

PIC4901 PIC4902

COC49

PIC5001 PIC5002

COC50

PIC5101 PIC5102

COC51

PIC5201 PIC5202

COC52

PIC5301 PIC5302

COC53

PICN101 PICN102

PICN103

PICN104

PICN105

PICN106

COCN1

PICV101

PICV102

COCV1 PICV201

PICV202

COCV2

PID101

PID102 COD1

PID201

PID202 COD2

PID301

PID302 COD3

PID401

PID402 COD4

PID501

PID502

COD5

PID601

PID602

COD6

PID701

PID702 COD7

PID801

PID802 COD8

PID901 PID902

COD9

PID1001

PID1002

COD10

PID1101

PID1102

COD11

PID1201

PID1202 COD12

PID1301

PID1302

COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PID1601 PID1602

COD16

PID1701

PID1702

COD17

PID1801

PID1802

COD18

PID1901

PID1902 COD19

PID2001

PID2002 COD20

PID2101 PID2102

COD21

PID2201 PID2202

COD22

PID2301

PID2302

COD23

PID2401

PID2402

COD24

PID2501

PID2502

COD25

PID2601

PID2602 COD26

PID2701 PID2702

COD27

PID2801 PID2802

COD28

PID2901

PID2902

COD29

PID3001

PID3002

COD30

PID3101

PID3102 COD31

PID3201

PID3202 COD32

PID3301 PID3302

COD33

PID3401 PID3402

COD34

PID3501

PID3502

COD35 PID3601

PID3602

COD36

PID3701

PID3702 COD37

PID3801

PID3802 COD38

PID3901 PID3902

COD39

PID4001

PID4002

COD40

PID4101 PID4102

COD41

PID4201

PID4202

COD42

PID4301

PID4302 COD43

PID4401

PID4402 COD44

PID4501 PID4502

COD45

PID4601 PID4602

COD46

PID4701 PID4702

COD47

PID4801 PID4802

COD48

PID4901 PID4902

COD49

PID5001 PID5002

COD50

PID5101 PID5102

COD51

PID5201 PID5202

COD52

PID5301 PID5302

COD53

PID5401 PID5402

COD54

PID5501 PID5502

COD55

PID5601 PID5602

COD56

PIDS101

PIDS102 CODS1

PIF101

PIF102 COF1

PIFB101 PIFB102

COFB1

PIFB201 PIFB202

COFB2

PIJ001 PIJ002

COJ0

PIJ101

PIJ102

COJ1

PIJ201

PIJ202

COJ2

PIJ301

PIJ302

COJ3

PIJ401

PIJ402

COJ4

PIJ501

PIJ502

COJ5

PIJ601

PIJ602

COJ6

PIJ701

PIJ702

COJ7 PIJ801

PIJ802

COJ8

PIJ901

PIJ902

COJ9

PIJ1001

PIJ1002

COJ10

PIJ1101

PIJ1102

COJ11

PIJ1201

PIJ1202

COJ12

PIJ1301

PIJ1302

COJ13

PIJK101 PIJK102

PIJK103

COJK1

PIJK201 PIJK202

PIJK203

COJK2

PIJK301 PIJK302

PIJK303

COJK3

PIJK401 PIJK402

PIJK403

COJK4

PIJK501 PIJK502

PIJK503

COJK5

PIJK601 PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PIP101

PIP102

PIP103

PIP104

COP1

PIP201

PIP202

PIP203 PIP204

COP2

PIQ101

PIQ102

PIQ103 COQ1

PIQ201

PIQ202

PIQ203 COQ2

PIQ301

PIQ302

PIQ303 COQ3

PIQ401

PIQ402

PIQ403 COQ4

PIQ501

PIQ502

PIQ503

COQ5

PIQ601

PIQ602

PIQ603

COQ6

PIQ701

PIQ702

PIQ703 COQ7

PIQ801

PIQ802

PIQ803 COQ8

PIQ901

PIQ902

PIQ903 COQ9

PIQ1001

PIQ1002

PIQ1003 COQ10

PIQ1101

PIQ1102

PIQ1103 COQ11

PIQ1201

PIQ1202

PIQ1203

COQ12

PIQ1301

PIQ1302

PIQ1303

COQ13

PIQ1401

PIQ1402

PIQ1403 COQ14

PIQ1501

PIQ1502

PIQ1503

COQ15

PIQ1601

PIQ1602

PIQ1603

COQ16

PIQ1701

PIQ1702

PIQ1703 COQ17

PIQ1801

PIQ1802

PIQ1803

COQ18

PIQ1901

PIQ1902

PIQ1903 COQ19

PIQ2001

PIQ2002

PIQ2003 COQ20

PIQ2101

PIQ2102

PIQ2103 COQ21

PIQ2201

PIQ2202

PIQ2203 COQ22

PIQ2301

PIQ2302

PIQ2303 COQ23

PIQ2401

PIQ2402

PIQ2403 COQ24

PIQ2501

PIQ2502

PIQ2503 COQ25

PIQ2601

PIQ2602

PIQ2603 COQ26

PIQ2701

PIQ2702

PIQ2703 COQ27

PIQ2801

PIQ2802

PIQ2803 COQ28

PIQ2901

PIQ2902

PIQ2903

COQ29

PIQ3001

PIQ3002

PIQ3003 COQ30

PIQ3101

PIQ3102

PIQ3103

COQ31

PIQ3201

PIQ3202

PIQ3203

COQ32

PIQ3301

PIQ3302

PIQ3303

COQ33

PIQ3401

PIQ3402

PIQ3403

COQ34

PIQ3501

PIQ3502

PIQ3503 COQ35

PIQ3601

PIQ3602

PIQ3603 COQ36

PIQ3701

PIQ3702

PIQ3703 COQ37

PIQ3801

PIQ3802

PIQ3803

COQ38 PIQ3901

PIQ3902

PIQ3903 COQ39

PIQ4001

PIQ4002

PIQ4003 COQ40

PIQ4101

PIQ4102

PIQ4103 COQ41

PIQ4201

PIQ4202

PIQ4203

COQ42

PIQ4301

PIQ4302

PIQ4303

COQ43

PIQ4401

PIQ4402

PIQ4403

COQ44

PIQ4501

PIQ4502

PIQ4503 COQ45

PIQ4601

PIQ4602

PIQ4603

COQ46

PIQ4701

PIQ4702

PIQ4703

COQ47

PIQ4801

PIQ4802

PIQ4803

COQ48

PIQ4901

PIQ4902

PIQ4903 COQ49

PIQ5001

PIQ5002

PIQ5003 COQ50

PIQ5101

PIQ5102

PIQ5103 COQ51

PIQ5201

PIQ5202

PIQ5203 COQ52

PIQ5301

PIQ5302

PIQ5303 COQ53

PIQ5401

PIQ5402

PIQ5403 COQ54

PIQ5501

PIQ5502

PIQ5503

COQ55

PIQ5601

PIQ5602

PIQ5603

COQ56

PIQ5701

PIQ5702

PIQ5703

COQ57

PIQ5801

PIQ5802

PIQ5803 COQ58

PIQ5901

PIQ5902

PIQ5903

COQ59

PIQ6001

PIQ6002

PIQ6003

COQ60

PIQ6101

PIQ6102

PIQ6103

COQ61

PIQ6201

PIQ6202

PIQ6203 COQ62

PIQ6301

PIQ6302

PIQ6303 COQ63

PIQ6401

PIQ6402

PIQ6403 COQ64

PIQ6501

PIQ6502

PIQ6503 COQ65

PIQ6601

PIQ6602

PIQ6603 COQ66

PIQ6701

PIQ6702

PIQ6703 COQ67

PIQ6801

PIQ6802

PIQ6803 COQ68

PIQ6901

PIQ6902

PIQ6903 COQ69

PIQ7001

PIQ7002

PIQ7003 COQ70

PIQ7101

PIQ7102

PIQ7103

COQ71

PIQ7201

PIQ7202

PIQ7203

COQ72

PIQ7301

PIQ7302

PIQ7303

COQ73

PIQ7401

PIQ7402

PIQ7403

COQ74

PIQ7501

PIQ7502

PIQ7503

COQ75

PIQ7601

PIQ7602

PIQ7603 COQ76

PIQ7701

PIQ7702

PIQ7703 COQ77

PIQ7801

PIQ7802

PIQ7803 COQ78

PIQ7901

PIQ7902

PIQ7903 COQ79

PIQ8001

PIQ8002

PIQ8003 COQ80

PIQ8101

PIQ8102

PIQ8103 COQ81

PIQ8201

PIQ8202

PIQ8203 COQ82

PIQ8301

PIQ8302

PIQ8303

COQ83

PIQ8401

PIQ8402

PIQ8403

COQ84

PIQ8501

PIQ8502

PIQ8503

COQ85

PIQ8601

PIQ8602

PIQ8603

COQ86

PIQ8701

PIQ8702

PIQ8703

COQ87

PIQ8801

PIQ8802

PIQ8803

COQ88

PIQ8901

PIQ8902

PIQ8903 COQ89

PIQ9001

PIQ9002

PIQ9003

COQ90

PIR101

PIR102 COR1

PIR201 PIR202

COR2

PIR301 PIR302

COR3

PIR401 PIR402

COR4

PIR501

PIR502

COR5

PIR601

PIR602 COR6

PIR701

PIR702 COR7

PIR801

PIR802 COR8

PIR901

PIR902 COR9

PIR1001

PIR1002 COR10

PIR1101


PIR1202

COR12

PIR1301

PIR1302 COR13

PIR1401 PIR1402




COR17

PIR1801

PIR1802

COR18

PIR1901

PIR1902 COR19

PIR2001

PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301 PIR2302

COR23

PIR2401 PIR2402

COR24

PIR2501

PIR2502

COR25

PIR2601 PIR2602


COR27

PIR2801 PIR2802


COR29

PIR3001 PIR3002


COR31

PIR3201 PIR3202

COR32

PIR3301 PIR3302

COR33

PIR3401

PIR3402 COR34

PIR3501 PIR3502

COR35

PIR3601 PIR3602

COR36

PIR3701 PIR3702

COR37

PIR3801 PIR3802

COR38

PIR3901

PIR3902

COR39

PIR4001 PIR4002

COR40

PIR4101 PIR4102

COR41

PIR4201 PIR4202

COR42

PIR4301 PIR4302

COR43

PIR4401

PIR4402

COR44




PIR4801 PIR4802

COR48

PIR4901

PIR4902 COR49

PIR5001 PIR5002


COR51

PIR5201 PIR5202

COR52


PIR5401

PIR5402 COR54

PIR5501 PIR5502


COR56

PIR5701 PIR5702

COR57

PIR5801 PIR5802

COR58

PIR5901

PIR5902 COR59



PIR6201 PIR6202

COR62

PIR6301 PIR6302

COR63

PIR6401

PIR6402

COR64

PIR6501 PIR6502


COR66

PIR6701 PIR6702

COR67

PIR6801 PIR6802

COR68

PIR6901

PIR6902 COR69

PIR7001 PIR7002


COR71

PIR7201 PIR7202

COR72


PIR7401

PIR7402

COR74

PIR7501 PIR7502


COR76

PIR7701 PIR7702

COR77

PIR7801 PIR7802


COR79

PIR8001 PIR8002

COR80


PIR8301

PIR8302 COR83

PIR8401 PIR8402

COR84

PIR8501 PIR8502

COR85

PIR8601 PIR8602

COR86


PIR8801

PIR8802

COR88

PIR8901 PIR8902


COR90

PIR9101 PIR9102

COR91

PIR9201 PIR9202

COR92

PIR9301

PIR9302 COR93



PIR9601 PIR9602

COR96

PIR9701 PIR9702

COR97

PIR9801

PIR9802

COR98

PIR9901 PIR9902

COR99 PIR10001 PIR10002

COR100

PIR10101 PIR10102

COR101 PIR10201 PIR10202

COR102

PIR10301 PIR10302

COR103

PIR10401 PIR10402 COR104

PIR10501 PIR10502 COR105

PIR10601 PIR10602

COR106

PIR10701

PIR10702 COR107

PIR10801 PIR10802

COR108 PIR10901 PIR10902

COR109

PIR11001 PIR11002 COR110

PIR11101 PIR11102

COR111

PIR11201

PIR11202 COR112

PIR11301 PIR11302

COR113

PIR11401 PIR11402

COR114

PIR11501 PIR11502

COR115

PIR11601 PIR11602

COR116

PIR11701

PIR11702

COR117

PIR11801 PIR11802

COR118 PIR11901 PIR11902

COR119

PIR12001 PIR12002 COR120

PIR12101 PIR12102

COR121

PIR12201

PIR12202 COR122

PIR12301 PIR12302

COR123 PIR12401 PIR12402

COR124

PIR12501 PIR12502

COR125

PIR12601 PIR12602 COR126

PIR12701

PIR12702 COR127

PIR12801 PIR12802

COR128

PIR12901 PIR12902

COR129

PIR13001 PIR13002

COR130

PIR13101 PIR13102

COR131

PIR13201 PIR13202

COR132

PIR13301 PIR13302

COR133

PIR13401

PIR13402

COR134

PIR13501 PIR13502

COR135 PIR13601 PIR13602

COR136

PIR13701 PIR13702

COR137 PIR13801 PIR13802

COR138

PIR13901 PIR13902 COR139

PIR14001 PIR14002

COR140

PIR14101

PIR14102 COR141

PIR14201 PIR14202

COR142 PIR14301 PIR14302

COR143

PIR14401 PIR14402

COR144

PIR14501 PIR14502 COR145

PIR14601

PIR14602

COR146

PIR14701 PIR14702

COR147 PIR14801 PIR14802

COR148

PIR14901 PIR14902 COR149

PIR15001 PIR15002

COR150

PIR15101

PIR15102 COR151

PIR15201 PIR15202

COR152 PIR15301 PIR15302

COR153

PIR15401 PIR15402

COR154

PIR15501 PIR15502 COR155

PIR15601

PIR15602 COR156

PIR15701 PIR15702

COR157

PIR15801 PIR15802

COR158

PIR15901 PIR15902

COR159

PIR16001 PIR16002

COR160

PIR16101

PIR16102

COR161

PIR16201 PIR16202

COR162 PIR16301 PIR16302

COR163

PIR16401 PIR16402

COR164

PIR16501 PIR16502

COR165

PIR16601

PIR16602 COR166


PIR16901 PIR16902

COR169

PIR17001 PIR17002

COR170

PIR17101

PIR17102

COR171

PIR17201 PIR17202 COR172

PIR17301 PIR17302 COR173

PIR17401 PIR17402 COR174

PIR17501 PIR17502 COR175

PIR17601 PIR17602

COR176

PIR17701 PIR17702

COR177

PIR17801 PIR17802

COR178

PIR17901 PIR17902 COR179

PIR18001

PIR18002

COR180

PIR18101 PIR18102

COR181 PIR18201 PIR18202

COR182

PIR18301 PIR18302

COR183

PIR18401 PIR18402

COR184

PIR18501

PIR18502 COR185

PIR18601 PIR18602

COR186 PIR18701 PIR18702

COR187

PIR18801 PIR18802

COR188

PIR18901 PIR18902 COR189

PIR19001

PIR19002 COR190

PIR19101 PIR19102

COR191 PIR19201 PIR19202

COR192

PIR19301 PIR19302

COR193

PIR19401 PIR19402

COR194

PIR19501

PIR19502 COR195

PIR19601 PIR19602

COR196 PIR19701 PIR19702

COR197

PIR19801 PIR19802

COR198

PIR19901 PIR19902

COR199

PIR20001 PIR20002 COR200

PIR20101 PIR20102 COR201

PIR20201 PIR20202 COR202

PIR20301 PIR20302 COR203

PIR20401

PIR20402 COR204

PIR20501 PIR20502

COR205 PIR20601 PIR20602

COR206

PIR20701 PIR20702

COR207

PIR20801 PIR20802

COR208

PIR20901

PIR20902

COR209


PIR21201 PIR21202

COR212

PIR21301 PIR21302

COR213

PIR21401

PIR21402

COR214

PIR21501 PIR21502

COR215 PIR21601 PIR21602

COR216

PIR21701 PIR21702

COR217

PIR21801 PIR21802 COR218

PIR21901

PIR21902 COR219

PIR22001 PIR22002 COR220

PIR22101 PIR22102 COR221

PIR22201 PIR22202

COR222

PIR22301 PIR22302

COR223

PIR22401

PIR22402 COR224

PIR22501 PIR22502 COR225

PIR22601 PIR22602

COR226 PIR22701 PIR22702

COR227

PIR22801 PIR22802 COR228 PIR22901

PIR22902

COR229

PIR23001

PIR23002

COR230

PIR23101

PIR23102

COR231

PIR23201

PIR23202 COR232

PIR23301 PIR23302

COR233

PIR23401 PIR23402

COR234 PIR23501 PIR23502

COR235

PIR23601 PIR23602

COR236

PIR23701 PIR23702

COR237

PIR23801 PIR23802 COR238

PIR23901

PIR23902 COR239


PIR24201

PIR24202

COR242

PIR24301

PIR24302

COR243

PIR24401

PIR24402

COR244

PIR24501 PIR24502

COR245

PIR24601 PIR24602

COR246

PIR24701 PIR24702

COR247 PIR24801 PIR24802

COR248

PIR24901 PIR24902

COR249

PIR25001 PIR25002 COR250

PIR25101 PIR25102 COR251

PIR25201

PIR25202

COR252

PIR25301 PIR25302

COR253

PIR25401

PIR25402

COR254

PIR25501

PIR25502

COR255

PIR25601

PIR25602 COR256

PIR25701 PIR25702

COR257

PIR25801 PIR25802

COR258

PIR25901 PIR25902

COR259

PIR26001 PIR26002 COR260

PIS101 PIS102

COS1

PIU101 PIU102

PIU103

PIU104 PIU105

PIU106

COU1

PIU2023

PIU2024

PIU2025

PIU2026

PIU2029

PIU2030

PIU2031 PIU2032

PIU2035

PIU2036

PIU2037

PIU2047

PIU2048

PIU2051

PIU2052 PIU2053

PIU2054

PIU2067

PIU2068

PIU2069

PIU2070

PIU2071

PIU2072

PIU2076

PIU2077

PIU2089

PIU2090 PIU2091

PIU2092

PIU2093

PIU2095

PIU2096

COU2A

PIU207

PIU208

PIU209

PIU2015

PIU2016

PIU2017

PIU2018

PIU2033

PIU2034

PIU2055

PIU2056

PIU2057

PIU2058

PIU2059 PIU2060

PIU2061

PIU2062

PIU2063

PIU2064

PIU2065

PIU2066

PIU2078

PIU2079

PIU2080

PIU2081

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

COU2B

PIU201

PIU202

PIU203

PIU204

PIU205 PIU2038

PIU2039

PIU2040

PIU2041

PIU2042

PIU2043

PIU2044

PIU2045

PIU2046

PIU2097

PIU2098

COU2C

PIU2012

PIU2013 PIU2014

PIU2049

PIU2073

PIU2094

COU2D

PIU206

PIU2010

PIU2011

PIU2019

PIU2020

PIU2021

PIU2022

PIU2027

PIU2028

PIU2050

PIU2074 PIU2075

PIU2099 PIU20100

COU2E

PIU301

PIU302

PIU303

PIU304 PIU305

PIU306

PIU307

PIU308

COU3

PIU401

PIU402

PIU403 COU4

PIU501

PIU502

PIU503

PIU507

PIU5014 COU5A

PIU504

PIU505

PIU506

COU5B

PIU5011

PIU5012

PIU5013

COU5C

PIU508

PIU509

PIU5010

COU5D

PIU601

PIU602 PIU603

PIU604

COU6

PIU701

PIU702 PIU703

PIU704

COU7

PIU801

PIU802 PIU803

PIU804

COU8

PIU901

PIU902

PIU903

PIU907

PIU9014 COU9A

PIU904

PIU905 PIU906

COU9B

PIU9011

PIU9012

PIU9013

COU9C

PIU908 PIU909

PIU9010

COU9D

PIU1001

PIU1002 PIU1003

PIU1004

COU10

PIU1101

PIU1102 PIU1103

PIU1104

COU11

PIU1201

PIU1202 PIU1203

PIU1204

COU12

PIU1301

PIU1302 PIU1303

PIU1304

COU13

PIU1401

PIU1402 PIU1403

PIU1404

COU14

PIU1501

PIU1502 PIU1503

PIU1504

COU15

PIU1601

PIU1602

PIU1603

PIU1607

PIU16014 COU16A

PIU1604

PIU1605

PIU1606

COU16B

PIU16011

PIU16012

PIU16013

COU16C

PIU1608

PIU1609

PIU16010

COU16D

PIU1701

PIU1702 PIU1703

PIU1704

COU17

PIU1801

PIU1802 PIU1803

PIU1804

COU18

PIU1901

PIU1902 PIU1903

PIU1904

COU19

PIU2001

PIU2002

PIU2003

PIU2007

PIU20014 COU20A

PIU2004

PIU2005

PIU2006

COU20B

PIU20011

PIU20012

PIU20013

COU20C

PIU2008

PIU2009

PIU20010

COU20D

PIU2101

PIU2102 PIU2103

PIU2104

COU21

PIU2201

PIU2202

PIU2203

PIU2207

PIU22014 COU22A

PIU2204

PIU2205

PIU2206

COU22B

PIU22011

PIU22012

PIU22013

COU22C

PIU2208

PIU2209

PIU22010

COU22D

PIU2301

PIU2302 PIU2303

PIU2304

COU23

PIU2401

PIU2402 PIU2403

PIU2404

COU24

PIU2501

PIU2502 PIU2503

PIU2504

COU25

PIU2601

PIU2602

PIU2603

PIU2607

PIU26014 COU26A

PIU2604

PIU2605 PIU2606

COU26B

PIU26011

PIU26012

PIU26013

COU26C

PIU2608

PIU2609

PIU26010

COU26D

PIU2701

PIU2702 PIU2703

PIU2704

COU27

PIU2801

PIU2802 PIU2803

PIU2804

COU28

PIU2901

PIU2902

PIU2903

PIU2907

PIU29014 COU29A

PIU2904

PIU2905

PIU2906

COU29B

PIU29011

PIU29012

PIU29013

COU29C

PIU2908 PIU2909

PIU29010

COU29D

PIU3001

PIU3002 PIU3003

PIU3004

COU30

PIU3101

PIU3102 PIU3103

PIU3104

COU31

PIU3201

PIU3202 PIU3203

PIU3204

COU32

PIU3301

PIU3302

PIU3303

PIU3307

PIU33014 COU33A

PIU3304

PIU3305

PIU3306

COU33B

PIU33011

PIU33012

PIU33013

COU33C

PIU3308

PIU3309

PIU33010

COU33D

PIU3401

PIU3402 PIU3403

PIU3404

COU34

PIU3501

PIU3502 PIU3503

PIU3504

COU35

PIU3601

PIU3602 PIU3603

PIU3604

COU36

PIU3701

PIU3702 PIU3703

PIU3704

COU37

PIU3801

PIU3802 PIU3803

PIU3804

COU38

PIU3901

PIU3902

PIU3903

PIU3907

PIU39014 COU39A

PIU3904

PIU3905

PIU3906

COU39B

PIU39011

PIU39012

PIU39013

COU39C

PIU3908

PIU3909

PIU39010

COU39D

PIU4001

PIU4002 PIU4003

PIU4004

COU40

PIU4101

PIU4102 PIU4103

PIU4104

COU41 PIU4201

PIU4202

PIU4203

PIU4207

PIU42014 COU42A

PIU4204

PIU4205

PIU4206

COU42B

PIU42011

PIU42012

PIU42013

COU42C

PIU4208

PIU4209

PIU42010

COU42D

PIU4301

PIU4302 PIU4303

PIU4304

COU43

PIU4401

PIU4402 PIU4403

PIU4404

COU44

PIU4501

PIU4502 PIU4503

PIU4504

COU45

PIU4601

PIU4602

PIU4603

PIU4607

PIU46014 COU46A

PIU4604

PIU4605

PIU4606

COU46B

PIU46011

PIU46012

PIU46013

COU46C

PIU4608

PIU4609

PIU46010

COU46D

PIU4701

PIU4702 PIU4703

PIU4704

COU47

PIU4801

PIU4802 PIU4803

PIU4804

COU48

PIU4901

PIU4902

PIU4903

PIU4907

PIU49014 COU49A

PIU4904

PIU4905

PIU4906

COU49B

PIU49011

PIU49012

PIU49013

COU49C

PIU4908

PIU4909

PIU49010 COU49D

PIU5001

PIU5002 PIU5003

PIU5004

COU50

PIU5101

PIU5102 PIU5103

PIU5104

COU51

PIU5201

PIU5202 PIU5203

PIU5204

COU52

PIU5301

PIU5302

PIU5303

PIU5307

PIU53014 COU53A

PIU5304

PIU5305

PIU5306

COU53B

PIU53011

PIU53012

PIU53013

COU53C

PIU5308

PIU5309

PIU53010

COU53D

PIU5401

PIU5402

PIU5403

PIU5407

PIU54014 COU54A

PIU5404

PIU5405

PIU5406

COU54B

PIU54011

PIU54012

PIU54013

COU54C

PIU5408

PIU5409

PIU54010

COU54D

PIU5501

PIU5502

PIU5503

PIU5507

PIU55014 COU55A

PIU5504

PIU5505

PIU5506

COU55B

PIU55011

PIU55012

PIU55013

COU55C

PIU5508

PIU5509

PIU55010

COU55D

PIV101

PIV102 PIV103

COV1

PIY101 PIY102

COY1

PIC201


PICN101

PICV201



PIP101

PIP201

PIR102

PIR502

PIR602 PIR702

PIR1201 PIR1302

PIR2301

PIR3201

PIR3701

PIR4201

PIR4701

PIR5201

PIR5701

PIR6201

PIR6701

PIR7201

PIR7701

PIR8601

PIR9101

PIR9601

PIR10301

PIR11001

PIR11501

PIR12001

PIR12501

PIR13001

PIR13901

PIR14401

PIR14901

PIR15401

PIR15901

PIR16401

PIR16901

PIR17801

PIR18301

PIR18801

PIR19301

PIR19801

PIR20701

PIR21201

PIR21701

PIR22201

PIU206

PIU2011

PIU2019

PIU2021

PIU2022

PIU2028

PIU2050

PIU2075

PIU20100

PIU308

PIV102

PIC101

PIC301 PIC401

PICV101

PIL102

PIU104 PIV103

PIC1702 PIC1801

PIC1901

PID302 PID402

PID502 PID602

PIF102

PIJ1301

PIQ703

PIQ803

PIQ903

PIQ1103

PIQ2403 PIQ2503

PIQ2703 PIQ2803

PIQ3603 PIQ3703

PIQ3903 PIQ4003

PIQ4903

PIQ5103 PIQ5203

PIQ5403

PIQ6503 PIQ6603

PIQ6803 PIQ6903

PIQ7703

PIQ7903

PIQ8003

PIQ8103

PIR1801

PIR1902

PIR2102

PIR3002

PIR3502

PIR4002

PIR4502

PIR5002

PIR5502

PIR6002

PIR6502

PIR7002

PIR7502

PIR8402

PIR8902

PIR9402

PIR10102

PIR10802

PIR11302

PIR11802

PIR12302

PIR12802

PIR13702

PIR14202

PIR14702

PIR15202

PIR15702

PIR16202

PIR16702

PIR17602

PIR18102

PIR18602

PIR19102

PIR19602

PIR20502

PIR21002

PIR21502

PIR22002

PIU5014

PIU16014

PIU22014

PIU29014

PIU39014

PIU46014

PIC501 PIJ001

PIU101

PIC2001

PIFB102

PIU403


PID4601

PIR22602

PIU902

PIU904

PIU5301

PIU5302

NLDA01

PID1002

PID1202

PIR22601 PIR23001

NLDA02

PID4701

PIR22702

PIU9010

PIU9013

PIU5304

PIU5305

NLDB01

PID1102 PID1302

PIR22701 PIR23102

NLDB02

PID4801

PIR22802

PIU2002

PIU2005

PIU53012

PIU53013

NLDC01

PID1702

PID1902

PIR22801

PIR23202

NLDC02

PID4501

PIR22502

PIU2009

PIU20013

PIU5309

PIU53010

NLDD1

PID1802 PID2002

PIR22501 PIR22901

NLDD2

PID5101

PIR24002

PIU2602

PIU2604

PIU5401

PIU5402

NLDE1

PID2502 PID2602

PIR24001

PIR24302

NLDE2

PID5201

PIR24102

PIU26010

PIU26013

PIU5404

PIU5405

NLDF1

PID2302 PID2402

PIR24101

PIR24402

NLDF2

PID5001

PIR23802

PIU3302

PIU3305

PIU54012

PIU54013

NLDG1

PID3002

PID3202

PIR23801

PIR24201

NLDG2


PIC601

PIC701



PICN106


PID202

PIJ002



PIP104

PIP203


PIR202

PIR301

PIR401

PIS101

PIU103

PIU105

PIU106

PIU2010

PIU2020

PIU2027

PIU2074

PIU2099

PIU301

PIU302

PIU303

PIU304

PIU307

PIV101

PID4901

PIR23702

PIU33010

PIU33013

PIU5409

PIU54010

NLDH1

PID2902 PID3102

PIR23701

PIR23902

NLDH2

PID5601

PIR25302

PIU4202

PIU4205

PIU5501

PIU5502

NLDI1

PID3502 PID3702

PIR25301

PIR25602

NLDI2

PID5401

PIR25002

PIU4209

PIU42013

PIU5504

PIU5505

NLDJ1

PID3602 PID3802

PIR25001 PIR25401

NLDJ2

PID5501

PIR25102

PIU4902

PIU4904

PIU55012

PIU55013

NLDK1

PID4202 PID4402

PIR25101

PIR25502

NLDK2

PID5301

PIR24902

PIU49010

PIU49013

PIU5509

PIU55010

NLDL1

PID4002 PID4302

PIR24901 PIR25202

NLDL2

PIU2051

PIU602

NLENA

PIR2202

PIU502

PIU505

NLENA024

PID902 PIR2402

PIR23401

NLENA0T

PIU2054

PIU1002

NLENB

PIR4102

PIU5010

PIU5013

NLENB024

PID1402 PIR4302

PIR23501

NLENB0T

PIU2057

PIU1302

NLENC

PIR5602

PIU1602

PIU1605

NLENC024

PID1502 PIR5802

PIR23601

NLENC0T

PIU2060

PIU1702

NLEND

PIR7102

PIU1609

PIU16012

NLEND024

PID1602 PIR7302

PIR23301 NLEND0T

PIU2063

PIU2102 NLENE

PIR9002

PIU2201

PIU2204


PIR24701

NLENE0T

PIU2066

PIU2502 NLENF

PIR10902

PIU2209

PIU22012

NLENF024

PID2202 PIR11102

PIR24801

NLENF0T

PIU2048

PIU3002 NLENG

PIR12402

PIU2902

PIU2905

NLENG024

PID2702 PIR12602

PIR24601

NLENG0T

PIU2045

PIU3402 NLENH

PIR14302

PIU29010

PIU29013

NLENH024

PID2802 PIR14502

PIR24501

NLENH0T

PIU2042

PIU3702

NLENI

PIR15802

PIU3902

PIU3905

NLENI024

PID3302 PIR16002

PIR26001 NLENI0T

PIU205

PIU4102 NLENJ

PIR17702

PIU3909

PIU39012

NLENJ024

PID3402 PIR17902

PIR25801 NLENJ0T

PIU202

PIU4502 NLENK

PIR19202

PIU4601

PIU4604

NLENK024

PID3902 PIR19402

PIR25901

NLENK0T

PIU2097

PIU5002

NLENL

PIR21102

PIU4609

PIU46012

NLENL024

PID4102 PIR21302

PIR25701 NLENL0T

PIC1902

PIC2102

PIC2202 PIC2302

PIC2402 PIC2502

PIC2601

PIC2702 PIC2802

PIC2902 PIC3002

PIC3101

PIC3302 PIC3402

PIC3502 PIC3602

PIC3701

PIC3802 PIC3902

PIC4002 PIC4102

PIC4201

PIC4302 PIC4402 PIC4502 PIC4602

PIC4701

PIC4902 PIC5002 PIC5102 PIC5202

PIC5301

PID501 PID601

PID701

PID801

PIDS102

PIFB202

PIJ1302

PIQ603

PIQ1002

PIQ1202

PIQ1303 PIQ1402

PIQ1503

PIQ1603

PIQ1702 PIQ1803

PIQ1902

PIQ2002

PIQ2102

PIQ2202

PIQ2302

PIQ2602

PIQ2902

PIQ3002

PIQ3103 PIQ3203

PIQ3303

PIQ3403

PIQ3502

PIQ3802

PIQ4102

PIQ4203

PIQ4302 PIQ4403

PIQ4502

PIQ4603

PIQ4703

PIQ4802

PIQ5002

PIQ5302

PIQ5502

PIQ5603 PIQ5703

PIQ5802

PIQ5903 PIQ6003

PIQ6102

PIQ6202

PIQ6302

PIQ6402

PIQ6702

PIQ7002

PIQ7103 PIQ7203

PIQ7302

PIQ7403 PIQ7503

PIQ7602

PIQ7802

PIQ8202

PIQ8302 PIQ8403

PIQ8503

PIQ8602

PIQ8703

PIQ8803

PIQ8902

PIQ9002

PIR201

PIR2002

PIR2501 PIR2602 PIR2702

PIR2802 PIR2902

PIR3401

PIR3901

PIR4401

PIR4901

PIR5401

PIR5901

PIR6401

PIR6901

PIR7401

PIR7802 PIR7902

PIR8102 PIR8202

PIR8301

PIR8801

PIR9301

PIR9801 PIR9902 PIR10002

PIR10402 PIR10502

PIR10701

PIR11201

PIR11701

PIR12201

PIR12701

PIR13102 PIR13202

PIR13401

PIR13502 PIR13602

PIR14101

PIR14601

PIR15101

PIR15601

PIR16101

PIR16601

PIR17101

PIR17202 PIR17302 PIR17402 PIR17502

PIR18001

PIR18501

PIR19001

PIR19501

PIR20002 PIR20102 PIR20202 PIR20302

PIR20401

PIR20901

PIR21401

PIR21901

PIR22401

PIR22902

PIR23002 PIR23101

PIR23201

PIR23901

PIR24202

PIR24301 PIR24401

PIR25201

PIR25402

PIR25501

PIR25601

PIU907

PIU2007

PIU2607

PIU3307

PIU4207

PIU4907

PIU5307

PIU5407

PIU5507

PIC2002

PIFB201 PIU401

PIC1701 PIC1802

PID401

PIQ602

PIU507

PIU1607

PIU2207

PIU2907

PIU3907

PIU4607

PIU2052

PIU702

NLIN1

PIR3102

PIU501

NLIN1024

PID1201

PIR3302

PIR3402 PIU703

PIU901 NLIN10T

PIU2053

PIU802

NLIN2

PIR3602

PIU504

NLIN2024

PID1001


PIU905 NLIN20T

PIU2055

PIU1102

NLIN3

PIR4602

PIU509 NLIN3024

PID1301

PIR4801

PIR4902

PIU909

PIU1103

NLIN30T

PIU2056

PIU1202

NLIN4

PIR5102

PIU5012 NLIN4024

PID1101

PIR5301

PIR5402

PIU9012

PIU1203

NLIN40T

PIU2058

PIU1402

NLIN5

PIR6102

PIU1601

NLIN5024

PID1901

PIR6301 PIR6402 PIU1403

PIU2001 NLIN50T

PIU2059

PIU1502

NLIN6

PIR6602

PIU1604

NLIN6024

PID1701

PIR6801

PIR6902 PIU1503

PIU2004 NLIN60T

PIU2061

PIU1802

NLIN7

PIR7602

PIU16010 NLIN7024

PID2001 PIR8002

PIR8302 PIU1803

PIU20010

NLIN70T

PIU2062

PIU1902

NLIN8

PIR8502

PIU16013 NLIN8024

PID1801

PIR8702 PIR8802

PIU1903

PIU20012 NLIN80T

PIU2064

PIU2302

NLIN9

PIR9502

PIU2202

NLIN9024

PID2601

PIR9701 PIR9802 PIU2303

PIU2601 NLIN90T

PIU2065

PIU2402 NLIN10

PIR10202

PIU2205

NLIN10024

PID2501

PIR10601

PIR10702 PIU2403

PIU2605 NLIN100T

PIU2070

PIU2702

NLIN11

PIR11402

PIU22010 NLIN11024

PID2401

PIR11601 PIR11702

PIU2609

PIU2703

NLIN110T

PIU2071

PIU2802 NLIN12

PIR11902

PIU22013 NLIN12024

PID2301

PIR12101

PIR12202

PIU26012

PIU2803

NLIN120T

PIU2047

PIU3102

NLIN13

PIR12902

PIU2901

NLIN13024

PID3201

PIR13302 PIR13402 PIU3103

PIU3301

NLIN130T

PIU2046

PIU3202

NLIN14

PIR13802

PIU2904

NLIN14024

PID3001

PIR14002

PIR14102 PIU3203

PIU3304

NLIN140T

PIU2044

PIU3502

NLIN15

PIR14802

PIU2909 NLIN15024

PID3101 PIR15001

PIR15102 PIU33012 PIU3503

NLIN150T

PIU2043

PIU3602 NLIN16

PIR15302

PIU29012 NLIN16024

PID2901

PIR15501

PIR15602

PIU3309

PIU3603

NLIN160T

PIU2041

PIU3802 NLIN17

PIR16302

PIU3901 NLIN17024

PID3701

PIR16501

PIR16602 PIU3803

PIU4201 NLIN170T

PIU2040

PIU4002

NLIN18

PIR16802

PIU3904

NLIN18024

PID3501

PIR17001 PIR17102 PIU4003

PIU4204 NLIN180T

PIU204

PIU4302 NLIN19

PIR18202

PIU39010 NLIN19024

PID3801

PIR18402

PIR18502

PIU42010

PIU4303

NLIN190T

PIU203

PIU4402 NLIN20

PIR18702

PIU39013

NLIN20024

PID3601

PIR18902

PIR19002

PIU42012

PIU4403

NLIN200T

PIU201

PIU4702 NLIN21

PIR19702

PIU4602

NLIN21024

PID4401

PIR19901

PIR20402 PIU4703

PIU4901 NLIN210T

PIU2098

PIU4802

NLIN22

PIR20602

PIU4605

NLIN22024

PID4201

PIR20801 PIR20902 PIU4803

PIU4905 NLIN220T

PIU2096

PIU5102 NLIN23

PIR21602

PIU46010 NLIN23024

PID4301

PIR21801 PIR21902

PIU4909

PIU5103

NLIN230T

PIU2095

PIU5202

NLIN24

PIR22102

PIU46013 NLIN24024

PID4001

PIR22301

PIR22402

PIU49012

PIU5203

NLIN240T

PIR1401

PIU2081

NLLED1

PICN102

PIR1002

NLLED10OUT

PIR1501

PIU2080

NLLED2

PICN103

PIR1102

NLLED20OUT

PIR1601

PIU2079

NLLED3 PICN104

PIR802

NLLED30OUT

PIR1701

PIU2078

NLLED4 PICN105

PIR902

NLLED40OUT

PIJK102

PIU2023

NLM1

PIJK202

PIU2024

NLM2

PIJK302

PIU2025

NLM3

PIJK402

PIU2026 NLM4

PIJK502

PIU2029 NLM5

PIJK602

PIU2030

NLM6

PIJK702

PIU2031 NLM7

PIJK802

PIU2032 NLM8

PIJK902

PIU2035 NLM9

PIJK1002

PIU2036 NLM10

PIJK1102

PIU2015

NLM11 PIJK1202

PIU2016

NLM12

PIC2401

PIJ101

PIQ1102

PIQ1302

PIR2801

NLMOTOR0100

PIC2501

PIJ102

PIQ802

PIQ1602

PIR2901

NLMOTOR0100

PIC2201

PIJ201

PIQ902

PIQ1502

PIR2601

NLMOTOR0200

PIC2301

PIJ202

PIQ702

PIQ1802

PIR2701

NLMOTOR0200

PIC2701

PIJ301

PIQ2702

PIQ3102

PIR7801

NLMOTOR0300

PIC2801

PIJ302

PIQ2402

PIQ3302

PIR7901

NLMOTOR0300

PIC2901

PIJ401

PIQ2802

PIQ3202

PIR8101

NLMOTOR0400

PIC3001

PIJ402

PIQ2502

PIQ3402

PIR8201

NLMOTOR0400

PIC3501

PIJ501

PIQ3902

PIQ4402

PIR10401

NLMOTOR0500

PIC3601

PIJ502

PIQ3602

PIQ4702

PIR10501

NLMOTOR0500

PIC3301

PIJ601

PIQ4002

PIQ4202

PIR9901

NLMOTOR0600

PIC3401

PIJ602

PIQ3702

PIQ4602

PIR10001

NLMOTOR0600

PIC4001

PIJ701

PIQ5402

PIQ5702

PIR13501

NLMOTOR0700

PIC4101

PIJ702

PIQ5102

PIQ6002

PIR13601

NLMOTOR0700

PIC3801

PIJ801

PIQ5202

PIQ5602

PIR13101

NLMOTOR0800

PIC3901

PIJ802 PIQ4902

PIQ5902

PIR13201

NLMOTOR0800

PIC4301

PIJ901

PIQ6802

PIQ7102

PIR17201

NLMOTOR0900

PIC4401

PIJ902

PIQ6502

PIQ7402

PIR17301

NLMOTOR0900

PIC4501

PIJ1001

PIQ6902

PIQ7202

PIR17401

NLMOTOR01000

PIC4601

PIJ1002

PIQ6602

PIQ7502

PIR17501

NLMOTOR01000

PIC4901

PIJ1101

PIQ8002

PIQ8502

PIR20001

NLMOTOR01100

PIC5001

PIJ1102

PIQ7702

PIQ8802

PIR20101

NLMOTOR01100

PIC5101

PIJ1201

PIQ8102

PIQ8402

PIR20201

NLMOTOR01200

PIC5201

PIJ1202

PIQ7902

PIQ8702

PIR20301

NLMOTOR01200

PIC602 PIU2049

PIC702 PIU2073

PID102

PIL101 PIU102

PID201 PIR101

PID301

PIQ601 PIR2001

PID702 PIQ501

PIR1901


PID1401 PIR4402 PIU1003

PID1501

PIR5902 PIU1303

PID1601

PIR7402 PIU1703

PID2101

PIR9302 PIU2103

PID2201

PIR11202 PIU2503

PID2701

PIR12702 PIU3003

PID2801 PIR14602

PIU3403

PID3301 PIR16102 PIU3703

PID3401 PIR18002

PIU4103

PID3901

PIR19502 PIU4503

PID4101 PIR21402 PIU5003

PIDS101 PIR1802

PIF101

PIQ502

PIQ101 PIR1402

PIQ103 PIR1001

PIQ201 PIR1502

PIQ203 PIR1101

PIQ301 PIR1602

PIQ303

PIR801

PIQ401 PIR1702

PIQ403

PIR901

PIQ701 PIU508

PIQ801 PIU503

PIQ901 PIU5011

PIQ1001 PIR2401

PIQ1003 PIR2101 PIR2201

PIQ1101 PIU506

PIQ1201 PIR3301

PIQ1203 PIR3001 PIR3101


PIQ1403 PIR3501 PIR3601

PIQ1601 PIU903

PIQ1701 PIR4301

PIQ1703 PIR4001 PIR4101

PIQ1801 PIU908

PIQ1901 PIR4802

PIQ1903 PIR4501 PIR4601

PIQ2001 PIR5302

PIQ2003 PIR5001 PIR5101

PIQ2101 PIR5801

PIQ2103 PIR5501 PIR5601

PIQ2201 PIR6302

PIQ2203 PIR6001 PIR6101

PIQ2301 PIR6802

PIQ2303 PIR6501 PIR6601

PIQ2401 PIU1603

PIQ2501 PIU1608

PIQ2601 PIR7301

PIQ2603 PIR7001 PIR7101

PIQ2701 PIU1606

PIQ2801 PIU16011

PIQ2901 PIR8001

PIQ2903 PIR7501 PIR7601

PIQ3001 PIR8701

PIQ3003 PIR8401 PIR8501

PIQ3101 PIU2006

PIQ3201 PIU20011

PIQ3301 PIU2003

PIQ3401 PIU2008

PIQ3501 PIR9201

PIQ3503 PIR8901 PIR9001

PIQ3601 PIU2203 PIQ3701 PIU2208

PIQ3801 PIR9702

PIQ3803 PIR9401 PIR9501

PIQ3901 PIU2206 PIQ4001 PIU22011

PIQ4101 PIR10602

PIQ4103 PIR10101 PIR10201

PIQ4201 PIU26011

PIQ4301 PIR11101

PIQ4303 PIR10801 PIR10901

PIQ4401 PIU2606

PIQ4501 PIR11602

PIQ4503 PIR11301 PIR11401

PIQ4601 PIU2608

PIQ4701 PIU2603

PIQ4801 PIR12102

PIQ4803 PIR11801 PIR11901

PIQ4901 PIU2908 PIQ5001 PIR12601

PIQ5003 PIR12301 PIR12401

PIQ5101 PIU2903 PIQ5201 PIU29011

PIQ5301 PIR13301

PIQ5303 PIR12801 PIR12901

PIQ5401 PIU2906

PIQ5501 PIR14001

PIQ5503 PIR13701 PIR13801

PIQ5601 PIU3308

PIQ5701 PIU3306

PIQ5801 PIR14501

PIQ5803 PIR14201 PIR14301

PIQ5901 PIU33011

PIQ6001 PIU3303

PIQ6101 PIR15002

PIQ6103 PIR14701 PIR14801

PIQ6201 PIR15502

PIQ6203 PIR15201 PIR15301

PIQ6301 PIR16001

PIQ6303 PIR15701 PIR15801

PIQ6401 PIR16502

PIQ6403 PIR16201 PIR16301

PIQ6501 PIU3903 PIQ6601 PIU3908

PIQ6701 PIR17002

PIQ6703 PIR16701 PIR16801

PIQ6801 PIU3906 PIQ6901 PIU39011

PIQ7001 PIR17901

PIQ7003 PIR17601 PIR17701

PIQ7101 PIU4206 PIQ7201 PIU42011

PIQ7301 PIR18401

PIQ7303 PIR18101 PIR18201

PIQ7401 PIU4203 PIQ7501 PIU4208

PIQ7601 PIR18901

PIQ7603 PIR18601 PIR18701

PIQ7701 PIU4603

PIQ7801 PIR19401

PIQ7803 PIR19101 PIR19201

PIQ7901 PIU4608

PIQ8001 PIU4606

PIQ8101 PIU46011

PIQ8201 PIR19902

PIQ8203 PIR19601 PIR19701

PIQ8301 PIR20802

PIQ8303 PIR20501 PIR20601

PIQ8401 PIU49011

PIQ8501 PIU4906

PIQ8601 PIR21301

PIQ8603 PIR21001 PIR21101

PIQ8701 PIU4908

PIQ8801 PIU4903

PIQ8901 PIR21802

PIQ8903 PIR21501 PIR21601

PIQ9001 PIR22302

PIQ9003 PIR22001 PIR22101

PIR302 PIU2037

PIR2302 PIU601

PIR3202 PIU701

PIR3702 PIU801

PIR4202 PIU1001

PIR4702 PIU1101

PIR5202 PIU1201

PIR5702 PIU1301

PIR6202 PIU1401

PIR6702 PIU1501

PIR7202 PIU1701

PIR7702 PIU1801

PIR8602 PIU1901

PIR9102 PIU2101

PIR9602 PIU2301

PIR10302 PIU2401

PIR11002 PIU2501

PIR11502 PIU2701

PIR12002 PIU2801

PIR12502 PIU3001

PIR13002 PIU3101

PIR13902 PIU3201

PIR14402 PIU3401

PIR14902 PIU3501

PIR15402 PIU3601

PIR15902 PIU3701

PIR16402 PIU3801

PIR16902 PIU4001

PIR17802 PIU4101

PIR18302 PIU4301

PIR18802 PIU4401

PIR19302 PIU4501

PIR19802 PIU4701

PIR20702 PIU4801

PIR21202 PIU5001

PIR21702 PIU5101

PIR22202 PIU5201

PIR23302 PIU5308

PIR23402 PIU5303 PIR23502 PIU5306

PIR23602 PIU53011

PIR24502 PIU5408

PIR24602 PIU54011

PIR24702 PIU5403 PIR24802 PIU5406

PIR25702 PIU5508

PIR25802 PIU5506

PIR25902 PIU55011

PIR26002 PIU5503

PIU207

PIU2017

PIU2018

PIU2033

PIU2034

PIU2038

PIU2039

PIU2067

PIU2077

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

PIU2089

PIU2090 PIU2091

PIU208

NLOSC320IN

PIU209 NLOSC320OUT

PIC1002

PIU2012

PIY102

NLOSCIN

PIC902


PIC802

PIR501 PIS102

PIU2014

NLR\E\S\E\T\

PID4502

PID4602 PID4702

PID4802

PID4902

PID5002

PID5102 PID5202

PID5302

PID5402

PID5502

PID5602

PIU402

PIR1202

PIU2092

PIU306

NLSCL

PIR1301

PIU2093

PIU305

NLSDA

PIP202

PIR601

PIU2076

NLSWD0CLK

PIP204

PIR701

PIU2072 NLSWD0DAT

PIQ1501 PIU9011

NLU3011

PIP103

PIU2069

NLUART0RX

PIP102

PIU2068

NLUART0TX

PIC2101

PIC2602

PIC3102

PIC3702

PIC4202

PIC4702

PIC5302

PID802

PIFB101

PIQ503

PIU604

PIU704

PIU804

PIU9014

PIU1004

PIU1104

PIU1204

PIU1304

PIU1404

PIU1504

PIU1704

PIU1804

PIU1904

PIU20014

PIU2104

PIU2304

PIU2404

PIU2504

PIU26014

PIU2704

PIU2804

PIU3004

PIU3104

PIU3204

PIU33014

PIU3404

PIU3504

PIU3604

PIU3704

PIU3804

PIU4004

PIU4104

PIU42014

PIU4304

PIU4404

PIU4504

PIU4704

PIU4804

PIU49014

PIU5004

PIU5104

PIU5204

PIU53014

PIU54014

PIU55014


Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)

Figure 3.7: First version of the motor drive design.

Considering the fact that the compact motor driver is much more convenient to be

applied with lower cost, we finally select the integrated motor drive chip to improve

the previous design.

• Integrated motor drive chip

The improved motor drive using L298N is illustrated in Figure 3.8. When the power

is off, eight freewheeling protection diodes are set as release paths of self-inductive

energy, to prevent the self-inductive voltage from striking through the switching ele-

39

ment. If the output voltage is greater than 24V, redundant current will flow through

diodes to VCC , and thus will protect the subsequent circuits. These diodes are se-

lected as fast recovery Schottky diodes that feature fast response [53]. When the DC

motor is running, high instantaneous voltage will be generated and the diodes are

expected to protect the chip from damage. Additionally, two 1812 fuses are welded

at the circuitry of motor output and served as overcurrent protection.

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

9

10

10

11

11

12

12

D D

C C

B B

A A

Title

Number RevisionSize

A1

Date: 2020/2/16 Sheet ofFile: D:\UVIC机器狗\..\ motor_controller.SchDocDrawn By:

FB4

VIN1

ON/OFF5

GND3

TAB6

OUT2

U2

LM2596S-5

101

L1

D13SS34

330uF/35VC11

VCC_+5V

GND

1KR6

LED1

GND

104

C12

VCC_+24VVCC_+5V

VCC_+5V

330uF/35VC43

VIN1

VOUT3

2

GND

U3 LM1117-3V3

100nF

C15

100nF

C13

VCC_+3V3R5

0R

330uF/35VC16

VCC_+5V

BOOT0/VPP94

VCAP273

NRST14

PH0/OSC_IN12

PH1/OSC_OUT13

PA0-WKUP/USART4_TX/ADC123_IN023

PA1/USART4_RX/ADC123_IN1/ETH_REF_CLK24

PA2/USART2_TX/ADC123_IN2/ETH_MDIO25

PA3/USART2_RX/OTG_HS_ULPI_D0/ADC123_IN326

PA4/DCMI_HSYNC/OTG_HS_SOF/I2S3_WS/ADC12_IN4/DAC1_OUT29

PA5/SPI1_SCK/OTG_HS_ULPI_CK/ADC12_IN5/DAC2_OUT30

PA6/SPI1_MISO/DCMI_PIXCLK/ADC12_IN631

PA7/SPI1_MOSI/ADC12_IN7/ETH_RX_DV32

PA8/MCO1/I2C3_SCL/OTG_FS_SOF67

PA9/USART1_TX/I2C3_SMBA/DCMI_D0/OTG_FS_VBUS68

PA10/USART1_RX/OTG_FS_ID/DCMI_D169

PA11/CAN1_RX/OTG_FS_DM70

PA12/CAN1_TX/OTG_FS_DP71

PA13/JTMS/SWDIO72

PA14/JTCK/SWCLK76

PA15/JTDI/I2S3_WS77

PB0/OTG_HS_ULPI_D1/ADC12_IN835

PB1/OTG_HS_INTN/ADC12_IN936

PB2/BOOT137

PB3/JTDO/SPI3_SCK/I2S3_CK/SPI1_SCK89

PB4/JNTRST/SPI3_MISO/SPI1_MISO/I2S3ext_SD90

PB5/CAN2_RX/OTG_HS_ULPI_D7/DCMI_D10/I2S3_SD91

PB6/I2C1_SCL/CAN2_TX/OTG_FS_INTN/DCMI_D5/USART1_TX92

PB7/I2C1_SDA/FSMC_NL/DCMI_VSYNC/USART1_RX93

PB8/SDIO_D4/DCMI_D6/OTG_FS_SCL/I2C1_SCL/CAN1_RX95

PB9/I2S2_WS/OTG_FS_SDA/SDIO_D5/DCMI_D7/I2C1_SDA/CAN1_TX96

PB10/SPI2_SCK/I2S2_SCL/USART3_TX/OTG_HS_ULPI_D3/OTG_HS_SCL47

PB11/I2C2_SDA/USART3_RX/ETH_TX_EN48

PB12/I2S2_WS/I2S2_SMBA/CAN2_RX/ETH_TXD051

PB13/SPI2_SCK/I2S2_CK/CAN2_TX/ETH_TXD152

PB14/SPI2_MISO/OTG_HS_DMUSART3_53RTS/I2S2ext_SD53

PB15/SPI2_MOSI/I2S2_SD/OTG_HS_DP54

OTG_HS_ULPI_STP/ADC123_IN10/PC015

ETH_MDC/ADC123_IN11/PC116

SPI2_MISO/OTG_HS_ULPI_DIR/I2S2ext_SD/ADC123_IN12/PC217

SPI2_MOSI/I2S2_SD/OTG_HS_ULPI_NXT/ADC123_IN13/PC318



I2S2_MCK/SDIO_D6/USART6_TX/DCMI_D0/PC663

I2S3_MCK/SDIO_D7/USART6_RX/DCMI_D1/PC764

SDIO_D0/DCMI_D2/PC865

I2S_CKIN/MCO2/SDIO_D1/I2C3_SDA/DCMI_D3/PC966

SPI3_SCK/I2S3_CK/UART4_TX/SDIO_D2/USART3_TX/PC1078

UART4_RX/SPI3_MISO/SDIO_D3/DCMI_D4/USART3_RX/I2S3ext_SD/PC1179

UART5_TX/SDIO_CK/DCMI_D9/SPI3_MOSI/I2S3_SD/USART3_CK/PC1280

TAMPER-RTC_AF1/PC137

PC14-OSC32_IN8

PC15-OSC32_OUT9

FSMC_D2/CAN1_RX/PD081

FSMC_D3/CAN1_TX/PD182

UART5_RXSDIO_CMD/DCMI_D11/PD283

FSMC_CLK/USART2_CTS/PD384

FSMC_NOE/USART2_RTS/PD485

FSMC_NWE/USART2_TX/PD586

FSMC_NWAIT/USART2_RX/PD687

FSMC_NE1/FSMC_NCE2/PD788

FSMC_D13/USART3_TX/PD855

FSMC_D14/USART3_RX/PD956

FSMC_D15/USART3_CK/PD10 P P57

FSMC_A16/USART3_CTS/PD1158

FSMC_A17/USART3_RTS/PD1259

FSMC_A18/PD1360

FSMC_D0/PD1461

FSMC_D1/PD1562



TRACECLK/FSMC_A23/PE21

TRACED0/FSMC_A19/PE32




FSMC_D4/PE738

FSMC_D5/PE839

FSMC_D6/PE940

FSMC_D7/PE1041

FSMC_D8/PE1142

FSMC_D9/PE1243

FSMC_D10/PE1344

FSMC_D11/PE1445

FSMC_D12/PE1546

VDD_150

VDD_275

VDD_3100

VDD_428

VDD_511

VDDA22

VSSA20

VREF+21

VCAP149

VSS_274

VSS_399

VSS_427

VSS_510

VSSA19

VBAT6

U4

STM32F407VxTx

PE10PE11PE12PE13

PE15

PA8

PA11PA12PA13PA14PA15

PB3PB4PB5PB6PB7

PB9PB10PB11

PB14PB15

CY18M

C27 22pF

C28 22pF

C33

2.2uF

BOOT0

NREST

R26

10K

R810K

C18100nF

RST1

NREST

SWDIOSWCLK

D14

D15

LED1

LED2

LED1LED2

R20

10K

123

456

P7

Header 3X2A

BOOT1

BOOT1 BOOT0

12345

P1

Header 5

12345

P2

Header 5

12345

P3

Header 5

PC14PC15

R9

1K

R11

1K

KEY0

PB2

C32

2.2uF

R231M

C31

2.2uF

VCC_+5V VCC_+3V3

GND

GND

GND

GND

GND

GND

GND

GND

GND

VCC_+3V3VCC_+3V3

VCC_+3V3

VCC_+3V3

VCC_+3V3 VCC_+3V3

VCC_+3V3

C36100nF

C37100nF

C38100nF

C39100nF

C40100nF

C41100nF

C42100nF

GNDGND

GND

VCC_+3V3

12345

P5

Header 5

NREST

SWDIOSWCLK

VCC_+3V3

SW1

SW2

KEY0

KEY1GND

GND

VCC_+3V3

ADC_IN0

ADC_IN1

ADC_IN2ADC_IN3ADC_IN4

ADC_IN5ADC_IN6

ADC_IN7

ADC_IN8

ADC_IN9ADC_IN10

ADC_IN11

TIM1_CH1_PWM

TIM1_CH2_PWM

TIM1_CH4_PWM

PA15

TIM2_CH2_PWM


TIM3_CH2_PWM


123

JK1

22HP-10

100

R17

Res2

100

R18

Res2


1234

P6

VCC_+3V3

GND


VCC_+3V3

R12

470R

GND

ADC_IN0

123

JK2

22HP-10

VCC_+3V3

R13

470R

GND

123

JK3

22HP-10

VCC_+3V3

R14

470R

GND

123

JK4

22HP-10

VCC_+3V3

R15

470R

GND

123

JK5

22HP-10

VCC_+3V3

R16

470R

GND

123

JK6

22HP-10

VCC_+3V3

R19

470R

GND

123

JK7

22HP-10

VCC_+3V3

R21

470R

GND

123

JK8

22HP-10

VCC_+3V3

R22

470R

GND

123

JK9

22HP-10

VCC_+3V3

R25

470R

GND

123

JK10

22HP-10

VCC_+3V3

R27

470R

GND

123

JK11

22HP-10

VCC_+3V3

R28

470R

GND

123

JK12

22HP-10

VCC_+3V3

R29

470R

GND

ADC_IN1

ADC_IN2

ADC_IN3

ADC_IN4

ADC_IN5

ADC_IN6

ADC_IN7

ADC_IN8

ADC_IN9

ADC_IN10

ADC_IN11

1K

R7

LED2

GNDVCC_+3V3

1 2 3 4 5

6 7 8 91

0 P4Header 5X2A

repeat(MOTORA_INP)

repeat(MOTORA_INN)

repeat(MOTORB_INP)

repeat(MOTORB_INN)

repeat(MOTORA_EN)

repeat(MOTORB_EN)

repeat(MOTOR_OUT_A+)

repeat(MOTOR_OUT_A-)

repeat(MOTOR_OUT_B+)

repeat(MOTOR_OUT_B-)

rep

eat

(VC

C_+

24

V)

rep

eat

(VC

C_

+5

V)

rep

eat

(VC

C_+

3V

3)

rep

eat

(GN

D)

repeat(DR,1,6)driver.SchDoc

VCC_+3V3

VCC_+5V

VCC_+24V

GND

MOTOR_OUT_A+[1..6]MOTOR_OUT_A+

MOTOR_OUT_A-[1..6]MOTOR_OUT_A-

MOTOR_OUT_B+[1..6]MOTOR_OUT_B+

MOTOR_OUT_B-[1..6]MOTOR_OUT_B-

MOTOR_OUT_A+1

MOTOR_OUT_A+2MOTOR_OUT_A+3MOTOR_OUT_A+4MOTOR_OUT_A+5MOTOR_OUT_A+6

MOTOR_OUT_A-1MOTOR_OUT_A-2MOTOR_OUT_A-3MOTOR_OUT_A-4MOTOR_OUT_A-5MOTOR_OUT_A-6

MOTOR_OUT_B+1MOTOR_OUT_B+2MOTOR_OUT_B+3MOTOR_OUT_B+4MOTOR_OUT_B+5MOTOR_OUT_B+6

MOTOR_OUT_B-1MOTOR_OUT_B-2MOTOR_OUT_B-3MOTOR_OUT_B-4MOTOR_OUT_B-5MOTOR_OUT_B-6













MOTORA_INP

MOTORA_INN

MOTORB_INP

MOTORB_INN

MOTORA_EN

MOTORB_EN

MOTORA_INP[1..6]

MOTORA_INN[1..6]

MOTORB_INP[1..6]

MOTORB_INN[1..6]

MOTORA_EN[1..6]

MOTORB_EN[1..6]

MOTORA_INP1

MOTORA_INP2MOTORA_INP3MOTORA_INP4MOTORA_INP5MOTORA_INP6

MOTORA_INN1

MOTORA_INN2MOTORA_INN3MOTORA_INN4MOTORA_INN5MOTORA_INN6

MOTORB_INP1

MOTORB_INP2MOTORB_INP3MOTORB_INP4MOTORB_INP5MOTORB_INP6

MOTORB_INN1

MOTORB_INN2MOTORB_INN3MOTORB_INN4MOTORB_INN5MOTORB_INN6

MOTORA_EN1

MOTORA_EN2MOTORA_EN3MOTORA_EN4MOTORA_EN5MOTORA_EN6

MOTORB_EN1

MOTORB_EN2MOTORB_EN3MOTORB_EN4MOTORB_EN5MOTORB_EN6

MOTORA_EN1

MOTORA_EN2

MOTORA_EN3

MOTORA_EN4

MOTORA_EN5

MOTORA_EN6

MOTORB_EN1

MOTORB_EN2

MOTORB_EN4

MOTORB_EN5

MOTORB_EN6

MOTORA_INP1

MOTORA_INP2

MOTORA_INP3

MOTORA_INP4

MOTORA_INP5

MOTORA_INP6

MOTORA_INN1

MOTORA_INN2

MOTORA_INN3

MOTORA_INN4

MOTORA_INN5

MOTORA_INN6

MOTORB_INP1

MOTORB_INP2

MOTORB_INP3

MOTORB_INP4

MOTORB_INP5

MOTORB_INP6

MOTORB_INN1

MOTORB_INN2

MOTORB_INN3

MOTORB_INN4

MOTORB_INN5

MOTORB_INN6

电机驱动

电机接口

角位移传感器接口陀螺仪模块接口程序运行指示灯启动方式选择复位程序下载

单片机

退耦

预留IO

电源预留按键

104

C9

1KR10

100nF

C19

GND

100nF

C20

GND

100nF

C21

GND

100nF

C22

GND

100nF

C23

GND

100nF

C24

GND

100nF

C25

GND

100nF

C26

GND

100nF

C29

GND

100nF

C30

GND

100nF

C34

GND

100nF

C35

GND

100nFC10

GND

12

P30

Header 2

VCC_+24V

GND

GND12345

P31

Header 5

VCC_+24V

12

P8

Header 2

12

P9

Header 2

12

P10

Header 2

12

P11

Header 2

12

P12

Header 2

12

P13

Header 2

12

P14

Header 2

12

P15

Header 2

12

P16

Header 2

12

P17

Header 2

12

P18

Header 2

12

P19

Header 2

C44100nF

TIM9_CH2_PWM


MOTORB_EN3

KEY1

PD7

PD

7PA

15

PC10

PC

10

PC11PC12

PC

11

PC

12

PD0PD1PD2

PD

0

PD

1

PD

2P

A8

PD14

PD

14

PIC901

PIC902 COC9

PIC1001


PIC1102 COC11

PIC1201

PIC1202 COC12

PIC1301

PIC1302 COC13

PIC1501


PIC1602 COC16

PIC1801

PIC1802

COC18

PIC1901 PIC1902

COC19

PIC2001 PIC2002

COC20

PIC2101 PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26



PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3201 PIC3202

COC32

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601

PIC3602 COC36

PIC3701

PIC3702 COC37

PIC3801

PIC3802 COC38

PIC3901

PIC3902 COC39

PIC4001

PIC4002 COC40

PIC4101

PIC4102 COC41

PIC4201

PIC4202 COC42

PIC4301

PIC4302 COC43

PIC4401

PIC4402 COC44

PICY101

PICY102 COCY1

PID1301

PID1302 COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PIJK101

PIJK102

PIJK103

COJK1

PIJK201

PIJK202

PIJK203

COJK2

PIJK301

PIJK302

PIJK303

COJK3

PIJK401

PIJK402

PIJK403

COJK4

PIJK501

PIJK502

PIJK503

COJK5

PIJK601

PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PILED101

PILED102

COLED1

PILED201 PILED202

COLED2

PIP101

PIP102

PIP103

PIP104

PIP105

COP1

PIP201

PIP202

PIP203

PIP204

PIP205

COP2

PIP301

PIP302

PIP303

PIP304

PIP305

COP3

PIP401 PIP402 PIP403 PIP404 PIP405

PIP406 PIP407 PIP408 PIP409 PIP4010 COP4

PIP501

PIP502

PIP503

PIP504

PIP505

COP5

PIP601

PIP602

PIP603

PIP604

COP6

PIP701

PIP702

PIP703

PIP704

PIP705

PIP706

COP7

PIP801

PIP802

COP8

PIP901

PIP902

COP9

PIP1001

PIP1002

COP10

PIP1101

PIP1102

COP11

PIP1201

PIP1202

COP12

PIP1301

PIP1302

COP13

PIP1401

PIP1402

COP14

PIP1501

PIP1502

COP15

PIP1601

PIP1602

COP16

PIP1701

PIP1702

COP17

PIP1801

PIP1802

COP18

PIP1901

PIP1902

COP19

PIP3001

PIP3002

COP30

PIP3101

PIP3102

PIP3103

PIP3104

PIP3105

COP31

PIR501 PIR502

COR5

PIR601

PIR602 COR6

PIR701 PIR702

COR7

PIR801

PIR802 COR8

PIR901 PIR902

COR9

PIR1001

PIR1002 COR10

PIR1101 PIR1102

COR11

PIR1201 PIR1202

COR12

PIR1301 PIR1302

COR13

PIR1401 PIR1402

COR14

PIR1501 PIR1502

COR15

PIR1601 PIR1602

COR16

PIR1701 PIR1702

COR17

PIR1801 PIR1802

COR18

PIR1901 PIR1902

COR19

PIR2001 PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301

PIR2302

COR23

PIR2501 PIR2502

COR25

PIR2601 PIR2602

COR26

PIR2701 PIR2702

COR27

PIR2801 PIR2802

COR28

PIR2901 PIR2902

COR29

PIRST101

PIRST102

CORST1

PISW101 PISW102

COSW1

PISW201 PISW202

COSW2

PIU201 PIU202

PIU203

PIU204 PIU205

PIU206

COU2

PIU301

PIU302

PIU303

COU3

PIU401

PIU402

PIU403

PIU404

PIU405

PIU406

PIU407

PIU408

PIU409

PIU4010

PIU4011

PIU4012

PIU4013

PIU4014

PIU4015

PIU4016

PIU4017

PIU4018

PIU4019

PIU4020

PIU4021

PIU4022

PIU4023

PIU4024

PIU4025

PIU4026

PIU4027

PIU4028

PIU4029

PIU4030

PIU4031

PIU4032

PIU4033

PIU4034

PIU4035

PIU4036

PIU4037

PIU4038

PIU4039

PIU4040

PIU4041

PIU4042

PIU4043

PIU4044

PIU4045

PIU4046

PIU4047

PIU4048

PIU4049

PIU4050

PIU4051

PIU4052

PIU4053

PIU4054

PIU4055

PIU4056

PIU4057

PIU4058

PIU4059

PIU4060

PIU4061

PIU4062

PIU4063

PIU4064

PIU4065

PIU4066

PIU4067

PIU4068

PIU4069

PIU4070

PIU4071

PIU4072

PIU4073

PIU4074

PIU4075

PIU4076

PIU4077

PIU4078

PIU4079

PIU4080

PIU4081

PIU4082

PIU4083

PIU4084

PIU4085

PIU4086

PIU4087

PIU4088

PIU4089

PIU4090

PIU4091

PIU4092

PIU4093

PIU4094

PIU4095

PIU4096

PIU4097

PIU4098

PIU4099

PIU40100

COU4

PIR1202

PIU4032

NLADC0IN0

PIR1302

PIU4015

NLADC0IN1

PIR1402

PIU4031

NLADC0IN2

PIR1502

PIU4030

NLADC0IN3

PIR1602

PIU4029

NLADC0IN4

PIR1902

PIU4023

NLADC0IN5

PIR2102

PIU4016

NLADC0IN6

PIR2202

PIU4025

NLADC0IN7

PIR2502

PIU4034

NLADC0IN8

PIR2702

PIU4036

NLADC0IN9

PIR2802

PIU4035

NLADC0IN10

PIR2902

PIU4033

NLADC0IN11

PIP705

PIR2602

NLBOOT0 PIP702

PIR2001

NLBOOT1

PIC1002


PIC1802 PIC1902

PIC2002

PIC2102

PIC2202

PIC2302

PIC2402

PIC2502

PIC2602

PIC2702

PIC2802

PIC2902

PIC3002

PIC3102

PIC3202

PIC3302

PIC3402

PIC3502

PIC3602 PIC3702 PIC3802 PIC3902 PIC4002 PIC4102 PIC4202

PIC4302

PIC4402

PID1301

PIJK103

PIJK203

PIJK303

PIJK403

PIJK503

PIJK603

PIJK703

PIJK803

PIJK903

PIJK1003

PIJK1103

PIJK1203

PILED102

PILED202

PIP301

PIP302

PIP303

PIP304

PIP305

PIP502 PIP604 PIP703 PIP706

PIP3001

PIR1001

PIRST102

PISW202

PIU203 PIU206 PIU302

PIU4010

PIU4020

PIU4027

PIU4074

PIU4099

PISW101

PIU4058

NLKEY0

PISW201

PIU4059

NLKEY1

PID1402

PIU4057

NLLED1

PID1502

PIU4056

NLLED2

PIC901 PIR1002

PIU205 PIC1601

PIR501 PIU303

PIC2701

PICY102 PIR2301

PIU4012


PIU4013

PIC3201 PIU4049

PIC3301 PIU4073

PID1302

PIL101 PIU202

PID1401 PIR902

PID1501 PIR1102

PIJK102 PIR1201

PIJK202 PIR1301

PIJK302 PIR1401

PIJK402 PIR1501

PIJK502 PIR1601

PIJK602 PIR1901

PIJK702 PIR2101

PIJK802 PIR2201

PIJK902 PIR2501

PIJK1002 PIR2701

PIJK1102 PIR2801

PIJK1202 PIR2901

PILED101 PIR601

PILED201 PIR701

PIR1702 PIU4068

PIR1802 PIU4069

PIR2601 PIU4094

PIU407

PIU4051

PIU4097

PIC1801 PIP501

PIR801

PIRST101

PIU4014

NLNREST PIP409

PIU4067

NLPA8

PIU4071

NLPA12

PIP402

PIU4077

NLPA15

PIR2002 PIU4037 NLPB2

PIU4089


PIU4090 NLPB4

PIU4091 NLPB5

PIU4092

NLPB6

PIU4093 NLPB7

PIP403

PIU4078

NLPC10

PIP406

PIU4079

NLPC11

PIP404

PIU4080

NLPC12

PIU408 NLPC14

PIU409 NLPC15

PIP407

PIU4081

NLPD0

PIP405

PIU4082

NLPD1

PIP408

PIU4083

NLPD2

PIP401

PIU4088

NLPD7

PIP4010

PIU4061

NLPD14

PIU4041

NLPE10

PIU4046 NLPE15

PIP503

PIU4076 NLPA14

NLSWCLK PIP504

PIU4072 NLPA13

NLSWDIO

PIP603

PIR1801

NLUSART10RXD PIP602

PIR1701

NLUSART10TXD PIC1001 PIC1502

PIC1901

PIC2001

PIC2101

PIC2201

PIC2301

PIC2401

PIC2501

PIC2601

PIC2901

PIC3001

PIC3101

PIC3401

PIC3501

PIC3601 PIC3701 PIC3801 PIC3901 PIC4001 PIC4101 PIC4201 PIC4401

PIJK101

PIJK201

PIJK301

PIJK401

PIJK501

PIJK601

PIJK701

PIJK801

PIJK901

PIJK1001

PIJK1101

PIJK1201

PIP201

PIP202

PIP203

PIP204

PIP205

PIP505 PIP601

PIP701 PIP704

PIR502

PIR702

PIR802

PIR901

PIR1101

PISW102

PIU406

PIU4011

PIU4019

PIU4021

PIU4022

PIU4028

PIU4050

PIU4075

PIU40100

PIC1202

PIC1302 PIC4301

PIL102

PIP101

PIP102

PIP103

PIP104

PIP105

PIR602

PIU204

PIU301 PIC902 PIC1101

PIP3002 PIP3101

PIP3102

PIP3103

PIP3104

PIP3105

PIU201

PIP801


NLMOTOR0OUT0A01

NLMOTOR0OUT0A0

PIP901


NLMOTOR0OUT0A02

PIP1001


NLMOTOR0OUT0A03

PIP1101


NLMOTOR0OUT0A04

PIP1201


NLMOTOR0OUT0A05

PIP1301


NLMOTOR0OUT0A06

PIP802


NLMOTOR0OUT0A01

NLMOTOR0OUT0A0

PIP902


NLMOTOR0OUT0A02

PIP1002


NLMOTOR0OUT0A03

PIP1102


NLMOTOR0OUT0A04

PIP1202


NLMOTOR0OUT0A05

PIP1302


NLMOTOR0OUT0A06

PIP1401


NLMOTOR0OUT0B01

NLMOTOR0OUT0B0

PIP1501


NLMOTOR0OUT0B02

PIP1601


NLMOTOR0OUT0B03

PIP1701


NLMOTOR0OUT0B04

PIP1801


NLMOTOR0OUT0B05

PIP1901


NLMOTOR0OUT0B06

PIP1402


NLMOTOR0OUT0B01

NLMOTOR0OUT0B0

PIP1502


NLMOTOR0OUT0B02

PIP1602


NLMOTOR0OUT0B03

PIP1702


NLMOTOR0OUT0B04

PIP1802


NLMOTOR0OUT0B05

PIP1902


NLMOTOR0OUT0B06

PIU4096


NLMOTORA0EN1


PIU4070


NLMOTORA0EN2

NLPA11

PIU4060


NLMOTORA0EN3

PIU4040


NLMOTORA0EN4

NLTIM10CH10PWM

PIU4026


NLMOTORA0EN5

PIU4047


NLMOTORA0EN6


PIU402


NLMOTORA0INN1

PIU4085


NLMOTORA0INN2

PIU4063


NLMOTORA0INN3

PIU4018


NLMOTORA0INN4

PIU4039


NLMOTORA0INN5

PIU4053


NLMOTORA0INN6

NLPB14

PIU401


NLMOTORA0INP1

PIU4084


NLMOTORA0INP2

PIU4062


NLMOTORA0INP3

PIU4017


NLMOTORA0INP4

PIU4038


NLMOTORA0INP5

PIU4052


NLMOTORA0INP6

PIU405


NLMOTORB0EN1

NLTIM90CH20PWM

PIU4095


NLMOTORB0EN2 NLTIM100CH10PWM

PIU4066


NLMOTORB0EN3

NLTIM30CH40PWM

PIU4042


NLMOTORB0EN4

NLPE11 NLTIM10CH20PWM

PIU4045


NLMOTORB0EN5

NLTIM10CH40PWM

PIU4048


NLMOTORB0EN6


PIU404


NLMOTORB0INN1

PIU4087


NLMOTORB0INN2

PIU4065


NLMOTORB0INN3

NLTIM30CH30PWM

PIU4098


NLMOTORB0INN4

PIU4044


NLMOTORB0INN5

NLPE13

PIU4055


NLMOTORB0INN6

PIU403


NLMOTORB0INP1

PIU4086


NLMOTORB0INP2

PIU4064


NLMOTORB0INP3

NLTIM30CH20PWM

PIU4024


NLMOTORB0INP4

PIU4043


NLMOTORB0INP5

NLPE12

PIU4054


NLMOTORB0INP6

NLPB15


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1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A4

Date: 2020/2/16 Sheet ofFile: D:\UVIC机器狗\..\driver.SchDoc Drawn By:

IN15

IN27

IN310

IN412

EA6

EB11

GND8

VS4

LOG9

OUT12

OUT23

OUT313

OUT414

SEA1

SEB15

U1

L298

IN1IN2IN3IN4

D6 D7

D9

D8

D12

D5

D10 D11

GND

GND

GND

VCC_+24V

VCC_+24VGND

VCC_+5V16v22uf 1210C8

MOTORA_ENMOTORB_EN

MOTORA_INPMOTORA_INN

MOTOR_OUT_A+MOTOR_OUT_A-MOTOR_OUT_B+

MOTOR_OUT_B-

VCC_+3V3

GND

GND

VCC_+5V

VCC_+5V

VCC_+24V

VCC_+24V

VCC_+3V3

MOTORB_INPMOTORB_INN

100nF

C1

100nFC7 1uF

C31uFC4

1uFC5

1uFC6

GND

每个半桥上分配一个电容

D1

1K

R1

D2

1K

R2

D4

1K

R3

D3

1K

R4

VCC_+3V3

IN1

IN2

IN3

IN4

330uF/35V

C2

1KR30

1KR31

F1

FUSE1 1A 1812F2

FUSE1 1A 1812

D17

20kR32

D16

D19

D18 20kR33

PIC101 PIC102

COC1

PIC201 PIC202

COC2

PIC301

PIC302

COC3

PIC401

PIC402

COC4

PIC501

PIC502

COC5

PIC601

PIC602

COC6 PIC701

PIC702

COC7

PIC801

PIC802 COC8

PID101 PID102

COD1

PID201 PID202

COD2

PID301 PID302

COD3

PID401 PID402

COD4

PID501

PID502 COD5

PID601

PID602 COD6

PID701

PID702 COD7

PID801

PID802 COD8

PID901

PID902 COD9

PID1001

PID1002 COD10

PID1101

PID1102 COD11

PID1201

PID1202

COD12

PID1601 PID1602

COD16

PID1701 PID1702

COD17

PID1801 PID1802

COD18

PID1901 PID1902

COD19

PIF101 PIF102

COF1

PIF201 PIF202

COF2

PIR101 PIR102

COR1

PIR201 PIR202

COR2

PIR301 PIR302

COR3

PIR401 PIR402

COR4

PIR3001

PIR3002

COR30

PIR3101

PIR3102

COR31

PIR3201

PIR3202

COR32

PIR3301

PIR3302

COR33

PIU101

PIU102

PIU103

PIU104 PIU105

PIU106

PIU107

PIU108

PIU109

PIU1010

PIU1011

PIU1012

PIU1013

PIU1014

PIU1015

COU1

PIC102

PIC202


PID901 PID1001 PID1101 PID1201 PIR3002 PIR3102

PIU101

PIU108 PIU1015

PID102

PIU105

NLIN1

POMOTORA0INP

PID202

PIU107

NLIN2

POMOTORA0INN

PID402

PIU1010

NLIN3

POMOTORB0INP

PID302

PIU1012

NLIN4

POMOTORB0INN

POGND

PID101 PIR102

PID201 PIR202

PID301 PIR402

PID401 PIR302

PID501

PID1002

PIU1013 POMOTOR0OUT0B0

PID601

PID1202

PID1601

PID1702

PIF101 PIU102

PID701

PID902

PIU103 POMOTOR0OUT0A0

PID801

PID1102

PID1801

PID1902

PIF201 PIU1014

PID1602

PID1701

PIR3201

PID1802

PID1901

PIR3302

PIF102

PIR3202

POMOTOR0OUT0A0

PIF202

PIR3301

POMOTOR0OUT0B0

PIR3001

PIU1011 POMOTORB0EN

PIR3101

PIU106 POMOTORA0EN

PIR101

PIR201

PIR301

PIR401 POVCC003V3

PIC702 PIC801 PIU109

POVCC005V

PIC101

PIC201

PIC301 PIC401 PIC501 PIC601 PID502 PID602 PID702 PID802 PIU104

POVCC0024V

POGND

POMOTOR0OUT0A0

POMOTOR0OUT0B0 POMOTORA0EN

POMOTORA0INN

POMOTORA0INP

POMOTORB0EN

POMOTORB0INN

POMOTORB0INP

POVCC003V3

POVCC005V

POVCC0024V



Figure 3.8: Second version of the motor drive design.

40

3.3.4 Voltage Regulation

Originally, the LM2575D2T switching regulator and AMS1117 LDO are utilized. In

the experiment testing, however, the regulated output voltages, supposed to be around

5V and 3.3V, are measured about 4.2V and 2.9V with obvious oscillation, which came

from the high frequency switching noise. The first version of voltage regulation design

is shown in Figure 3.9.

机器狗

DGND

330uH

L1

DGND

100uF/50VC5 D1

1N5819330uF/16V

C3

+5V

C4

104

GND3

OUT 2VIN1

FB4

ON/OFF5

GND6

U1

LM2575D2T-5

转电路

++

+24VD

存储模块

下载接口



PIC101

PIC102

COC1 PIC201

PIC202

COC2

PIC301

PIC302

COC3 PIC401

PIC402

COC4 PIC501

PIC502

COC5

PIC601 PIC602

COC6

PIC701 PIC702

COC7

PIC801

PIC802

COC8

PIC901

PIC902 COC9

PIC1001

PIC1002 COC10

PIC1101 PIC1102



PIC1401 PIC1402



PIC1701

PIC1702 COC17

PIC1801

PIC1802

COC18

PIC1901

PIC1902

COC19

PIC2001

PIC2002 COC20

PIC2101

PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26

PIC2701 PIC2702

COC27

PIC2801 PIC2802

COC28

PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601 PIC3602

COC36

PIC3701 PIC3702

COC37

PIC3801 PIC3802

COC38

PIC3901 PIC3902

COC39

PIC4001 PIC4002

COC40

PIC4101 PIC4102

COC41

PIC4201 PIC4202

COC42

PIC4301 PIC4302

COC43

PIC4401 PIC4402

COC44

PIC4501 PIC4502

COC45

PIC4601 PIC4602

COC46

PIC4701 PIC4702

COC47

PIC4901 PIC4902

COC49

PIC5001 PIC5002

COC50

PIC5101 PIC5102

COC51

PIC5201 PIC5202

COC52

PIC5301 PIC5302

COC53

PICN101 PICN102

PICN103

PICN104

PICN105

PICN106

COCN1

PICV101

PICV102

COCV1 PICV201

PICV202

COCV2

PID101

PID102 COD1

PID201

PID202 COD2

PID301

PID302 COD3

PID401

PID402 COD4

PID501

PID502

COD5

PID601

PID602

COD6

PID701

PID702 COD7

PID801

PID802 COD8

PID901 PID902

COD9

PID1001

PID1002

COD10

PID1101

PID1102

COD11

PID1201

PID1202 COD12

PID1301

PID1302

COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PID1601 PID1602

COD16

PID1701

PID1702

COD17

PID1801

PID1802

COD18

PID1901

PID1902 COD19

PID2001

PID2002 COD20

PID2101 PID2102

COD21

PID2201 PID2202

COD22

PID2301

PID2302

COD23

PID2401

PID2402

COD24

PID2501

PID2502

COD25

PID2601

PID2602 COD26

PID2701 PID2702

COD27

PID2801 PID2802

COD28

PID2901

PID2902

COD29

PID3001

PID3002

COD30

PID3101

PID3102 COD31

PID3201

PID3202 COD32

PID3301 PID3302

COD33

PID3401 PID3402

COD34

PID3501

PID3502

COD35 PID3601

PID3602

COD36

PID3701

PID3702 COD37

PID3801

PID3802 COD38

PID3901 PID3902

COD39

PID4001

PID4002

COD40

PID4101 PID4102

COD41

PID4201

PID4202

COD42

PID4301

PID4302 COD43

PID4401

PID4402 COD44

PID4501 PID4502

COD45

PID4601 PID4602

COD46

PID4701 PID4702

COD47

PID4801 PID4802

COD48

PID4901 PID4902

COD49

PID5001 PID5002

COD50

PID5101 PID5102

COD51

PID5201 PID5202

COD52

PID5301 PID5302

COD53

PID5401 PID5402

COD54

PID5501 PID5502

COD55

PID5601 PID5602

COD56

PIDS101

PIDS102 CODS1

PIF101

PIF102 COF1

PIFB101 PIFB102

COFB1

PIFB201 PIFB202

COFB2

PIJ001 PIJ002

COJ0

PIJ101

PIJ102

COJ1

PIJ201

PIJ202

COJ2

PIJ301

PIJ302

COJ3

PIJ401

PIJ402

COJ4

PIJ501

PIJ502

COJ5

PIJ601

PIJ602

COJ6

PIJ701

PIJ702

COJ7 PIJ801

PIJ802

COJ8

PIJ901

PIJ902

COJ9

PIJ1001

PIJ1002

COJ10

PIJ1101

PIJ1102

COJ11

PIJ1201

PIJ1202

COJ12

PIJ1301

PIJ1302

COJ13

PIJK101 PIJK102

PIJK103

COJK1

PIJK201 PIJK202

PIJK203

COJK2

PIJK301 PIJK302

PIJK303

COJK3

PIJK401 PIJK402

PIJK403

COJK4

PIJK501 PIJK502

PIJK503

COJK5

PIJK601 PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PIP101

PIP102

PIP103

PIP104

COP1

PIP201

PIP202

PIP203 PIP204

COP2

PIQ101

PIQ102

PIQ103 COQ1

PIQ201

PIQ202

PIQ203 COQ2

PIQ301

PIQ302

PIQ303 COQ3

PIQ401

PIQ402

PIQ403 COQ4

PIQ501

PIQ502

PIQ503

COQ5

PIQ601

PIQ602

PIQ603

COQ6

PIQ701

PIQ702

PIQ703 COQ7

PIQ801

PIQ802

PIQ803 COQ8

PIQ901

PIQ902

PIQ903 COQ9

PIQ1001

PIQ1002

PIQ1003 COQ10

PIQ1101

PIQ1102

PIQ1103 COQ11

PIQ1201

PIQ1202

PIQ1203

COQ12

PIQ1301

PIQ1302

PIQ1303

COQ13

PIQ1401

PIQ1402

PIQ1403 COQ14

PIQ1501

PIQ1502

PIQ1503

COQ15

PIQ1601

PIQ1602

PIQ1603

COQ16

PIQ1701

PIQ1702

PIQ1703 COQ17

PIQ1801

PIQ1802

PIQ1803

COQ18

PIQ1901

PIQ1902

PIQ1903 COQ19

PIQ2001

PIQ2002

PIQ2003 COQ20

PIQ2101

PIQ2102

PIQ2103 COQ21

PIQ2201

PIQ2202

PIQ2203 COQ22

PIQ2301

PIQ2302

PIQ2303 COQ23

PIQ2401

PIQ2402

PIQ2403 COQ24

PIQ2501

PIQ2502

PIQ2503 COQ25

PIQ2601

PIQ2602

PIQ2603 COQ26

PIQ2701

PIQ2702

PIQ2703 COQ27

PIQ2801

PIQ2802

PIQ2803 COQ28

PIQ2901

PIQ2902

PIQ2903

COQ29

PIQ3001

PIQ3002

PIQ3003 COQ30

PIQ3101

PIQ3102

PIQ3103

COQ31

PIQ3201

PIQ3202

PIQ3203

COQ32

PIQ3301

PIQ3302

PIQ3303

COQ33

PIQ3401

PIQ3402

PIQ3403

COQ34

PIQ3501

PIQ3502

PIQ3503 COQ35

PIQ3601

PIQ3602

PIQ3603 COQ36

PIQ3701

PIQ3702

PIQ3703 COQ37

PIQ3801

PIQ3802

PIQ3803

COQ38 PIQ3901

PIQ3902

PIQ3903 COQ39

PIQ4001

PIQ4002

PIQ4003 COQ40

PIQ4101

PIQ4102

PIQ4103 COQ41

PIQ4201

PIQ4202

PIQ4203

COQ42

PIQ4301

PIQ4302

PIQ4303

COQ43

PIQ4401

PIQ4402

PIQ4403

COQ44

PIQ4501

PIQ4502

PIQ4503 COQ45

PIQ4601

PIQ4602

PIQ4603

COQ46

PIQ4701

PIQ4702

PIQ4703

COQ47

PIQ4801

PIQ4802

PIQ4803

COQ48

PIQ4901

PIQ4902

PIQ4903 COQ49

PIQ5001

PIQ5002

PIQ5003 COQ50

PIQ5101

PIQ5102

PIQ5103 COQ51

PIQ5201

PIQ5202

PIQ5203 COQ52

PIQ5301

PIQ5302

PIQ5303 COQ53

PIQ5401

PIQ5402

PIQ5403 COQ54

PIQ5501

PIQ5502

PIQ5503

COQ55

PIQ5601

PIQ5602

PIQ5603

COQ56

PIQ5701

PIQ5702

PIQ5703

COQ57

PIQ5801

PIQ5802

PIQ5803 COQ58

PIQ5901

PIQ5902

PIQ5903

COQ59

PIQ6001

PIQ6002

PIQ6003

COQ60

PIQ6101

PIQ6102

PIQ6103

COQ61

PIQ6201

PIQ6202

PIQ6203 COQ62

PIQ6301

PIQ6302

PIQ6303 COQ63

PIQ6401

PIQ6402

PIQ6403 COQ64

PIQ6501

PIQ6502

PIQ6503 COQ65

PIQ6601

PIQ6602

PIQ6603 COQ66

PIQ6701

PIQ6702

PIQ6703 COQ67

PIQ6801

PIQ6802

PIQ6803 COQ68

PIQ6901

PIQ6902

PIQ6903 COQ69

PIQ7001

PIQ7002

PIQ7003 COQ70

PIQ7101

PIQ7102

PIQ7103

COQ71

PIQ7201

PIQ7202

PIQ7203

COQ72

PIQ7301

PIQ7302

PIQ7303

COQ73

PIQ7401

PIQ7402

PIQ7403

COQ74

PIQ7501

PIQ7502

PIQ7503

COQ75

PIQ7601

PIQ7602

PIQ7603 COQ76

PIQ7701

PIQ7702

PIQ7703 COQ77

PIQ7801

PIQ7802

PIQ7803 COQ78

PIQ7901

PIQ7902

PIQ7903 COQ79

PIQ8001

PIQ8002

PIQ8003 COQ80

PIQ8101

PIQ8102

PIQ8103 COQ81

PIQ8201

PIQ8202

PIQ8203 COQ82

PIQ8301

PIQ8302

PIQ8303

COQ83

PIQ8401

PIQ8402

PIQ8403

COQ84

PIQ8501

PIQ8502

PIQ8503

COQ85

PIQ8601

PIQ8602

PIQ8603

COQ86

PIQ8701

PIQ8702

PIQ8703

COQ87

PIQ8801

PIQ8802

PIQ8803

COQ88

PIQ8901

PIQ8902

PIQ8903 COQ89

PIQ9001

PIQ9002

PIQ9003

COQ90

PIR101

PIR102 COR1

PIR201 PIR202

COR2

PIR301 PIR302

COR3

PIR401 PIR402

COR4

PIR501

PIR502

COR5

PIR601

PIR602 COR6

PIR701

PIR702 COR7

PIR801

PIR802 COR8

PIR901

PIR902 COR9

PIR1001

PIR1002 COR10

PIR1101


PIR1202

COR12

PIR1301

PIR1302 COR13

PIR1401 PIR1402




COR17

PIR1801

PIR1802

COR18

PIR1901

PIR1902 COR19

PIR2001

PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301 PIR2302

COR23

PIR2401 PIR2402

COR24

PIR2501

PIR2502

COR25

PIR2601 PIR2602


COR27

PIR2801 PIR2802


COR29

PIR3001 PIR3002


COR31

PIR3201 PIR3202

COR32

PIR3301 PIR3302

COR33

PIR3401

PIR3402 COR34

PIR3501 PIR3502

COR35

PIR3601 PIR3602

COR36

PIR3701 PIR3702

COR37

PIR3801 PIR3802

COR38

PIR3901

PIR3902

COR39

PIR4001 PIR4002

COR40

PIR4101 PIR4102

COR41

PIR4201 PIR4202

COR42

PIR4301 PIR4302

COR43

PIR4401

PIR4402

COR44




PIR4801 PIR4802

COR48

PIR4901

PIR4902 COR49

PIR5001 PIR5002


COR51

PIR5201 PIR5202

COR52


PIR5401

PIR5402 COR54

PIR5501 PIR5502


COR56

PIR5701 PIR5702

COR57

PIR5801 PIR5802

COR58

PIR5901

PIR5902 COR59



PIR6201 PIR6202

COR62

PIR6301 PIR6302

COR63

PIR6401

PIR6402

COR64

PIR6501 PIR6502


COR66

PIR6701 PIR6702

COR67

PIR6801 PIR6802

COR68

PIR6901

PIR6902 COR69

PIR7001 PIR7002


COR71

PIR7201 PIR7202

COR72


PIR7401

PIR7402

COR74

PIR7501 PIR7502


COR76

PIR7701 PIR7702

COR77

PIR7801 PIR7802


COR79

PIR8001 PIR8002

COR80


PIR8301

PIR8302 COR83

PIR8401 PIR8402

COR84

PIR8501 PIR8502

COR85

PIR8601 PIR8602

COR86


PIR8801

PIR8802

COR88

PIR8901 PIR8902


COR90

PIR9101 PIR9102

COR91

PIR9201 PIR9202

COR92

PIR9301

PIR9302 COR93



PIR9601 PIR9602

COR96

PIR9701 PIR9702

COR97

PIR9801

PIR9802

COR98

PIR9901 PIR9902

COR99 PIR10001 PIR10002

COR100

PIR10101 PIR10102

COR101 PIR10201 PIR10202

COR102

PIR10301 PIR10302

COR103

PIR10401 PIR10402 COR104

PIR10501 PIR10502 COR105

PIR10601 PIR10602

COR106

PIR10701

PIR10702 COR107

PIR10801 PIR10802

COR108 PIR10901 PIR10902

COR109

PIR11001 PIR11002 COR110

PIR11101 PIR11102

COR111

PIR11201

PIR11202 COR112

PIR11301 PIR11302

COR113

PIR11401 PIR11402

COR114

PIR11501 PIR11502

COR115

PIR11601 PIR11602

COR116

PIR11701

PIR11702

COR117

PIR11801 PIR11802

COR118 PIR11901 PIR11902

COR119

PIR12001 PIR12002 COR120

PIR12101 PIR12102

COR121

PIR12201

PIR12202 COR122

PIR12301 PIR12302

COR123 PIR12401 PIR12402

COR124

PIR12501 PIR12502

COR125

PIR12601 PIR12602 COR126

PIR12701

PIR12702 COR127

PIR12801 PIR12802

COR128

PIR12901 PIR12902

COR129

PIR13001 PIR13002

COR130

PIR13101 PIR13102

COR131

PIR13201 PIR13202

COR132

PIR13301 PIR13302

COR133

PIR13401

PIR13402

COR134

PIR13501 PIR13502

COR135 PIR13601 PIR13602

COR136

PIR13701 PIR13702

COR137 PIR13801 PIR13802

COR138

PIR13901 PIR13902 COR139

PIR14001 PIR14002

COR140

PIR14101

PIR14102 COR141

PIR14201 PIR14202

COR142 PIR14301 PIR14302

COR143

PIR14401 PIR14402

COR144

PIR14501 PIR14502 COR145

PIR14601

PIR14602

COR146

PIR14701 PIR14702

COR147 PIR14801 PIR14802

COR148

PIR14901 PIR14902 COR149

PIR15001 PIR15002

COR150

PIR15101

PIR15102 COR151

PIR15201 PIR15202

COR152 PIR15301 PIR15302

COR153

PIR15401 PIR15402

COR154

PIR15501 PIR15502 COR155

PIR15601

PIR15602 COR156

PIR15701 PIR15702

COR157

PIR15801 PIR15802

COR158

PIR15901 PIR15902

COR159

PIR16001 PIR16002

COR160

PIR16101

PIR16102

COR161

PIR16201 PIR16202

COR162 PIR16301 PIR16302

COR163

PIR16401 PIR16402

COR164

PIR16501 PIR16502

COR165

PIR16601

PIR16602 COR166


PIR16901 PIR16902

COR169

PIR17001 PIR17002

COR170

PIR17101

PIR17102

COR171

PIR17201 PIR17202 COR172

PIR17301 PIR17302 COR173

PIR17401 PIR17402 COR174

PIR17501 PIR17502 COR175

PIR17601 PIR17602

COR176

PIR17701 PIR17702

COR177

PIR17801 PIR17802

COR178

PIR17901 PIR17902 COR179

PIR18001

PIR18002

COR180

PIR18101 PIR18102

COR181 PIR18201 PIR18202

COR182

PIR18301 PIR18302

COR183

PIR18401 PIR18402

COR184

PIR18501

PIR18502 COR185

PIR18601 PIR18602

COR186 PIR18701 PIR18702

COR187

PIR18801 PIR18802

COR188

PIR18901 PIR18902 COR189

PIR19001

PIR19002 COR190

PIR19101 PIR19102

COR191 PIR19201 PIR19202

COR192

PIR19301 PIR19302

COR193

PIR19401 PIR19402

COR194

PIR19501

PIR19502 COR195

PIR19601 PIR19602

COR196 PIR19701 PIR19702

COR197

PIR19801 PIR19802

COR198

PIR19901 PIR19902

COR199

PIR20001 PIR20002 COR200

PIR20101 PIR20102 COR201

PIR20201 PIR20202 COR202

PIR20301 PIR20302 COR203

PIR20401

PIR20402 COR204

PIR20501 PIR20502

COR205 PIR20601 PIR20602

COR206

PIR20701 PIR20702

COR207

PIR20801 PIR20802

COR208

PIR20901

PIR20902

COR209


PIR21201 PIR21202

COR212

PIR21301 PIR21302

COR213

PIR21401

PIR21402

COR214

PIR21501 PIR21502

COR215 PIR21601 PIR21602

COR216

PIR21701 PIR21702

COR217

PIR21801 PIR21802 COR218

PIR21901

PIR21902 COR219

PIR22001 PIR22002 COR220

PIR22101 PIR22102 COR221

PIR22201 PIR22202

COR222

PIR22301 PIR22302

COR223

PIR22401

PIR22402 COR224

PIR22501 PIR22502 COR225

PIR22601 PIR22602

COR226 PIR22701 PIR22702

COR227

PIR22801 PIR22802 COR228 PIR22901

PIR22902

COR229

PIR23001

PIR23002

COR230

PIR23101

PIR23102

COR231

PIR23201

PIR23202 COR232

PIR23301 PIR23302

COR233

PIR23401 PIR23402

COR234 PIR23501 PIR23502

COR235

PIR23601 PIR23602

COR236

PIR23701 PIR23702

COR237

PIR23801 PIR23802 COR238

PIR23901

PIR23902 COR239


PIR24201

PIR24202

COR242

PIR24301

PIR24302

COR243

PIR24401

PIR24402

COR244

PIR24501 PIR24502

COR245

PIR24601 PIR24602

COR246

PIR24701 PIR24702

COR247 PIR24801 PIR24802

COR248

PIR24901 PIR24902

COR249

PIR25001 PIR25002 COR250

PIR25101 PIR25102 COR251

PIR25201

PIR25202

COR252

PIR25301 PIR25302

COR253

PIR25401

PIR25402

COR254

PIR25501

PIR25502

COR255

PIR25601

PIR25602 COR256

PIR25701 PIR25702

COR257

PIR25801 PIR25802

COR258

PIR25901 PIR25902

COR259

PIR26001 PIR26002 COR260

PIS101 PIS102

COS1

PIU101 PIU102

PIU103

PIU104 PIU105

PIU106

COU1

PIU2023

PIU2024

PIU2025

PIU2026

PIU2029

PIU2030

PIU2031 PIU2032

PIU2035

PIU2036

PIU2037

PIU2047

PIU2048

PIU2051

PIU2052 PIU2053

PIU2054

PIU2067

PIU2068

PIU2069

PIU2070

PIU2071

PIU2072

PIU2076

PIU2077

PIU2089

PIU2090 PIU2091

PIU2092

PIU2093

PIU2095

PIU2096

COU2A

PIU207

PIU208

PIU209

PIU2015

PIU2016

PIU2017

PIU2018

PIU2033

PIU2034

PIU2055

PIU2056

PIU2057

PIU2058

PIU2059 PIU2060

PIU2061

PIU2062

PIU2063

PIU2064

PIU2065

PIU2066

PIU2078

PIU2079

PIU2080

PIU2081

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

COU2B

PIU201

PIU202

PIU203

PIU204

PIU205 PIU2038

PIU2039

PIU2040

PIU2041

PIU2042

PIU2043

PIU2044

PIU2045

PIU2046

PIU2097

PIU2098

COU2C

PIU2012

PIU2013 PIU2014

PIU2049

PIU2073

PIU2094

COU2D

PIU206

PIU2010

PIU2011

PIU2019

PIU2020

PIU2021

PIU2022

PIU2027

PIU2028

PIU2050

PIU2074 PIU2075

PIU2099 PIU20100

COU2E

PIU301

PIU302

PIU303

PIU304 PIU305

PIU306

PIU307

PIU308

COU3

PIU401

PIU402

PIU403 COU4

PIU501

PIU502

PIU503

PIU507

PIU5014 COU5A

PIU504

PIU505

PIU506

COU5B

PIU5011

PIU5012

PIU5013

COU5C

PIU508

PIU509

PIU5010

COU5D

PIU601

PIU602 PIU603

PIU604

COU6

PIU701

PIU702 PIU703

PIU704

COU7

PIU801

PIU802 PIU803

PIU804

COU8

PIU901

PIU902

PIU903

PIU907

PIU9014 COU9A

PIU904

PIU905 PIU906

COU9B

PIU9011

PIU9012

PIU9013

COU9C

PIU908 PIU909

PIU9010

COU9D

PIU1001

PIU1002 PIU1003

PIU1004

COU10

PIU1101

PIU1102 PIU1103

PIU1104

COU11

PIU1201

PIU1202 PIU1203

PIU1204

COU12

PIU1301

PIU1302 PIU1303

PIU1304

COU13

PIU1401

PIU1402 PIU1403

PIU1404

COU14

PIU1501

PIU1502 PIU1503

PIU1504

COU15

PIU1601

PIU1602

PIU1603

PIU1607

PIU16014 COU16A

PIU1604

PIU1605

PIU1606

COU16B

PIU16011

PIU16012

PIU16013

COU16C

PIU1608

PIU1609

PIU16010

COU16D

PIU1701

PIU1702 PIU1703

PIU1704

COU17

PIU1801

PIU1802 PIU1803

PIU1804

COU18

PIU1901

PIU1902 PIU1903

PIU1904

COU19

PIU2001

PIU2002

PIU2003

PIU2007

PIU20014 COU20A

PIU2004

PIU2005

PIU2006

COU20B

PIU20011

PIU20012

PIU20013

COU20C

PIU2008

PIU2009

PIU20010

COU20D

PIU2101

PIU2102 PIU2103

PIU2104

COU21

PIU2201

PIU2202

PIU2203

PIU2207

PIU22014 COU22A

PIU2204

PIU2205

PIU2206

COU22B

PIU22011

PIU22012

PIU22013

COU22C

PIU2208

PIU2209

PIU22010

COU22D

PIU2301

PIU2302 PIU2303

PIU2304

COU23

PIU2401

PIU2402 PIU2403

PIU2404

COU24

PIU2501

PIU2502 PIU2503

PIU2504

COU25

PIU2601

PIU2602

PIU2603

PIU2607

PIU26014 COU26A

PIU2604

PIU2605 PIU2606

COU26B

PIU26011

PIU26012

PIU26013

COU26C

PIU2608

PIU2609

PIU26010

COU26D

PIU2701

PIU2702 PIU2703

PIU2704

COU27

PIU2801

PIU2802 PIU2803

PIU2804

COU28

PIU2901

PIU2902

PIU2903

PIU2907

PIU29014 COU29A

PIU2904

PIU2905

PIU2906

COU29B

PIU29011

PIU29012

PIU29013

COU29C

PIU2908 PIU2909

PIU29010

COU29D

PIU3001

PIU3002 PIU3003

PIU3004

COU30

PIU3101

PIU3102 PIU3103

PIU3104

COU31

PIU3201

PIU3202 PIU3203

PIU3204

COU32

PIU3301

PIU3302

PIU3303

PIU3307

PIU33014 COU33A

PIU3304

PIU3305

PIU3306

COU33B

PIU33011

PIU33012

PIU33013

COU33C

PIU3308

PIU3309

PIU33010

COU33D

PIU3401

PIU3402 PIU3403

PIU3404

COU34

PIU3501

PIU3502 PIU3503

PIU3504

COU35

PIU3601

PIU3602 PIU3603

PIU3604

COU36

PIU3701

PIU3702 PIU3703

PIU3704

COU37

PIU3801

PIU3802 PIU3803

PIU3804

COU38

PIU3901

PIU3902

PIU3903

PIU3907

PIU39014 COU39A

PIU3904

PIU3905

PIU3906

COU39B

PIU39011

PIU39012

PIU39013

COU39C

PIU3908

PIU3909

PIU39010

COU39D

PIU4001

PIU4002 PIU4003

PIU4004

COU40

PIU4101

PIU4102 PIU4103

PIU4104

COU41 PIU4201

PIU4202

PIU4203

PIU4207

PIU42014 COU42A

PIU4204

PIU4205

PIU4206

COU42B

PIU42011

PIU42012

PIU42013

COU42C

PIU4208

PIU4209

PIU42010

COU42D

PIU4301

PIU4302 PIU4303

PIU4304

COU43

PIU4401

PIU4402 PIU4403

PIU4404

COU44

PIU4501

PIU4502 PIU4503

PIU4504

COU45

PIU4601

PIU4602

PIU4603

PIU4607

PIU46014 COU46A

PIU4604

PIU4605

PIU4606

COU46B

PIU46011

PIU46012

PIU46013

COU46C

PIU4608

PIU4609

PIU46010

COU46D

PIU4701

PIU4702 PIU4703

PIU4704

COU47

PIU4801

PIU4802 PIU4803

PIU4804

COU48

PIU4901

PIU4902

PIU4903

PIU4907

PIU49014 COU49A

PIU4904

PIU4905

PIU4906

COU49B

PIU49011

PIU49012

PIU49013

COU49C

PIU4908

PIU4909

PIU49010 COU49D

PIU5001

PIU5002 PIU5003

PIU5004

COU50

PIU5101

PIU5102 PIU5103

PIU5104

COU51

PIU5201

PIU5202 PIU5203

PIU5204

COU52

PIU5301

PIU5302

PIU5303

PIU5307

PIU53014 COU53A

PIU5304

PIU5305

PIU5306

COU53B

PIU53011

PIU53012

PIU53013

COU53C

PIU5308

PIU5309

PIU53010

COU53D

PIU5401

PIU5402

PIU5403

PIU5407

PIU54014 COU54A

PIU5404

PIU5405

PIU5406

COU54B

PIU54011

PIU54012

PIU54013

COU54C

PIU5408

PIU5409

PIU54010

COU54D

PIU5501

PIU5502

PIU5503

PIU5507

PIU55014 COU55A

PIU5504

PIU5505

PIU5506

COU55B

PIU55011

PIU55012

PIU55013

COU55C

PIU5508

PIU5509

PIU55010

COU55D

PIV101

PIV102 PIV103

COV1

PIY101 PIY102

COY1

PIC201


PICN101

PICV201



PIP101

PIP201

PIR102

PIR502

PIR602 PIR702

PIR1201 PIR1302

PIR2301

PIR3201

PIR3701

PIR4201

PIR4701

PIR5201

PIR5701

PIR6201

PIR6701

PIR7201

PIR7701

PIR8601

PIR9101

PIR9601

PIR10301

PIR11001

PIR11501

PIR12001

PIR12501

PIR13001

PIR13901

PIR14401

PIR14901

PIR15401

PIR15901

PIR16401

PIR16901

PIR17801

PIR18301

PIR18801

PIR19301

PIR19801

PIR20701

PIR21201

PIR21701

PIR22201

PIU206

PIU2011

PIU2019

PIU2021

PIU2022

PIU2028

PIU2050

PIU2075

PIU20100

PIU308

PIV102

PIC101

PIC301 PIC401

PICV101

PIL102

PIU104 PIV103

PIC1702 PIC1801

PIC1901

PID302 PID402

PID502 PID602

PIF102

PIJ1301

PIQ703

PIQ803

PIQ903

PIQ1103

PIQ2403 PIQ2503

PIQ2703 PIQ2803

PIQ3603 PIQ3703

PIQ3903 PIQ4003

PIQ4903

PIQ5103 PIQ5203

PIQ5403

PIQ6503 PIQ6603

PIQ6803 PIQ6903

PIQ7703

PIQ7903

PIQ8003

PIQ8103

PIR1801

PIR1902

PIR2102

PIR3002

PIR3502

PIR4002

PIR4502

PIR5002

PIR5502

PIR6002

PIR6502

PIR7002

PIR7502

PIR8402

PIR8902

PIR9402

PIR10102

PIR10802

PIR11302

PIR11802

PIR12302

PIR12802

PIR13702

PIR14202

PIR14702

PIR15202

PIR15702

PIR16202

PIR16702

PIR17602

PIR18102

PIR18602

PIR19102

PIR19602

PIR20502

PIR21002

PIR21502

PIR22002

PIU5014

PIU16014

PIU22014

PIU29014

PIU39014

PIU46014

PIC501 PIJ001

PIU101

PIC2001

PIFB102

PIU403


PID4601

PIR22602

PIU902

PIU904

PIU5301

PIU5302

NLDA01

PID1002

PID1202

PIR22601 PIR23001

NLDA02

PID4701

PIR22702

PIU9010

PIU9013

PIU5304

PIU5305

NLDB01

PID1102 PID1302

PIR22701 PIR23102

NLDB02

PID4801

PIR22802

PIU2002

PIU2005

PIU53012

PIU53013

NLDC01

PID1702

PID1902

PIR22801

PIR23202

NLDC02

PID4501

PIR22502

PIU2009

PIU20013

PIU5309

PIU53010

NLDD1

PID1802 PID2002

PIR22501 PIR22901

NLDD2

PID5101

PIR24002

PIU2602

PIU2604

PIU5401

PIU5402

NLDE1

PID2502 PID2602

PIR24001

PIR24302

NLDE2

PID5201

PIR24102

PIU26010

PIU26013

PIU5404

PIU5405

NLDF1

PID2302 PID2402

PIR24101

PIR24402

NLDF2

PID5001

PIR23802

PIU3302

PIU3305

PIU54012

PIU54013

NLDG1

PID3002

PID3202

PIR23801

PIR24201

NLDG2


PIC601

PIC701



PICN106


PID202

PIJ002



PIP104

PIP203


PIR202

PIR301

PIR401

PIS101

PIU103

PIU105

PIU106

PIU2010

PIU2020

PIU2027

PIU2074

PIU2099

PIU301

PIU302

PIU303

PIU304

PIU307

PIV101

PID4901

PIR23702

PIU33010

PIU33013

PIU5409

PIU54010

NLDH1

PID2902 PID3102

PIR23701

PIR23902

NLDH2

PID5601

PIR25302

PIU4202

PIU4205

PIU5501

PIU5502

NLDI1

PID3502 PID3702

PIR25301

PIR25602

NLDI2

PID5401

PIR25002

PIU4209

PIU42013

PIU5504

PIU5505

NLDJ1

PID3602 PID3802

PIR25001 PIR25401

NLDJ2

PID5501

PIR25102

PIU4902

PIU4904

PIU55012

PIU55013

NLDK1

PID4202 PID4402

PIR25101

PIR25502

NLDK2

PID5301

PIR24902

PIU49010

PIU49013

PIU5509

PIU55010

NLDL1

PID4002 PID4302

PIR24901 PIR25202

NLDL2

PIU2051

PIU602

NLENA

PIR2202

PIU502

PIU505

NLENA024

PID902 PIR2402

PIR23401

NLENA0T

PIU2054

PIU1002

NLENB

PIR4102

PIU5010

PIU5013

NLENB024

PID1402 PIR4302

PIR23501

NLENB0T

PIU2057

PIU1302

NLENC

PIR5602

PIU1602

PIU1605

NLENC024

PID1502 PIR5802

PIR23601

NLENC0T

PIU2060

PIU1702

NLEND

PIR7102

PIU1609

PIU16012

NLEND024

PID1602 PIR7302

PIR23301 NLEND0T

PIU2063

PIU2102 NLENE

PIR9002

PIU2201

PIU2204


PIR24701

NLENE0T

PIU2066

PIU2502 NLENF

PIR10902

PIU2209

PIU22012

NLENF024

PID2202 PIR11102

PIR24801

NLENF0T

PIU2048

PIU3002 NLENG

PIR12402

PIU2902

PIU2905

NLENG024

PID2702 PIR12602

PIR24601

NLENG0T

PIU2045

PIU3402 NLENH

PIR14302

PIU29010

PIU29013

NLENH024

PID2802 PIR14502

PIR24501

NLENH0T

PIU2042

PIU3702

NLENI

PIR15802

PIU3902

PIU3905

NLENI024

PID3302 PIR16002

PIR26001 NLENI0T

PIU205

PIU4102 NLENJ

PIR17702

PIU3909

PIU39012

NLENJ024

PID3402 PIR17902

PIR25801 NLENJ0T

PIU202

PIU4502 NLENK

PIR19202

PIU4601

PIU4604

NLENK024

PID3902 PIR19402

PIR25901

NLENK0T

PIU2097

PIU5002

NLENL

PIR21102

PIU4609

PIU46012

NLENL024

PID4102 PIR21302

PIR25701 NLENL0T

PIC1902

PIC2102

PIC2202 PIC2302

PIC2402 PIC2502

PIC2601

PIC2702 PIC2802

PIC2902 PIC3002

PIC3101

PIC3302 PIC3402

PIC3502 PIC3602

PIC3701

PIC3802 PIC3902

PIC4002 PIC4102

PIC4201

PIC4302 PIC4402 PIC4502 PIC4602

PIC4701

PIC4902 PIC5002 PIC5102 PIC5202

PIC5301

PID501 PID601

PID701

PID801

PIDS102

PIFB202

PIJ1302

PIQ603

PIQ1002

PIQ1202

PIQ1303 PIQ1402

PIQ1503

PIQ1603

PIQ1702 PIQ1803

PIQ1902

PIQ2002

PIQ2102

PIQ2202

PIQ2302

PIQ2602

PIQ2902

PIQ3002

PIQ3103 PIQ3203

PIQ3303

PIQ3403

PIQ3502

PIQ3802

PIQ4102

PIQ4203

PIQ4302 PIQ4403

PIQ4502

PIQ4603

PIQ4703

PIQ4802

PIQ5002

PIQ5302

PIQ5502

PIQ5603 PIQ5703

PIQ5802

PIQ5903 PIQ6003

PIQ6102

PIQ6202

PIQ6302

PIQ6402

PIQ6702

PIQ7002

PIQ7103 PIQ7203

PIQ7302

PIQ7403 PIQ7503

PIQ7602

PIQ7802

PIQ8202

PIQ8302 PIQ8403

PIQ8503

PIQ8602

PIQ8703

PIQ8803

PIQ8902

PIQ9002

PIR201

PIR2002

PIR2501 PIR2602 PIR2702

PIR2802 PIR2902

PIR3401

PIR3901

PIR4401

PIR4901

PIR5401

PIR5901

PIR6401

PIR6901

PIR7401

PIR7802 PIR7902

PIR8102 PIR8202

PIR8301

PIR8801

PIR9301

PIR9801 PIR9902 PIR10002

PIR10402 PIR10502

PIR10701

PIR11201

PIR11701

PIR12201

PIR12701

PIR13102 PIR13202

PIR13401

PIR13502 PIR13602

PIR14101

PIR14601

PIR15101

PIR15601

PIR16101

PIR16601

PIR17101

PIR17202 PIR17302 PIR17402 PIR17502

PIR18001

PIR18501

PIR19001

PIR19501

PIR20002 PIR20102 PIR20202 PIR20302

PIR20401

PIR20901

PIR21401

PIR21901

PIR22401

PIR22902

PIR23002 PIR23101

PIR23201

PIR23901

PIR24202

PIR24301 PIR24401

PIR25201

PIR25402

PIR25501

PIR25601

PIU907

PIU2007

PIU2607

PIU3307

PIU4207

PIU4907

PIU5307

PIU5407

PIU5507

PIC2002

PIFB201 PIU401

PIC1701 PIC1802

PID401

PIQ602

PIU507

PIU1607

PIU2207

PIU2907

PIU3907

PIU4607

PIU2052

PIU702

NLIN1

PIR3102

PIU501

NLIN1024

PID1201

PIR3302

PIR3402 PIU703

PIU901 NLIN10T

PIU2053

PIU802

NLIN2

PIR3602

PIU504

NLIN2024

PID1001


PIU905 NLIN20T

PIU2055

PIU1102

NLIN3

PIR4602

PIU509 NLIN3024

PID1301

PIR4801

PIR4902

PIU909

PIU1103

NLIN30T

PIU2056

PIU1202

NLIN4

PIR5102

PIU5012 NLIN4024

PID1101

PIR5301

PIR5402

PIU9012

PIU1203

NLIN40T

PIU2058

PIU1402

NLIN5

PIR6102

PIU1601

NLIN5024

PID1901

PIR6301 PIR6402 PIU1403

PIU2001 NLIN50T

PIU2059

PIU1502

NLIN6

PIR6602

PIU1604

NLIN6024

PID1701

PIR6801

PIR6902 PIU1503

PIU2004 NLIN60T

PIU2061

PIU1802

NLIN7

PIR7602

PIU16010 NLIN7024

PID2001 PIR8002

PIR8302 PIU1803

PIU20010

NLIN70T

PIU2062

PIU1902

NLIN8

PIR8502

PIU16013 NLIN8024

PID1801

PIR8702 PIR8802

PIU1903

PIU20012 NLIN80T

PIU2064

PIU2302

NLIN9

PIR9502

PIU2202

NLIN9024

PID2601

PIR9701 PIR9802 PIU2303

PIU2601 NLIN90T

PIU2065

PIU2402 NLIN10

PIR10202

PIU2205

NLIN10024

PID2501

PIR10601

PIR10702 PIU2403

PIU2605 NLIN100T

PIU2070

PIU2702

NLIN11

PIR11402

PIU22010 NLIN11024

PID2401

PIR11601 PIR11702

PIU2609

PIU2703

NLIN110T

PIU2071

PIU2802 NLIN12

PIR11902

PIU22013 NLIN12024

PID2301

PIR12101

PIR12202

PIU26012

PIU2803

NLIN120T

PIU2047

PIU3102

NLIN13

PIR12902

PIU2901

NLIN13024

PID3201

PIR13302 PIR13402 PIU3103

PIU3301

NLIN130T

PIU2046

PIU3202

NLIN14

PIR13802

PIU2904

NLIN14024

PID3001

PIR14002

PIR14102 PIU3203

PIU3304

NLIN140T

PIU2044

PIU3502

NLIN15

PIR14802

PIU2909 NLIN15024

PID3101 PIR15001

PIR15102 PIU33012 PIU3503

NLIN150T

PIU2043

PIU3602 NLIN16

PIR15302

PIU29012 NLIN16024

PID2901

PIR15501

PIR15602

PIU3309

PIU3603

NLIN160T

PIU2041

PIU3802 NLIN17

PIR16302

PIU3901 NLIN17024

PID3701

PIR16501

PIR16602 PIU3803

PIU4201 NLIN170T

PIU2040

PIU4002

NLIN18

PIR16802

PIU3904

NLIN18024

PID3501

PIR17001 PIR17102 PIU4003

PIU4204 NLIN180T

PIU204

PIU4302 NLIN19

PIR18202

PIU39010 NLIN19024

PID3801

PIR18402

PIR18502

PIU42010

PIU4303

NLIN190T

PIU203

PIU4402 NLIN20

PIR18702

PIU39013

NLIN20024

PID3601

PIR18902

PIR19002

PIU42012

PIU4403

NLIN200T

PIU201

PIU4702 NLIN21

PIR19702

PIU4602

NLIN21024

PID4401

PIR19901

PIR20402 PIU4703

PIU4901 NLIN210T

PIU2098

PIU4802

NLIN22

PIR20602

PIU4605

NLIN22024

PID4201

PIR20801 PIR20902 PIU4803

PIU4905 NLIN220T

PIU2096

PIU5102 NLIN23

PIR21602

PIU46010 NLIN23024

PID4301

PIR21801 PIR21902

PIU4909

PIU5103

NLIN230T

PIU2095

PIU5202

NLIN24

PIR22102

PIU46013 NLIN24024

PID4001

PIR22301

PIR22402

PIU49012

PIU5203

NLIN240T

PIR1401

PIU2081

NLLED1

PICN102

PIR1002

NLLED10OUT

PIR1501

PIU2080

NLLED2

PICN103

PIR1102

NLLED20OUT

PIR1601

PIU2079

NLLED3 PICN104

PIR802

NLLED30OUT

PIR1701

PIU2078

NLLED4 PICN105

PIR902

NLLED40OUT

PIJK102

PIU2023

NLM1

PIJK202

PIU2024

NLM2

PIJK302

PIU2025

NLM3

PIJK402

PIU2026 NLM4

PIJK502

PIU2029 NLM5

PIJK602

PIU2030

NLM6

PIJK702

PIU2031 NLM7

PIJK802

PIU2032 NLM8

PIJK902

PIU2035 NLM9

PIJK1002

PIU2036 NLM10

PIJK1102

PIU2015

NLM11 PIJK1202

PIU2016

NLM12

PIC2401

PIJ101

PIQ1102

PIQ1302

PIR2801

NLMOTOR0100

PIC2501

PIJ102

PIQ802

PIQ1602

PIR2901

NLMOTOR0100

PIC2201

PIJ201

PIQ902

PIQ1502

PIR2601

NLMOTOR0200

PIC2301

PIJ202

PIQ702

PIQ1802

PIR2701

NLMOTOR0200

PIC2701

PIJ301

PIQ2702

PIQ3102

PIR7801

NLMOTOR0300

PIC2801

PIJ302

PIQ2402

PIQ3302

PIR7901

NLMOTOR0300

PIC2901

PIJ401

PIQ2802

PIQ3202

PIR8101

NLMOTOR0400

PIC3001

PIJ402

PIQ2502

PIQ3402

PIR8201

NLMOTOR0400

PIC3501

PIJ501

PIQ3902

PIQ4402

PIR10401

NLMOTOR0500

PIC3601

PIJ502

PIQ3602

PIQ4702

PIR10501

NLMOTOR0500

PIC3301

PIJ601

PIQ4002

PIQ4202

PIR9901

NLMOTOR0600

PIC3401

PIJ602

PIQ3702

PIQ4602

PIR10001

NLMOTOR0600

PIC4001

PIJ701

PIQ5402

PIQ5702

PIR13501

NLMOTOR0700

PIC4101

PIJ702

PIQ5102

PIQ6002

PIR13601

NLMOTOR0700

PIC3801

PIJ801

PIQ5202

PIQ5602

PIR13101

NLMOTOR0800

PIC3901

PIJ802 PIQ4902

PIQ5902

PIR13201

NLMOTOR0800

PIC4301

PIJ901

PIQ6802

PIQ7102

PIR17201

NLMOTOR0900

PIC4401

PIJ902

PIQ6502

PIQ7402

PIR17301

NLMOTOR0900

PIC4501

PIJ1001

PIQ6902

PIQ7202

PIR17401

NLMOTOR01000

PIC4601

PIJ1002

PIQ6602

PIQ7502

PIR17501

NLMOTOR01000

PIC4901

PIJ1101

PIQ8002

PIQ8502

PIR20001

NLMOTOR01100

PIC5001

PIJ1102

PIQ7702

PIQ8802

PIR20101

NLMOTOR01100

PIC5101

PIJ1201

PIQ8102

PIQ8402

PIR20201

NLMOTOR01200

PIC5201

PIJ1202

PIQ7902

PIQ8702

PIR20301

NLMOTOR01200

PIC602 PIU2049

PIC702 PIU2073

PID102

PIL101 PIU102

PID201 PIR101

PID301

PIQ601 PIR2001

PID702 PIQ501

PIR1901


PID1401 PIR4402 PIU1003

PID1501

PIR5902 PIU1303

PID1601

PIR7402 PIU1703

PID2101

PIR9302 PIU2103

PID2201

PIR11202 PIU2503

PID2701

PIR12702 PIU3003

PID2801 PIR14602

PIU3403

PID3301 PIR16102 PIU3703

PID3401 PIR18002

PIU4103

PID3901

PIR19502 PIU4503

PID4101 PIR21402 PIU5003

PIDS101 PIR1802

PIF101

PIQ502

PIQ101 PIR1402

PIQ103 PIR1001

PIQ201 PIR1502

PIQ203 PIR1101

PIQ301 PIR1602

PIQ303

PIR801

PIQ401 PIR1702

PIQ403

PIR901

PIQ701 PIU508

PIQ801 PIU503

PIQ901 PIU5011

PIQ1001 PIR2401

PIQ1003 PIR2101 PIR2201

PIQ1101 PIU506

PIQ1201 PIR3301

PIQ1203 PIR3001 PIR3101


PIQ1403 PIR3501 PIR3601

PIQ1601 PIU903

PIQ1701 PIR4301

PIQ1703 PIR4001 PIR4101

PIQ1801 PIU908

PIQ1901 PIR4802

PIQ1903 PIR4501 PIR4601

PIQ2001 PIR5302

PIQ2003 PIR5001 PIR5101

PIQ2101 PIR5801

PIQ2103 PIR5501 PIR5601

PIQ2201 PIR6302

PIQ2203 PIR6001 PIR6101

PIQ2301 PIR6802

PIQ2303 PIR6501 PIR6601

PIQ2401 PIU1603

PIQ2501 PIU1608

PIQ2601 PIR7301

PIQ2603 PIR7001 PIR7101

PIQ2701 PIU1606

PIQ2801 PIU16011

PIQ2901 PIR8001

PIQ2903 PIR7501 PIR7601

PIQ3001 PIR8701

PIQ3003 PIR8401 PIR8501

PIQ3101 PIU2006

PIQ3201 PIU20011

PIQ3301 PIU2003

PIQ3401 PIU2008

PIQ3501 PIR9201

PIQ3503 PIR8901 PIR9001

PIQ3601 PIU2203 PIQ3701 PIU2208

PIQ3801 PIR9702

PIQ3803 PIR9401 PIR9501

PIQ3901 PIU2206 PIQ4001 PIU22011

PIQ4101 PIR10602

PIQ4103 PIR10101 PIR10201

PIQ4201 PIU26011

PIQ4301 PIR11101

PIQ4303 PIR10801 PIR10901

PIQ4401 PIU2606

PIQ4501 PIR11602

PIQ4503 PIR11301 PIR11401

PIQ4601 PIU2608

PIQ4701 PIU2603

PIQ4801 PIR12102

PIQ4803 PIR11801 PIR11901

PIQ4901 PIU2908 PIQ5001 PIR12601

PIQ5003 PIR12301 PIR12401

PIQ5101 PIU2903 PIQ5201 PIU29011

PIQ5301 PIR13301

PIQ5303 PIR12801 PIR12901

PIQ5401 PIU2906

PIQ5501 PIR14001

PIQ5503 PIR13701 PIR13801

PIQ5601 PIU3308

PIQ5701 PIU3306

PIQ5801 PIR14501

PIQ5803 PIR14201 PIR14301

PIQ5901 PIU33011

PIQ6001 PIU3303

PIQ6101 PIR15002

PIQ6103 PIR14701 PIR14801

PIQ6201 PIR15502

PIQ6203 PIR15201 PIR15301

PIQ6301 PIR16001

PIQ6303 PIR15701 PIR15801

PIQ6401 PIR16502

PIQ6403 PIR16201 PIR16301

PIQ6501 PIU3903 PIQ6601 PIU3908

PIQ6701 PIR17002

PIQ6703 PIR16701 PIR16801

PIQ6801 PIU3906 PIQ6901 PIU39011

PIQ7001 PIR17901

PIQ7003 PIR17601 PIR17701

PIQ7101 PIU4206 PIQ7201 PIU42011

PIQ7301 PIR18401

PIQ7303 PIR18101 PIR18201

PIQ7401 PIU4203 PIQ7501 PIU4208

PIQ7601 PIR18901

PIQ7603 PIR18601 PIR18701

PIQ7701 PIU4603

PIQ7801 PIR19401

PIQ7803 PIR19101 PIR19201

PIQ7901 PIU4608

PIQ8001 PIU4606

PIQ8101 PIU46011

PIQ8201 PIR19902

PIQ8203 PIR19601 PIR19701

PIQ8301 PIR20802

PIQ8303 PIR20501 PIR20601

PIQ8401 PIU49011

PIQ8501 PIU4906

PIQ8601 PIR21301

PIQ8603 PIR21001 PIR21101

PIQ8701 PIU4908

PIQ8801 PIU4903

PIQ8901 PIR21802

PIQ8903 PIR21501 PIR21601

PIQ9001 PIR22302

PIQ9003 PIR22001 PIR22101

PIR302 PIU2037

PIR2302 PIU601

PIR3202 PIU701

PIR3702 PIU801

PIR4202 PIU1001

PIR4702 PIU1101

PIR5202 PIU1201

PIR5702 PIU1301

PIR6202 PIU1401

PIR6702 PIU1501

PIR7202 PIU1701

PIR7702 PIU1801

PIR8602 PIU1901

PIR9102 PIU2101

PIR9602 PIU2301

PIR10302 PIU2401

PIR11002 PIU2501

PIR11502 PIU2701

PIR12002 PIU2801

PIR12502 PIU3001

PIR13002 PIU3101

PIR13902 PIU3201

PIR14402 PIU3401

PIR14902 PIU3501

PIR15402 PIU3601

PIR15902 PIU3701

PIR16402 PIU3801

PIR16902 PIU4001

PIR17802 PIU4101

PIR18302 PIU4301

PIR18802 PIU4401

PIR19302 PIU4501

PIR19802 PIU4701

PIR20702 PIU4801

PIR21202 PIU5001

PIR21702 PIU5101

PIR22202 PIU5201

PIR23302 PIU5308

PIR23402 PIU5303 PIR23502 PIU5306

PIR23602 PIU53011

PIR24502 PIU5408

PIR24602 PIU54011

PIR24702 PIU5403 PIR24802 PIU5406

PIR25702 PIU5508

PIR25802 PIU5506

PIR25902 PIU55011

PIR26002 PIU5503

PIU207

PIU2017

PIU2018

PIU2033

PIU2034

PIU2038

PIU2039

PIU2067

PIU2077

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

PIU2089

PIU2090 PIU2091

PIU208

NLOSC320IN

PIU209 NLOSC320OUT

PIC1002

PIU2012

PIY102

NLOSCIN

PIC902


PIC802

PIR501 PIS102

PIU2014

NLR\E\S\E\T\

PID4502

PID4602 PID4702

PID4802

PID4902

PID5002

PID5102 PID5202

PID5302

PID5402

PID5502

PID5602

PIU402

PIR1202

PIU2092

PIU306

NLSCL

PIR1301

PIU2093

PIU305

NLSDA

PIP202

PIR601

PIU2076

NLSWD0CLK

PIP204

PIR701

PIU2072 NLSWD0DAT

PIQ1501 PIU9011

NLU3011

PIP103

PIU2069

NLUART0RX

PIP102

PIU2068

NLUART0TX

PIC2101

PIC2602

PIC3102

PIC3702

PIC4202

PIC4702

PIC5302

PID802

PIFB101

PIQ503

PIU604

PIU704

PIU804

PIU9014

PIU1004

PIU1104

PIU1204

PIU1304

PIU1404

PIU1504

PIU1704

PIU1804

PIU1904

PIU20014

PIU2104

PIU2304

PIU2404

PIU2504

PIU26014

PIU2704

PIU2804

PIU3004

PIU3104

PIU3204

PIU33014

PIU3404

PIU3504

PIU3604

PIU3704

PIU3804

PIU4004

PIU4104

PIU42014

PIU4304

PIU4404

PIU4504

PIU4704

PIU4804

PIU49014

PIU5004

PIU5104

PIU5204

PIU53014

PIU54014

PIU55014

Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)

(a) 24-5V regulator LM2575D2T-5.

机器狗

转电路

VIN3

GN

D1

OUT2

V1

AMS1117-3.3V

C1

104

+ CV2

10uF/16V

+ CV1

10uF/16V

C2

104

DGND DGND

+5V

1K

R1

D2

DGND

存储模块

下载接口



+3.3V

PIC101

PIC102

COC1 PIC201

PIC202

COC2

PIC301

PIC302

COC3 PIC401

PIC402

COC4 PIC501

PIC502

COC5

PIC601 PIC602

COC6

PIC701 PIC702

COC7

PIC801

PIC802

COC8

PIC901

PIC902 COC9

PIC1001

PIC1002 COC10

PIC1101 PIC1102



PIC1401 PIC1402



PIC1701

PIC1702 COC17

PIC1801

PIC1802

COC18

PIC1901

PIC1902

COC19

PIC2001

PIC2002 COC20

PIC2101

PIC2102

COC21

PIC2201 PIC2202

COC22

PIC2301 PIC2302

COC23

PIC2401 PIC2402

COC24

PIC2501 PIC2502

COC25

PIC2601 PIC2602

COC26

PIC2701 PIC2702

COC27

PIC2801 PIC2802

COC28

PIC2901 PIC2902

COC29

PIC3001 PIC3002

COC30

PIC3101 PIC3102

COC31

PIC3301 PIC3302

COC33

PIC3401 PIC3402

COC34

PIC3501 PIC3502

COC35

PIC3601 PIC3602

COC36

PIC3701 PIC3702

COC37

PIC3801 PIC3802

COC38

PIC3901 PIC3902

COC39

PIC4001 PIC4002

COC40

PIC4101 PIC4102

COC41

PIC4201 PIC4202

COC42

PIC4301 PIC4302

COC43

PIC4401 PIC4402

COC44

PIC4501 PIC4502

COC45

PIC4601 PIC4602

COC46

PIC4701 PIC4702

COC47

PIC4901 PIC4902

COC49

PIC5001 PIC5002

COC50

PIC5101 PIC5102

COC51

PIC5201 PIC5202

COC52

PIC5301 PIC5302

COC53

PICN101 PICN102

PICN103

PICN104

PICN105

PICN106

COCN1

PICV101

PICV102

COCV1 PICV201

PICV202

COCV2

PID101

PID102 COD1

PID201

PID202 COD2

PID301

PID302 COD3

PID401

PID402 COD4

PID501

PID502

COD5

PID601

PID602

COD6

PID701

PID702 COD7

PID801

PID802 COD8

PID901 PID902

COD9

PID1001

PID1002

COD10

PID1101

PID1102

COD11

PID1201

PID1202 COD12

PID1301

PID1302

COD13

PID1401 PID1402

COD14

PID1501 PID1502

COD15

PID1601 PID1602

COD16

PID1701

PID1702

COD17

PID1801

PID1802

COD18

PID1901

PID1902 COD19

PID2001

PID2002 COD20

PID2101 PID2102

COD21

PID2201 PID2202

COD22

PID2301

PID2302

COD23

PID2401

PID2402

COD24

PID2501

PID2502

COD25

PID2601

PID2602 COD26

PID2701 PID2702

COD27

PID2801 PID2802

COD28

PID2901

PID2902

COD29

PID3001

PID3002

COD30

PID3101

PID3102 COD31

PID3201

PID3202 COD32

PID3301 PID3302

COD33

PID3401 PID3402

COD34

PID3501

PID3502

COD35 PID3601

PID3602

COD36

PID3701

PID3702 COD37

PID3801

PID3802 COD38

PID3901 PID3902

COD39

PID4001

PID4002

COD40

PID4101 PID4102

COD41

PID4201

PID4202

COD42

PID4301

PID4302 COD43

PID4401

PID4402 COD44

PID4501 PID4502

COD45

PID4601 PID4602

COD46

PID4701 PID4702

COD47

PID4801 PID4802

COD48

PID4901 PID4902

COD49

PID5001 PID5002

COD50

PID5101 PID5102

COD51

PID5201 PID5202

COD52

PID5301 PID5302

COD53

PID5401 PID5402

COD54

PID5501 PID5502

COD55

PID5601 PID5602

COD56

PIDS101

PIDS102 CODS1

PIF101

PIF102 COF1

PIFB101 PIFB102

COFB1

PIFB201 PIFB202

COFB2

PIJ001 PIJ002

COJ0

PIJ101

PIJ102

COJ1

PIJ201

PIJ202

COJ2

PIJ301

PIJ302

COJ3

PIJ401

PIJ402

COJ4

PIJ501

PIJ502

COJ5

PIJ601

PIJ602

COJ6

PIJ701

PIJ702

COJ7 PIJ801

PIJ802

COJ8

PIJ901

PIJ902

COJ9

PIJ1001

PIJ1002

COJ10

PIJ1101

PIJ1102

COJ11

PIJ1201

PIJ1202

COJ12

PIJ1301

PIJ1302

COJ13

PIJK101 PIJK102

PIJK103

COJK1

PIJK201 PIJK202

PIJK203

COJK2

PIJK301 PIJK302

PIJK303

COJK3

PIJK401 PIJK402

PIJK403

COJK4

PIJK501 PIJK502

PIJK503

COJK5

PIJK601 PIJK602

PIJK603

COJK6

PIJK701

PIJK702

PIJK703

COJK7

PIJK801

PIJK802

PIJK803

COJK8

PIJK901

PIJK902

PIJK903

COJK9

PIJK1001

PIJK1002

PIJK1003

COJK10

PIJK1101

PIJK1102

PIJK1103

COJK11

PIJK1201

PIJK1202

PIJK1203

COJK12

PIL101 PIL102

COL1

PIP101

PIP102

PIP103

PIP104

COP1

PIP201

PIP202

PIP203 PIP204

COP2

PIQ101

PIQ102

PIQ103 COQ1

PIQ201

PIQ202

PIQ203 COQ2

PIQ301

PIQ302

PIQ303 COQ3

PIQ401

PIQ402

PIQ403 COQ4

PIQ501

PIQ502

PIQ503

COQ5

PIQ601

PIQ602

PIQ603

COQ6

PIQ701

PIQ702

PIQ703 COQ7

PIQ801

PIQ802

PIQ803 COQ8

PIQ901

PIQ902

PIQ903 COQ9

PIQ1001

PIQ1002

PIQ1003 COQ10

PIQ1101

PIQ1102

PIQ1103 COQ11

PIQ1201

PIQ1202

PIQ1203

COQ12

PIQ1301

PIQ1302

PIQ1303

COQ13

PIQ1401

PIQ1402

PIQ1403 COQ14

PIQ1501

PIQ1502

PIQ1503

COQ15

PIQ1601

PIQ1602

PIQ1603

COQ16

PIQ1701

PIQ1702

PIQ1703 COQ17

PIQ1801

PIQ1802

PIQ1803

COQ18

PIQ1901

PIQ1902

PIQ1903 COQ19

PIQ2001

PIQ2002

PIQ2003 COQ20

PIQ2101

PIQ2102

PIQ2103 COQ21

PIQ2201

PIQ2202

PIQ2203 COQ22

PIQ2301

PIQ2302

PIQ2303 COQ23

PIQ2401

PIQ2402

PIQ2403 COQ24

PIQ2501

PIQ2502

PIQ2503 COQ25

PIQ2601

PIQ2602

PIQ2603 COQ26

PIQ2701

PIQ2702

PIQ2703 COQ27

PIQ2801

PIQ2802

PIQ2803 COQ28

PIQ2901

PIQ2902

PIQ2903

COQ29

PIQ3001

PIQ3002

PIQ3003 COQ30

PIQ3101

PIQ3102

PIQ3103

COQ31

PIQ3201

PIQ3202

PIQ3203

COQ32

PIQ3301

PIQ3302

PIQ3303

COQ33

PIQ3401

PIQ3402

PIQ3403

COQ34

PIQ3501

PIQ3502

PIQ3503 COQ35

PIQ3601

PIQ3602

PIQ3603 COQ36

PIQ3701

PIQ3702

PIQ3703 COQ37

PIQ3801

PIQ3802

PIQ3803

COQ38 PIQ3901

PIQ3902

PIQ3903 COQ39

PIQ4001

PIQ4002

PIQ4003 COQ40

PIQ4101

PIQ4102

PIQ4103 COQ41

PIQ4201

PIQ4202

PIQ4203

COQ42

PIQ4301

PIQ4302

PIQ4303

COQ43

PIQ4401

PIQ4402

PIQ4403

COQ44

PIQ4501

PIQ4502

PIQ4503 COQ45

PIQ4601

PIQ4602

PIQ4603

COQ46

PIQ4701

PIQ4702

PIQ4703

COQ47

PIQ4801

PIQ4802

PIQ4803

COQ48

PIQ4901

PIQ4902

PIQ4903 COQ49

PIQ5001

PIQ5002

PIQ5003 COQ50

PIQ5101

PIQ5102

PIQ5103 COQ51

PIQ5201

PIQ5202

PIQ5203 COQ52

PIQ5301

PIQ5302

PIQ5303 COQ53

PIQ5401

PIQ5402

PIQ5403 COQ54

PIQ5501

PIQ5502

PIQ5503

COQ55

PIQ5601

PIQ5602

PIQ5603

COQ56

PIQ5701

PIQ5702

PIQ5703

COQ57

PIQ5801

PIQ5802

PIQ5803 COQ58

PIQ5901

PIQ5902

PIQ5903

COQ59

PIQ6001

PIQ6002

PIQ6003

COQ60

PIQ6101

PIQ6102

PIQ6103

COQ61

PIQ6201

PIQ6202

PIQ6203 COQ62

PIQ6301

PIQ6302

PIQ6303 COQ63

PIQ6401

PIQ6402

PIQ6403 COQ64

PIQ6501

PIQ6502

PIQ6503 COQ65

PIQ6601

PIQ6602

PIQ6603 COQ66

PIQ6701

PIQ6702

PIQ6703 COQ67

PIQ6801

PIQ6802

PIQ6803 COQ68

PIQ6901

PIQ6902

PIQ6903 COQ69

PIQ7001

PIQ7002

PIQ7003 COQ70

PIQ7101

PIQ7102

PIQ7103

COQ71

PIQ7201

PIQ7202

PIQ7203

COQ72

PIQ7301

PIQ7302

PIQ7303

COQ73

PIQ7401

PIQ7402

PIQ7403

COQ74

PIQ7501

PIQ7502

PIQ7503

COQ75

PIQ7601

PIQ7602

PIQ7603 COQ76

PIQ7701

PIQ7702

PIQ7703 COQ77

PIQ7801

PIQ7802

PIQ7803 COQ78

PIQ7901

PIQ7902

PIQ7903 COQ79

PIQ8001

PIQ8002

PIQ8003 COQ80

PIQ8101

PIQ8102

PIQ8103 COQ81

PIQ8201

PIQ8202

PIQ8203 COQ82

PIQ8301

PIQ8302

PIQ8303

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PIQ8401

PIQ8402

PIQ8403

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PIQ8501

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PIQ8603

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PIQ8702

PIQ8703

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PIQ8802

PIQ8803

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PIQ8901

PIQ8902

PIQ8903 COQ89

PIQ9001

PIQ9002

PIQ9003

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PIR101

PIR102 COR1

PIR201 PIR202

COR2

PIR301 PIR302

COR3

PIR401 PIR402

COR4

PIR501

PIR502

COR5

PIR601

PIR602 COR6

PIR701

PIR702 COR7

PIR801

PIR802 COR8

PIR901

PIR902 COR9

PIR1001

PIR1002 COR10

PIR1101


PIR1202

COR12

PIR1301

PIR1302 COR13

PIR1401 PIR1402




COR17

PIR1801

PIR1802

COR18

PIR1901

PIR1902 COR19

PIR2001

PIR2002

COR20

PIR2101 PIR2102

COR21

PIR2201 PIR2202

COR22

PIR2301 PIR2302

COR23

PIR2401 PIR2402

COR24

PIR2501

PIR2502

COR25

PIR2601 PIR2602


COR27

PIR2801 PIR2802


COR29

PIR3001 PIR3002


COR31

PIR3201 PIR3202

COR32

PIR3301 PIR3302

COR33

PIR3401

PIR3402 COR34

PIR3501 PIR3502

COR35

PIR3601 PIR3602

COR36

PIR3701 PIR3702

COR37

PIR3801 PIR3802

COR38

PIR3901

PIR3902

COR39

PIR4001 PIR4002

COR40

PIR4101 PIR4102

COR41

PIR4201 PIR4202

COR42

PIR4301 PIR4302

COR43

PIR4401

PIR4402

COR44




PIR4801 PIR4802

COR48

PIR4901

PIR4902 COR49

PIR5001 PIR5002


COR51

PIR5201 PIR5202

COR52


PIR5401

PIR5402 COR54

PIR5501 PIR5502


COR56

PIR5701 PIR5702

COR57

PIR5801 PIR5802

COR58

PIR5901

PIR5902 COR59



PIR6201 PIR6202

COR62

PIR6301 PIR6302

COR63

PIR6401

PIR6402

COR64

PIR6501 PIR6502


COR66

PIR6701 PIR6702

COR67

PIR6801 PIR6802

COR68

PIR6901

PIR6902 COR69

PIR7001 PIR7002


COR71

PIR7201 PIR7202

COR72


PIR7401

PIR7402

COR74

PIR7501 PIR7502


COR76

PIR7701 PIR7702

COR77

PIR7801 PIR7802


COR79

PIR8001 PIR8002

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PIR8301

PIR8302 COR83

PIR8401 PIR8402

COR84

PIR8501 PIR8502

COR85

PIR8601 PIR8602

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PIR8801

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COR88

PIR8901 PIR8902


COR90

PIR9101 PIR9102

COR91

PIR9201 PIR9202

COR92

PIR9301

PIR9302 COR93



PIR9601 PIR9602

COR96

PIR9701 PIR9702

COR97

PIR9801

PIR9802

COR98

PIR9901 PIR9902

COR99 PIR10001 PIR10002

COR100

PIR10101 PIR10102

COR101 PIR10201 PIR10202

COR102

PIR10301 PIR10302

COR103

PIR10401 PIR10402 COR104

PIR10501 PIR10502 COR105

PIR10601 PIR10602

COR106

PIR10701

PIR10702 COR107

PIR10801 PIR10802

COR108 PIR10901 PIR10902

COR109

PIR11001 PIR11002 COR110

PIR11101 PIR11102

COR111

PIR11201

PIR11202 COR112

PIR11301 PIR11302

COR113

PIR11401 PIR11402

COR114

PIR11501 PIR11502

COR115

PIR11601 PIR11602

COR116

PIR11701

PIR11702

COR117

PIR11801 PIR11802

COR118 PIR11901 PIR11902

COR119

PIR12001 PIR12002 COR120

PIR12101 PIR12102

COR121

PIR12201

PIR12202 COR122

PIR12301 PIR12302

COR123 PIR12401 PIR12402

COR124

PIR12501 PIR12502

COR125

PIR12601 PIR12602 COR126

PIR12701

PIR12702 COR127

PIR12801 PIR12802

COR128

PIR12901 PIR12902

COR129

PIR13001 PIR13002

COR130

PIR13101 PIR13102

COR131

PIR13201 PIR13202

COR132

PIR13301 PIR13302

COR133

PIR13401

PIR13402

COR134

PIR13501 PIR13502

COR135 PIR13601 PIR13602

COR136

PIR13701 PIR13702

COR137 PIR13801 PIR13802

COR138

PIR13901 PIR13902 COR139

PIR14001 PIR14002

COR140

PIR14101

PIR14102 COR141

PIR14201 PIR14202

COR142 PIR14301 PIR14302

COR143

PIR14401 PIR14402

COR144

PIR14501 PIR14502 COR145

PIR14601

PIR14602

COR146

PIR14701 PIR14702

COR147 PIR14801 PIR14802

COR148

PIR14901 PIR14902 COR149

PIR15001 PIR15002

COR150

PIR15101

PIR15102 COR151

PIR15201 PIR15202

COR152 PIR15301 PIR15302

COR153

PIR15401 PIR15402

COR154

PIR15501 PIR15502 COR155

PIR15601

PIR15602 COR156

PIR15701 PIR15702

COR157

PIR15801 PIR15802

COR158

PIR15901 PIR15902

COR159

PIR16001 PIR16002

COR160

PIR16101

PIR16102

COR161

PIR16201 PIR16202

COR162 PIR16301 PIR16302

COR163

PIR16401 PIR16402

COR164

PIR16501 PIR16502

COR165

PIR16601

PIR16602 COR166


PIR16901 PIR16902

COR169

PIR17001 PIR17002

COR170

PIR17101

PIR17102

COR171

PIR17201 PIR17202 COR172

PIR17301 PIR17302 COR173

PIR17401 PIR17402 COR174

PIR17501 PIR17502 COR175

PIR17601 PIR17602

COR176

PIR17701 PIR17702

COR177

PIR17801 PIR17802

COR178

PIR17901 PIR17902 COR179

PIR18001

PIR18002

COR180

PIR18101 PIR18102

COR181 PIR18201 PIR18202

COR182

PIR18301 PIR18302

COR183

PIR18401 PIR18402

COR184

PIR18501

PIR18502 COR185

PIR18601 PIR18602

COR186 PIR18701 PIR18702

COR187

PIR18801 PIR18802

COR188

PIR18901 PIR18902 COR189

PIR19001

PIR19002 COR190

PIR19101 PIR19102

COR191 PIR19201 PIR19202

COR192

PIR19301 PIR19302

COR193

PIR19401 PIR19402

COR194

PIR19501

PIR19502 COR195

PIR19601 PIR19602

COR196 PIR19701 PIR19702

COR197

PIR19801 PIR19802

COR198

PIR19901 PIR19902

COR199

PIR20001 PIR20002 COR200

PIR20101 PIR20102 COR201

PIR20201 PIR20202 COR202

PIR20301 PIR20302 COR203

PIR20401

PIR20402 COR204

PIR20501 PIR20502

COR205 PIR20601 PIR20602

COR206

PIR20701 PIR20702

COR207

PIR20801 PIR20802

COR208

PIR20901

PIR20902

COR209


PIR21201 PIR21202

COR212

PIR21301 PIR21302

COR213

PIR21401

PIR21402

COR214

PIR21501 PIR21502

COR215 PIR21601 PIR21602

COR216

PIR21701 PIR21702

COR217

PIR21801 PIR21802 COR218

PIR21901

PIR21902 COR219

PIR22001 PIR22002 COR220

PIR22101 PIR22102 COR221

PIR22201 PIR22202

COR222

PIR22301 PIR22302

COR223

PIR22401

PIR22402 COR224

PIR22501 PIR22502 COR225

PIR22601 PIR22602

COR226 PIR22701 PIR22702

COR227

PIR22801 PIR22802 COR228 PIR22901

PIR22902

COR229

PIR23001

PIR23002

COR230

PIR23101

PIR23102

COR231

PIR23201

PIR23202 COR232

PIR23301 PIR23302

COR233

PIR23401 PIR23402

COR234 PIR23501 PIR23502

COR235

PIR23601 PIR23602

COR236

PIR23701 PIR23702

COR237

PIR23801 PIR23802 COR238

PIR23901

PIR23902 COR239


PIR24201

PIR24202

COR242

PIR24301

PIR24302

COR243

PIR24401

PIR24402

COR244

PIR24501 PIR24502

COR245

PIR24601 PIR24602

COR246

PIR24701 PIR24702

COR247 PIR24801 PIR24802

COR248

PIR24901 PIR24902

COR249

PIR25001 PIR25002 COR250

PIR25101 PIR25102 COR251

PIR25201

PIR25202

COR252

PIR25301 PIR25302

COR253

PIR25401

PIR25402

COR254

PIR25501

PIR25502

COR255

PIR25601

PIR25602 COR256

PIR25701 PIR25702

COR257

PIR25801 PIR25802

COR258

PIR25901 PIR25902

COR259

PIR26001 PIR26002 COR260

PIS101 PIS102

COS1

PIU101 PIU102

PIU103

PIU104 PIU105

PIU106

COU1

PIU2023

PIU2024

PIU2025

PIU2026

PIU2029

PIU2030

PIU2031 PIU2032

PIU2035

PIU2036

PIU2037

PIU2047

PIU2048

PIU2051

PIU2052 PIU2053

PIU2054

PIU2067

PIU2068

PIU2069

PIU2070

PIU2071

PIU2072

PIU2076

PIU2077

PIU2089

PIU2090 PIU2091

PIU2092

PIU2093

PIU2095

PIU2096

COU2A

PIU207

PIU208

PIU209

PIU2015

PIU2016

PIU2017

PIU2018

PIU2033

PIU2034

PIU2055

PIU2056

PIU2057

PIU2058

PIU2059 PIU2060

PIU2061

PIU2062

PIU2063

PIU2064

PIU2065

PIU2066

PIU2078

PIU2079

PIU2080

PIU2081

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

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PIU202

PIU203

PIU204

PIU205 PIU2038

PIU2039

PIU2040

PIU2041

PIU2042

PIU2043

PIU2044

PIU2045

PIU2046

PIU2097

PIU2098

COU2C

PIU2012

PIU2013 PIU2014

PIU2049

PIU2073

PIU2094

COU2D

PIU206

PIU2010

PIU2011

PIU2019

PIU2020

PIU2021

PIU2022

PIU2027

PIU2028

PIU2050

PIU2074 PIU2075

PIU2099 PIU20100

COU2E

PIU301

PIU302

PIU303

PIU304 PIU305

PIU306

PIU307

PIU308

COU3

PIU401

PIU402

PIU403 COU4

PIU501

PIU502

PIU503

PIU507

PIU5014 COU5A

PIU504

PIU505

PIU506

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PIU5011

PIU5012

PIU5013

COU5C

PIU508

PIU509

PIU5010

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PIU601

PIU602 PIU603

PIU604

COU6

PIU701

PIU702 PIU703

PIU704

COU7

PIU801

PIU802 PIU803

PIU804

COU8

PIU901

PIU902

PIU903

PIU907

PIU9014 COU9A

PIU904

PIU905 PIU906

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PIU1002 PIU1003

PIU1004

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PIU1101

PIU1102 PIU1103

PIU1104

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PIU1201

PIU1202 PIU1203

PIU1204

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PIU1302 PIU1303

PIU1304

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PIU1401

PIU1402 PIU1403

PIU1404

COU14

PIU1501

PIU1502 PIU1503

PIU1504

COU15

PIU1601

PIU1602

PIU1603

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PIU1604

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PIU1609

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PIU1702 PIU1703

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PIU1801

PIU1802 PIU1803

PIU1804

COU18

PIU1901

PIU1902 PIU1903

PIU1904

COU19

PIU2001

PIU2002

PIU2003

PIU2007

PIU20014 COU20A

PIU2004

PIU2005

PIU2006

COU20B

PIU20011

PIU20012

PIU20013

COU20C

PIU2008

PIU2009

PIU20010

COU20D

PIU2101

PIU2102 PIU2103

PIU2104

COU21

PIU2201

PIU2202

PIU2203

PIU2207

PIU22014 COU22A

PIU2204

PIU2205

PIU2206

COU22B

PIU22011

PIU22012

PIU22013

COU22C

PIU2208

PIU2209

PIU22010

COU22D

PIU2301

PIU2302 PIU2303

PIU2304

COU23

PIU2401

PIU2402 PIU2403

PIU2404

COU24

PIU2501

PIU2502 PIU2503

PIU2504

COU25

PIU2601

PIU2602

PIU2603

PIU2607

PIU26014 COU26A

PIU2604

PIU2605 PIU2606

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PIU26011

PIU26012

PIU26013

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PIU2608

PIU2609

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PIU2701

PIU2702 PIU2703

PIU2704

COU27

PIU2801

PIU2802 PIU2803

PIU2804

COU28

PIU2901

PIU2902

PIU2903

PIU2907

PIU29014 COU29A

PIU2904

PIU2905

PIU2906

COU29B

PIU29011

PIU29012

PIU29013

COU29C

PIU2908 PIU2909

PIU29010

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PIU3001

PIU3002 PIU3003

PIU3004

COU30

PIU3101

PIU3102 PIU3103

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COU31

PIU3201

PIU3202 PIU3203

PIU3204

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PIU3302

PIU3303

PIU3307

PIU33014 COU33A

PIU3304

PIU3305

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PIU33012

PIU33013

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PIU3309

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PIU3401

PIU3402 PIU3403

PIU3404

COU34

PIU3501

PIU3502 PIU3503

PIU3504

COU35

PIU3601

PIU3602 PIU3603

PIU3604

COU36

PIU3701

PIU3702 PIU3703

PIU3704

COU37

PIU3801

PIU3802 PIU3803

PIU3804

COU38

PIU3901

PIU3902

PIU3903

PIU3907

PIU39014 COU39A

PIU3904

PIU3905

PIU3906

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PIU39011

PIU39012

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COU39C

PIU3908

PIU3909

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PIU4002 PIU4003

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COU40

PIU4101

PIU4102 PIU4103

PIU4104

COU41 PIU4201

PIU4202

PIU4203

PIU4207

PIU42014 COU42A

PIU4204

PIU4205

PIU4206

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PIU42011

PIU42012

PIU42013

COU42C

PIU4208

PIU4209

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PIU4301

PIU4302 PIU4303

PIU4304

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PIU4606

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PIU4802 PIU4803

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PIU4903

PIU4907

PIU49014 COU49A

PIU4904

PIU4905

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COU49B

PIU49011

PIU49012

PIU49013

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PIU4909

PIU49010 COU49D

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PIU5002 PIU5003

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PIU5101

PIU5102 PIU5103

PIU5104

COU51

PIU5201

PIU5202 PIU5203

PIU5204

COU52

PIU5301

PIU5302

PIU5303

PIU5307

PIU53014 COU53A

PIU5304

PIU5305

PIU5306

COU53B

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PIU53012

PIU53013

COU53C

PIU5308

PIU5309

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COU53D

PIU5401

PIU5402

PIU5403

PIU5407

PIU54014 COU54A

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PIU5405

PIU5406

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PIU54011

PIU54012

PIU54013

COU54C

PIU5408

PIU5409

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COU54D

PIU5501

PIU5502

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PIU5507

PIU55014 COU55A

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PIU5505

PIU5506

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PIU55012

PIU55013

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PIU5508

PIU5509

PIU55010

COU55D

PIV101

PIV102 PIV103

COV1

PIY101 PIY102

COY1

PIC201


PICN101

PICV201



PIP101

PIP201

PIR102

PIR502

PIR602 PIR702

PIR1201 PIR1302

PIR2301

PIR3201

PIR3701

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PIR4701

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PIR5701

PIR6201

PIR6701

PIR7201

PIR7701

PIR8601

PIR9101

PIR9601

PIR10301

PIR11001

PIR11501

PIR12001

PIR12501

PIR13001

PIR13901

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PIR16401

PIR16901

PIR17801

PIR18301

PIR18801

PIR19301

PIR19801

PIR20701

PIR21201

PIR21701

PIR22201

PIU206

PIU2011

PIU2019

PIU2021

PIU2022

PIU2028

PIU2050

PIU2075

PIU20100

PIU308

PIV102

PIC101

PIC301 PIC401

PICV101

PIL102

PIU104 PIV103

PIC1702 PIC1801

PIC1901

PID302 PID402

PID502 PID602

PIF102

PIJ1301

PIQ703

PIQ803

PIQ903

PIQ1103

PIQ2403 PIQ2503

PIQ2703 PIQ2803

PIQ3603 PIQ3703

PIQ3903 PIQ4003

PIQ4903

PIQ5103 PIQ5203

PIQ5403

PIQ6503 PIQ6603

PIQ6803 PIQ6903

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PIQ7903

PIQ8003

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PIR1902

PIR2102

PIR3002

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PIR4002

PIR4502

PIR5002

PIR5502

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PIR6502

PIR7002

PIR7502

PIR8402

PIR8902

PIR9402

PIR10102

PIR10802

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PIR11802

PIR12302

PIR12802

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PIR14202

PIR14702

PIR15202

PIR15702

PIR16202

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PIR17602

PIR18102

PIR18602

PIR19102

PIR19602

PIR20502

PIR21002

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PIR22002

PIU5014

PIU16014

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PIU29014

PIU39014

PIU46014

PIC501 PIJ001

PIU101

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PIFB102

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PID4601

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PIU902

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PID1002

PID1202

PIR22601 PIR23001

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PIU9013

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PIU5305

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PID1102 PID1302

PIR22701 PIR23102

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PID4801

PIR22802

PIU2002

PIU2005

PIU53012

PIU53013

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PID1702

PID1902

PIR22801

PIR23202

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PID4501

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PIU2009

PIU20013

PIU5309

PIU53010

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PID1802 PID2002

PIR22501 PIR22901

NLDD2

PID5101

PIR24002

PIU2602

PIU2604

PIU5401

PIU5402

NLDE1

PID2502 PID2602

PIR24001

PIR24302

NLDE2

PID5201

PIR24102

PIU26010

PIU26013

PIU5404

PIU5405

NLDF1

PID2302 PID2402

PIR24101

PIR24402

NLDF2

PID5001

PIR23802

PIU3302

PIU3305

PIU54012

PIU54013

NLDG1

PID3002

PID3202

PIR23801

PIR24201

NLDG2


PIC601

PIC701



PICN106


PID202

PIJ002



PIP104

PIP203


PIR202

PIR301

PIR401

PIS101

PIU103

PIU105

PIU106

PIU2010

PIU2020

PIU2027

PIU2074

PIU2099

PIU301

PIU302

PIU303

PIU304

PIU307

PIV101

PID4901

PIR23702

PIU33010

PIU33013

PIU5409

PIU54010

NLDH1

PID2902 PID3102

PIR23701

PIR23902

NLDH2

PID5601

PIR25302

PIU4202

PIU4205

PIU5501

PIU5502

NLDI1

PID3502 PID3702

PIR25301

PIR25602

NLDI2

PID5401

PIR25002

PIU4209

PIU42013

PIU5504

PIU5505

NLDJ1

PID3602 PID3802

PIR25001 PIR25401

NLDJ2

PID5501

PIR25102

PIU4902

PIU4904

PIU55012

PIU55013

NLDK1

PID4202 PID4402

PIR25101

PIR25502

NLDK2

PID5301

PIR24902

PIU49010

PIU49013

PIU5509

PIU55010

NLDL1

PID4002 PID4302

PIR24901 PIR25202

NLDL2

PIU2051

PIU602

NLENA

PIR2202

PIU502

PIU505

NLENA024

PID902 PIR2402

PIR23401

NLENA0T

PIU2054

PIU1002

NLENB

PIR4102

PIU5010

PIU5013

NLENB024

PID1402 PIR4302

PIR23501

NLENB0T

PIU2057

PIU1302

NLENC

PIR5602

PIU1602

PIU1605

NLENC024

PID1502 PIR5802

PIR23601

NLENC0T

PIU2060

PIU1702

NLEND

PIR7102

PIU1609

PIU16012

NLEND024

PID1602 PIR7302

PIR23301 NLEND0T

PIU2063

PIU2102 NLENE

PIR9002

PIU2201

PIU2204


PIR24701

NLENE0T

PIU2066

PIU2502 NLENF

PIR10902

PIU2209

PIU22012

NLENF024

PID2202 PIR11102

PIR24801

NLENF0T

PIU2048

PIU3002 NLENG

PIR12402

PIU2902

PIU2905

NLENG024

PID2702 PIR12602

PIR24601

NLENG0T

PIU2045

PIU3402 NLENH

PIR14302

PIU29010

PIU29013

NLENH024

PID2802 PIR14502

PIR24501

NLENH0T

PIU2042

PIU3702

NLENI

PIR15802

PIU3902

PIU3905

NLENI024

PID3302 PIR16002

PIR26001 NLENI0T

PIU205

PIU4102 NLENJ

PIR17702

PIU3909

PIU39012

NLENJ024

PID3402 PIR17902

PIR25801 NLENJ0T

PIU202

PIU4502 NLENK

PIR19202

PIU4601

PIU4604

NLENK024

PID3902 PIR19402

PIR25901

NLENK0T

PIU2097

PIU5002

NLENL

PIR21102

PIU4609

PIU46012

NLENL024

PID4102 PIR21302

PIR25701 NLENL0T

PIC1902

PIC2102

PIC2202 PIC2302

PIC2402 PIC2502

PIC2601

PIC2702 PIC2802

PIC2902 PIC3002

PIC3101

PIC3302 PIC3402

PIC3502 PIC3602

PIC3701

PIC3802 PIC3902

PIC4002 PIC4102

PIC4201

PIC4302 PIC4402 PIC4502 PIC4602

PIC4701

PIC4902 PIC5002 PIC5102 PIC5202

PIC5301

PID501 PID601

PID701

PID801

PIDS102

PIFB202

PIJ1302

PIQ603

PIQ1002

PIQ1202

PIQ1303 PIQ1402

PIQ1503

PIQ1603

PIQ1702 PIQ1803

PIQ1902

PIQ2002

PIQ2102

PIQ2202

PIQ2302

PIQ2602

PIQ2902

PIQ3002

PIQ3103 PIQ3203

PIQ3303

PIQ3403

PIQ3502

PIQ3802

PIQ4102

PIQ4203

PIQ4302 PIQ4403

PIQ4502

PIQ4603

PIQ4703

PIQ4802

PIQ5002

PIQ5302

PIQ5502

PIQ5603 PIQ5703

PIQ5802

PIQ5903 PIQ6003

PIQ6102

PIQ6202

PIQ6302

PIQ6402

PIQ6702

PIQ7002

PIQ7103 PIQ7203

PIQ7302

PIQ7403 PIQ7503

PIQ7602

PIQ7802

PIQ8202

PIQ8302 PIQ8403

PIQ8503

PIQ8602

PIQ8703

PIQ8803

PIQ8902

PIQ9002

PIR201

PIR2002

PIR2501 PIR2602 PIR2702

PIR2802 PIR2902

PIR3401

PIR3901

PIR4401

PIR4901

PIR5401

PIR5901

PIR6401

PIR6901

PIR7401

PIR7802 PIR7902

PIR8102 PIR8202

PIR8301

PIR8801

PIR9301

PIR9801 PIR9902 PIR10002

PIR10402 PIR10502

PIR10701

PIR11201

PIR11701

PIR12201

PIR12701

PIR13102 PIR13202

PIR13401

PIR13502 PIR13602

PIR14101

PIR14601

PIR15101

PIR15601

PIR16101

PIR16601

PIR17101

PIR17202 PIR17302 PIR17402 PIR17502

PIR18001

PIR18501

PIR19001

PIR19501

PIR20002 PIR20102 PIR20202 PIR20302

PIR20401

PIR20901

PIR21401

PIR21901

PIR22401

PIR22902

PIR23002 PIR23101

PIR23201

PIR23901

PIR24202

PIR24301 PIR24401

PIR25201

PIR25402

PIR25501

PIR25601

PIU907

PIU2007

PIU2607

PIU3307

PIU4207

PIU4907

PIU5307

PIU5407

PIU5507

PIC2002

PIFB201 PIU401

PIC1701 PIC1802

PID401

PIQ602

PIU507

PIU1607

PIU2207

PIU2907

PIU3907

PIU4607

PIU2052

PIU702

NLIN1

PIR3102

PIU501

NLIN1024

PID1201

PIR3302

PIR3402 PIU703

PIU901 NLIN10T

PIU2053

PIU802

NLIN2

PIR3602

PIU504

NLIN2024

PID1001


PIU905 NLIN20T

PIU2055

PIU1102

NLIN3

PIR4602

PIU509 NLIN3024

PID1301

PIR4801

PIR4902

PIU909

PIU1103

NLIN30T

PIU2056

PIU1202

NLIN4

PIR5102

PIU5012 NLIN4024

PID1101

PIR5301

PIR5402

PIU9012

PIU1203

NLIN40T

PIU2058

PIU1402

NLIN5

PIR6102

PIU1601

NLIN5024

PID1901

PIR6301 PIR6402 PIU1403

PIU2001 NLIN50T

PIU2059

PIU1502

NLIN6

PIR6602

PIU1604

NLIN6024

PID1701

PIR6801

PIR6902 PIU1503

PIU2004 NLIN60T

PIU2061

PIU1802

NLIN7

PIR7602

PIU16010 NLIN7024

PID2001 PIR8002

PIR8302 PIU1803

PIU20010

NLIN70T

PIU2062

PIU1902

NLIN8

PIR8502

PIU16013 NLIN8024

PID1801

PIR8702 PIR8802

PIU1903

PIU20012 NLIN80T

PIU2064

PIU2302

NLIN9

PIR9502

PIU2202

NLIN9024

PID2601

PIR9701 PIR9802 PIU2303

PIU2601 NLIN90T

PIU2065

PIU2402 NLIN10

PIR10202

PIU2205

NLIN10024

PID2501

PIR10601

PIR10702 PIU2403

PIU2605 NLIN100T

PIU2070

PIU2702

NLIN11

PIR11402

PIU22010 NLIN11024

PID2401

PIR11601 PIR11702

PIU2609

PIU2703

NLIN110T

PIU2071

PIU2802 NLIN12

PIR11902

PIU22013 NLIN12024

PID2301

PIR12101

PIR12202

PIU26012

PIU2803

NLIN120T

PIU2047

PIU3102

NLIN13

PIR12902

PIU2901

NLIN13024

PID3201

PIR13302 PIR13402 PIU3103

PIU3301

NLIN130T

PIU2046

PIU3202

NLIN14

PIR13802

PIU2904

NLIN14024

PID3001

PIR14002

PIR14102 PIU3203

PIU3304

NLIN140T

PIU2044

PIU3502

NLIN15

PIR14802

PIU2909 NLIN15024

PID3101 PIR15001

PIR15102 PIU33012 PIU3503

NLIN150T

PIU2043

PIU3602 NLIN16

PIR15302

PIU29012 NLIN16024

PID2901

PIR15501

PIR15602

PIU3309

PIU3603

NLIN160T

PIU2041

PIU3802 NLIN17

PIR16302

PIU3901 NLIN17024

PID3701

PIR16501

PIR16602 PIU3803

PIU4201 NLIN170T

PIU2040

PIU4002

NLIN18

PIR16802

PIU3904

NLIN18024

PID3501

PIR17001 PIR17102 PIU4003

PIU4204 NLIN180T

PIU204

PIU4302 NLIN19

PIR18202

PIU39010 NLIN19024

PID3801

PIR18402

PIR18502

PIU42010

PIU4303

NLIN190T

PIU203

PIU4402 NLIN20

PIR18702

PIU39013

NLIN20024

PID3601

PIR18902

PIR19002

PIU42012

PIU4403

NLIN200T

PIU201

PIU4702 NLIN21

PIR19702

PIU4602

NLIN21024

PID4401

PIR19901

PIR20402 PIU4703

PIU4901 NLIN210T

PIU2098

PIU4802

NLIN22

PIR20602

PIU4605

NLIN22024

PID4201

PIR20801 PIR20902 PIU4803

PIU4905 NLIN220T

PIU2096

PIU5102 NLIN23

PIR21602

PIU46010 NLIN23024

PID4301

PIR21801 PIR21902

PIU4909

PIU5103

NLIN230T

PIU2095

PIU5202

NLIN24

PIR22102

PIU46013 NLIN24024

PID4001

PIR22301

PIR22402

PIU49012

PIU5203

NLIN240T

PIR1401

PIU2081

NLLED1

PICN102

PIR1002

NLLED10OUT

PIR1501

PIU2080

NLLED2

PICN103

PIR1102

NLLED20OUT

PIR1601

PIU2079

NLLED3 PICN104

PIR802

NLLED30OUT

PIR1701

PIU2078

NLLED4 PICN105

PIR902

NLLED40OUT

PIJK102

PIU2023

NLM1

PIJK202

PIU2024

NLM2

PIJK302

PIU2025

NLM3

PIJK402

PIU2026 NLM4

PIJK502

PIU2029 NLM5

PIJK602

PIU2030

NLM6

PIJK702

PIU2031 NLM7

PIJK802

PIU2032 NLM8

PIJK902

PIU2035 NLM9

PIJK1002

PIU2036 NLM10

PIJK1102

PIU2015

NLM11 PIJK1202

PIU2016

NLM12

PIC2401

PIJ101

PIQ1102

PIQ1302

PIR2801

NLMOTOR0100

PIC2501

PIJ102

PIQ802

PIQ1602

PIR2901

NLMOTOR0100

PIC2201

PIJ201

PIQ902

PIQ1502

PIR2601

NLMOTOR0200

PIC2301

PIJ202

PIQ702

PIQ1802

PIR2701

NLMOTOR0200

PIC2701

PIJ301

PIQ2702

PIQ3102

PIR7801

NLMOTOR0300

PIC2801

PIJ302

PIQ2402

PIQ3302

PIR7901

NLMOTOR0300

PIC2901

PIJ401

PIQ2802

PIQ3202

PIR8101

NLMOTOR0400

PIC3001

PIJ402

PIQ2502

PIQ3402

PIR8201

NLMOTOR0400

PIC3501

PIJ501

PIQ3902

PIQ4402

PIR10401

NLMOTOR0500

PIC3601

PIJ502

PIQ3602

PIQ4702

PIR10501

NLMOTOR0500

PIC3301

PIJ601

PIQ4002

PIQ4202

PIR9901

NLMOTOR0600

PIC3401

PIJ602

PIQ3702

PIQ4602

PIR10001

NLMOTOR0600

PIC4001

PIJ701

PIQ5402

PIQ5702

PIR13501

NLMOTOR0700

PIC4101

PIJ702

PIQ5102

PIQ6002

PIR13601

NLMOTOR0700

PIC3801

PIJ801

PIQ5202

PIQ5602

PIR13101

NLMOTOR0800

PIC3901

PIJ802 PIQ4902

PIQ5902

PIR13201

NLMOTOR0800

PIC4301

PIJ901

PIQ6802

PIQ7102

PIR17201

NLMOTOR0900

PIC4401

PIJ902

PIQ6502

PIQ7402

PIR17301

NLMOTOR0900

PIC4501

PIJ1001

PIQ6902

PIQ7202

PIR17401

NLMOTOR01000

PIC4601

PIJ1002

PIQ6602

PIQ7502

PIR17501

NLMOTOR01000

PIC4901

PIJ1101

PIQ8002

PIQ8502

PIR20001

NLMOTOR01100

PIC5001

PIJ1102

PIQ7702

PIQ8802

PIR20101

NLMOTOR01100

PIC5101

PIJ1201

PIQ8102

PIQ8402

PIR20201

NLMOTOR01200

PIC5201

PIJ1202

PIQ7902

PIQ8702

PIR20301

NLMOTOR01200

PIC602 PIU2049

PIC702 PIU2073

PID102

PIL101 PIU102

PID201 PIR101

PID301

PIQ601 PIR2001

PID702 PIQ501

PIR1901


PID1401 PIR4402 PIU1003

PID1501

PIR5902 PIU1303

PID1601

PIR7402 PIU1703

PID2101

PIR9302 PIU2103

PID2201

PIR11202 PIU2503

PID2701

PIR12702 PIU3003

PID2801 PIR14602

PIU3403

PID3301 PIR16102 PIU3703

PID3401 PIR18002

PIU4103

PID3901

PIR19502 PIU4503

PID4101 PIR21402 PIU5003

PIDS101 PIR1802

PIF101

PIQ502

PIQ101 PIR1402

PIQ103 PIR1001

PIQ201 PIR1502

PIQ203 PIR1101

PIQ301 PIR1602

PIQ303

PIR801

PIQ401 PIR1702

PIQ403

PIR901

PIQ701 PIU508

PIQ801 PIU503

PIQ901 PIU5011

PIQ1001 PIR2401

PIQ1003 PIR2101 PIR2201

PIQ1101 PIU506

PIQ1201 PIR3301

PIQ1203 PIR3001 PIR3101


PIQ1403 PIR3501 PIR3601

PIQ1601 PIU903

PIQ1701 PIR4301

PIQ1703 PIR4001 PIR4101

PIQ1801 PIU908

PIQ1901 PIR4802

PIQ1903 PIR4501 PIR4601

PIQ2001 PIR5302

PIQ2003 PIR5001 PIR5101

PIQ2101 PIR5801

PIQ2103 PIR5501 PIR5601

PIQ2201 PIR6302

PIQ2203 PIR6001 PIR6101

PIQ2301 PIR6802

PIQ2303 PIR6501 PIR6601

PIQ2401 PIU1603

PIQ2501 PIU1608

PIQ2601 PIR7301

PIQ2603 PIR7001 PIR7101

PIQ2701 PIU1606

PIQ2801 PIU16011

PIQ2901 PIR8001

PIQ2903 PIR7501 PIR7601

PIQ3001 PIR8701

PIQ3003 PIR8401 PIR8501

PIQ3101 PIU2006

PIQ3201 PIU20011

PIQ3301 PIU2003

PIQ3401 PIU2008

PIQ3501 PIR9201

PIQ3503 PIR8901 PIR9001

PIQ3601 PIU2203 PIQ3701 PIU2208

PIQ3801 PIR9702

PIQ3803 PIR9401 PIR9501

PIQ3901 PIU2206 PIQ4001 PIU22011

PIQ4101 PIR10602

PIQ4103 PIR10101 PIR10201

PIQ4201 PIU26011

PIQ4301 PIR11101

PIQ4303 PIR10801 PIR10901

PIQ4401 PIU2606

PIQ4501 PIR11602

PIQ4503 PIR11301 PIR11401

PIQ4601 PIU2608

PIQ4701 PIU2603

PIQ4801 PIR12102

PIQ4803 PIR11801 PIR11901

PIQ4901 PIU2908 PIQ5001 PIR12601

PIQ5003 PIR12301 PIR12401

PIQ5101 PIU2903 PIQ5201 PIU29011

PIQ5301 PIR13301

PIQ5303 PIR12801 PIR12901

PIQ5401 PIU2906

PIQ5501 PIR14001

PIQ5503 PIR13701 PIR13801

PIQ5601 PIU3308

PIQ5701 PIU3306

PIQ5801 PIR14501

PIQ5803 PIR14201 PIR14301

PIQ5901 PIU33011

PIQ6001 PIU3303

PIQ6101 PIR15002

PIQ6103 PIR14701 PIR14801

PIQ6201 PIR15502

PIQ6203 PIR15201 PIR15301

PIQ6301 PIR16001

PIQ6303 PIR15701 PIR15801

PIQ6401 PIR16502

PIQ6403 PIR16201 PIR16301

PIQ6501 PIU3903 PIQ6601 PIU3908

PIQ6701 PIR17002

PIQ6703 PIR16701 PIR16801

PIQ6801 PIU3906 PIQ6901 PIU39011

PIQ7001 PIR17901

PIQ7003 PIR17601 PIR17701

PIQ7101 PIU4206 PIQ7201 PIU42011

PIQ7301 PIR18401

PIQ7303 PIR18101 PIR18201

PIQ7401 PIU4203 PIQ7501 PIU4208

PIQ7601 PIR18901

PIQ7603 PIR18601 PIR18701

PIQ7701 PIU4603

PIQ7801 PIR19401

PIQ7803 PIR19101 PIR19201

PIQ7901 PIU4608

PIQ8001 PIU4606

PIQ8101 PIU46011

PIQ8201 PIR19902

PIQ8203 PIR19601 PIR19701

PIQ8301 PIR20802

PIQ8303 PIR20501 PIR20601

PIQ8401 PIU49011

PIQ8501 PIU4906

PIQ8601 PIR21301

PIQ8603 PIR21001 PIR21101

PIQ8701 PIU4908

PIQ8801 PIU4903

PIQ8901 PIR21802

PIQ8903 PIR21501 PIR21601

PIQ9001 PIR22302

PIQ9003 PIR22001 PIR22101

PIR302 PIU2037

PIR2302 PIU601

PIR3202 PIU701

PIR3702 PIU801

PIR4202 PIU1001

PIR4702 PIU1101

PIR5202 PIU1201

PIR5702 PIU1301

PIR6202 PIU1401

PIR6702 PIU1501

PIR7202 PIU1701

PIR7702 PIU1801

PIR8602 PIU1901

PIR9102 PIU2101

PIR9602 PIU2301

PIR10302 PIU2401

PIR11002 PIU2501

PIR11502 PIU2701

PIR12002 PIU2801

PIR12502 PIU3001

PIR13002 PIU3101

PIR13902 PIU3201

PIR14402 PIU3401

PIR14902 PIU3501

PIR15402 PIU3601

PIR15902 PIU3701

PIR16402 PIU3801

PIR16902 PIU4001

PIR17802 PIU4101

PIR18302 PIU4301

PIR18802 PIU4401

PIR19302 PIU4501

PIR19802 PIU4701

PIR20702 PIU4801

PIR21202 PIU5001

PIR21702 PIU5101

PIR22202 PIU5201

PIR23302 PIU5308

PIR23402 PIU5303 PIR23502 PIU5306

PIR23602 PIU53011

PIR24502 PIU5408

PIR24602 PIU54011

PIR24702 PIU5403 PIR24802 PIU5406

PIR25702 PIU5508

PIR25802 PIU5506

PIR25902 PIU55011

PIR26002 PIU5503

PIU207

PIU2017

PIU2018

PIU2033

PIU2034

PIU2038

PIU2039

PIU2067

PIU2077

PIU2082

PIU2083

PIU2084 PIU2085

PIU2086

PIU2087

PIU2088

PIU2089

PIU2090 PIU2091

PIU208

NLOSC320IN

PIU209 NLOSC320OUT

PIC1002

PIU2012

PIY102

NLOSCIN

PIC902


PIC802

PIR501 PIS102

PIU2014

NLR\E\S\E\T\

PID4502

PID4602 PID4702

PID4802

PID4902

PID5002

PID5102 PID5202

PID5302

PID5402

PID5502

PID5602

PIU402

PIR1202

PIU2092

PIU306

NLSCL

PIR1301

PIU2093

PIU305

NLSDA

PIP202

PIR601

PIU2076

NLSWD0CLK

PIP204

PIR701

PIU2072 NLSWD0DAT

PIQ1501 PIU9011

NLU3011

PIP103

PIU2069

NLUART0RX

PIP102

PIU2068

NLUART0TX

PIC2101

PIC2602

PIC3102

PIC3702

PIC4202

PIC4702

PIC5302

PID802

PIFB101

PIQ503

PIU604

PIU704

PIU804

PIU9014

PIU1004

PIU1104

PIU1204

PIU1304

PIU1404

PIU1504

PIU1704

PIU1804

PIU1904

PIU20014

PIU2104

PIU2304

PIU2404

PIU2504

PIU26014

PIU2704

PIU2804

PIU3004

PIU3104

PIU3204

PIU33014

PIU3404

PIU3504

PIU3604

PIU3704

PIU3804

PIU4004

PIU4104

PIU42014

PIU4304

PIU4404

PIU4504

PIU4704

PIU4804

PIU49014

PIU5004

PIU5104

PIU5204

PIU53014

PIU54014

PIU55014

Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)

(b) 5-3.3V regulator AMS1117-3V3.

Figure 3.9: First version of the voltage regulation design.

To improve the performance of regulation, the buck switching regulator LM2596S

(24V-5V) and LDO LM1117 (5V-3.3V) are finally adopted. They have higher fre-

quency internal oscillator and conversion efficiency, and provide larger current. More

importantly, bypass and polar capacitors are added to filter the signal interference and

protect the power supply module. Figure 3.10 details the second version of voltage

regulation design.

(a) 24V-5V regulator LM2596S-5. (b) 5V-3.3V regulator LM1117-3V3.

Figure 3.10: Second version of the voltage regulation design.

41

3.3.5 Sensor Interfaces

The sensor system of the quadruped robot contains two parts: Potentiometers and

IMU. The potentiometer, acting as a type of linear feedback sensor, is used to measure

the rotation angle of the motors and send the corresponding analog value to the MCU

via specific interface. The design of potentiometer interfaces is shown in Figure 3.11.

(a) First version of the potentiometerinterface design.

(b) Second version of the potentiometerinterface design.

Figure 3.11: Two versions of the potentiometer interface design.

The IMU is installed on the center of torso. It is used to measure and report the

acceleration and angular velocity in separate three-axis via accelerometer and gyro-

scope, and further distinguish the position and orientation of the robot. Furthermore,

the information of altitude angles is sent to MCU through USART interface. The

design of IMU interfaces is illustrated in Figure 3.12.

(a) First version of the IMU interfacedesign.



(b) Second version of the IMU interfacedesign.

Figure 3.12: Two versions of the IMU interface design.

42

3.4 PCB Design

3.4.1 Overview

The printed circuit board [54] helps to connect the electronics components with pads,

tracks and lines incorporated on a laminated copper sheet. The PCB process converts

the electronic circuit schematic diagram into a physical circuit board layout, which

is widely used in the advanced electronics and automatic control systems. There are

mainly three types of PCBs: Single-sided, double-sided and multi-layer PCB, depend-

ing on the number of layers used in the boards as well as the practical requirements.

PCB is composed of different layers that are joined together with the help of heat and

adhesive. The layer structure with thickness descriptions of the designed double-sided

PCB is illustrated in Figure 3.13.

Silkscreen

Solder mask

0.4mmSignal

1.4mm

Substrate

12.6mm



Figure 3.13: Layer structure of the designed double-sided PCB.

• Substrate layer

The substrate layer is composed of fiber glass. In our design, a composite material

“FR4” [55], instead of the phenolic resin, is adopted to build a solid substrate, which

provides good insulation and rigidity to the PCB.

43

• Signal (Copper) layer

The signal layer includes top and bottom layers, which is primarily used for placement

of components (top and bottom) and routing. The wires or other objects placed on

the surface are in the areas covered with copper foil. For double-sided PCB, there

are two copper layers, which is applied to both sides of the substrate.

• Solder mask layer

Solder mask contains top and bottom solders, which is most commonly in green. It

is overlaid onto the copper layer to insulate the traces from accidental contact with

other conductive components. Apart from this, solder mask is also able to prevent

copper traces from corrosion, oxidation and dirt.

• Silkscreen layer

Silkscreen is a layer of ink traces that is often applied on top of the solder mask

layer. Its main responsibility is to draw letters and identify components, or other

text information for easier assembly as well as indicators for better understanding

the board.

• Mechanical layer

The mechanical layer defines the appearance of the entire PCB board. It is generally

used to set the board’s physical dimensions, data markings, assembly instructions,

and other mechanical information.

The circuit schematic diagram and PCB layer structures are all designed in Altium

Designer. The process flow of PCB design is shown in Figure 3.14.

44

SCH/PCB

Component libraryStart Create schematic

SCH compile &

Footprint checking

Create PCB

dimensions

Create PCB

layer structure

Join SCH netlist

with PCB

Route tracesDesign rules for

routing

Place componentsDesign rules for

parts placement

Rule

check

Rule

check

Design rules for

copper poursCopper pours

Rule

check

Design rules for

DRC checking

Design rules for

DRC checking

Rule

check

Manufacturing Finish

fail

fail

fail

fail

pass

pass

pass

pass

Powered by TCPDF (www.tcpdf.org) Powered by TCPDF (www.tcpdf.org)Powered by TCPDF (www.tcpdf.org)

Figure 3.14: Process flow of the PCB design.

45

3.4.2 Power Distribution

In the first version, the MCU is powered by 3.3V and is placed in the center of PCB.

To actuate the motor drive, gate driver ICs are driven by the 5V regulated power.

The 24V power tracks are routed on the edge of the printed circuit board for actuating

12 DC motors. The original design of the power distribution is shown in Figure 3.15.

(a) 3.3V for MCU v1.

(b) 5V for motor drive v1.

(c) 24V for motor v1.

Figure 3.15: First version of the power distribution design.

46

In the second version, to mitigate heat dissipation, the physical heat sinks are

assembled for each L298N motor drive. Meanwhile, bypass capacitors are utilized

to stabilize the output of voltage regulators. Eventually, the redesigned board works

perfectly by testing based on more rational components placement and traces routing,

as shown in Figure 3.16.

(a) 3.3V for MCU v2. (b) 5V for motor drive v2.

(c) 24V for motor v2.

Figure 3.16: Second version of the power distribution design.

47

To decrease the parasitic capacitance [56], arising from an electrical coupling be-

tween two signal lines or a signal line and the substrate, all the power tracks are

distributed symmetrically, and the spacing of each net track is increased properly.

The PCB information of two versions design is listed in Table 3.4.

Table 3.4: Comparison of two version of printed circuit board.

Index

Version 1st 2nd

Dimensions (L×W;cm) 33.0×9.5 17.7×17.3

Component count 551 314

Pad count 1611 869

Track count 8305 4504

Via count 570 220

Net count 396 182

Feasibility N/A X

3.5 Conclusions

This chapter details the embedded system hardware design of the quadruped robot,

with highlights on the discussion of components selection, circuit schematic design and

two versions of PCB. The onboard components are firstly selected based on practical

requirements and marketing research. By specifying the overall embedded hardware

architecture, the circuit diagrams of each functional module are introduced. Next,

the layer structures and process flow of the designed board are illustrated. Finally,

the comparison of two versions of PCB in terms of power distribution and onboard

specifications is presented.

48

Chapter 4

Joint Motion System Design and

Tests

4.1 Introduction

This chapter presents the experimental studies that have been conducted during the

development process of the robot joint motion system. These studies are centered on

the hardware testing, software design and joint motion experiments in Section 4.2,

4.3 and 4.4, respectively. Since the hip joints are not yet fully operational, mechanical

structural problems and solutions are given in Section 4.5.

In the first study, the potentiometers and motors are tested and used to setup

the system experimental platform. In the second study, the moving average filter

based cascaded PID control strategy is designed, aiming to control the motor position

and speed, meanwhile, smooth out the random noise in the process of sensor data

acquisition. Finally, the designed control algorithm is implemented on two types

of joints and the corresponding control performance is tested. The experimental

platform of the quadruped robot is shown in Figure 4.1.

49

Figure 4.1: Experimental platform of the quadruped robot.

4.2 Hardware Tests

In addition to the designed embedded system, as mentioned in Chapter 3, the po-

tentiometers and motors are essential devices that are further tested and selected to

constitute the robot experimental platform.

4.2.1 Potentiometer Selection

1

2

3

Ω , Ω ,

Ω ,



(a) (b)

Figure 4.2: Potentiometer schematic representation.

50

• Modeling

The rotational potentiometer is used to measure the angular position of the motor

and further transmit the corresponding analog value to the microcontroller. As shown

in Figure 4.2, terminal 1 and 3 are connected to a resistor element and terminal 2 is

connected to an adjustable wiper. Commonly, we have

Ω1,3 = Ω1,2 + Ω2,3. (4.1)

where Ω1,3, Ω1,2 and Ω2,3 are the resistance between terminal 1 and 3, terminal 1

and 2 and terminal 2 and 3, respectively. More importantly, Ω2,3 should satisfy the

resistance taper [57] as follows:

Ω2,3 = kiθ. (4.2)

where k, i, θ denote the taper gradient, the number of potentiometer and the knob

position, respectively.

• Selection criteria

To select the proper potentiometers, the resistance taper must be linear and satisfies

Equation (4.2). Meanwhile, ki is computed and expected to be approximately equal

to the nominal gradient kn with linearity tolerance of 0.25% [58]. That is, the taper

gradient ki should satisfy

ki > 0, (4.3)

ki ∈ [99.75%kn, 100.25%kn]. (4.4)

• Test procedure

The resistance taper of the potentiometer is tested as follows. Firstly, we measure

the maximum resistance Ω1,3 by putting the probes of ohmmeter on the terminal 1

51

and 3. Next, we measure the resistance Ω2,3 by taking one of the probes (terminal 3)

off and put it on the wiper (terminal 2). Then, we slowly rotate the knob all the way

from one end to the other and record the value of Ω2,3 every time the knob rotates

360. The value should slowly and continually increase with no sudden jumps.

• Test results

The typical results of comparative tests including one control group and three test

groups are shown in Table 4.1. It is evident that Groups 1 and 3 fail the test as k1, k3 /∈

[2.770, 2.784], which is the selective interval computed by the nominal gradient kn =

2.777. Finally, the potentiometer in Group 2 can be selected.

Table 4.1: Taper measurement of the tested potentiometerts.

Group 1 2 3 Reference

θ() Ω2,3 (Ω)

0 0.5 0.6 0 0

360 988 1001 0 1000

720 1982 1999 0 2000

1080 2986 2998 0 3000

1440 3975 3998 0 4000

1800 4970 5001 0 5000

2160 5960 6001 0 6000

2520 6960 7000 0 7000

2880 7950 8001 0 8000

3240 8940 9001 0 9000

3600 9930 10001 0 10000

ki(Ω/) 2.760 2.778 0 2.777

52

4.2.2 Motor Selection

Considering the limitation of resolution and bounded measurement range of the poten-

tiometer, an estimation method is used to select the motors with similar performance.

That is, we aim to test the rotational speed for each motor under the same condition

by setting the PWM duty cycle at 100% and transmitting the measured data via the

same motor interface. The test procedure is shown as follows:

• Step 1: Set starting position

We first set the motor starting position, where is close but not strictly equal to the

maximum rotation angle (3600) of the potentiometer, such that the first sampled

data is located in the measurement range with linear taper. Meanwhile, we take 3

test groups for each motor with different starting positions.

• Step 2: Compute rotational speed for each test group

For each test group, the valid data is extracted by discarding the first sampled element.

The rotational speed of the j th (j =1, 2, 3) test group for the ith (i=1, 2,...18) motor,

denoted by Vij, is calculated by the rotation angle per second.

• Step 3: Compute average rotational speed for each motor

Based on the previous step, the average rotation speed of the ith motor, denoted by

Vi, is computed as

Vi =1

j

3∑j=1

Vij (4.5)

• Step 4: Select the motors

We further compute Vi for all the motors and select 12 of those that feature the

similar rotational speed, which help reduce the development time. The test results of

the computed rotational speed for 18 motors are listed in Table 4.2.

53

Table 4.2: Test and selection results of 18 motors.

Motor No. 1 2 3 4 5 6 7 8 9

Vi(/s) 615.8 675.5 412.4 512.8 692.8 667.1 649.6 628.2 656.5

Selection X X X X X

Motor No. 10 11 12 13 14 15 16 17 18

Vi(/s) 645.8 629.6 705.7 614.0 654.5 636.2 588.9 634.6 673.0

Selection X X X X X X X

4.3 Software Design

4.3.1 Firmware Configuration

Firmware is programmed to provide permanent instructions to communicate with

other devices and perform basic input/output tasks. It is a packaged program that

resides in the microcontroller. To provide a standardized operating environment for

the software, the firmware is configured in advance.

In our design, the firmware is configured in STM32CubeMX, which is a graphical

configuration and low level code generation tool for STM32 ARM Cortex-M microcon-

troller. We first select the peripherals to be used by assigning pins to their inputs and

outputs. Meanwhile, independent GPIOs are also configured. Next, the system clock

is inspected and configured. The “Clock Configuration” tab provides a schematic

overview of the clock path, along with the clock sources. After all the embedded

software components have been configured and validated, we finally generate the ini-

tialization code in C. This code can be used in various development environments,

i.e., Keil MDK, GCC, IAR, etc. The pinout and clock configuration are illustrated

in Figure 4.3 and 4.4, respectively.

54

Figure 4.3: Pin configuration of the microcontroller.

Figure 4.4: Clock configuration of the microcontroller.

55

4.3.2 Software Development

The software is written in C language and runs in Keil MDK. The flowchart of the ex-

perimental code is illustrated in Figure 4.5 and the basic descriptions of the functional

blocks are provided below.

Initialization

Compute position error 𝜃𝜃𝑒𝑒|𝜃𝜃𝑒𝑒| > 3° Stop rotating

Generate reference

velocity 𝑉𝑉𝑟𝑟𝑉𝑉𝑟𝑟 > 0

Rotate counter

clockwise

Motor PWM control

Joint manipulation

No

No

Yes

Yes

Position

Feedback

Start

EndPowered by TCPDF (www.tcpdf.org)


Figure 4.5: Experimental software flowchart.

• Step 1: Initialization

The initial values of the variables used by the software are loaded into registers for fast

execution. Moreover, the components, such as pinout, timers, and A/D converters

are configured for subsequent control tasks.

56

• Step 2: Compute position error

Given the desired position θr, the analog value of the actual position is measured by

the potentiometer and sent to the A/D converter while further converted into the

actual position θa. The position error θe is calculated as

θe = θr − θa. (4.6)

• Step 3: Generate reference velocity

The position error θe is then compared with a preset dead zone, specified as 3. If

θe < 3, the motor would brake and stop rotating. Otherwise, the reference velocity

Vr is generated by the position controller.

• Step 4: Motor PWM control

The reference velocity serves as the input of the velocity controller to output the

corresponding PWM signal, which controls the motor speed and therefore, the angular

position θa.

• Step 5: Joint manipulation

The robot joints are manipulated by the mounted motors. Meanwhile, the program

completes one execution cycle and returns to Step 2.

4.3.3 MAF Algorithm Design

The potentiometer rotates at the same angular velocity along with the corresponding

motor and outputs the analog signal, which is proportional to the rotation angle.

During the experiment, however, measurement errors are existed, therefore, we first

test the taper of the potentiometers to eliminate the systematic error coming from

the sensors.

57

Meanwhile, due to relatively low resolution and random noise of the sensors, a

moving average filter (MAF) [59] is designed to smooth the array of the sampled

data. The filtered digital signal is then converted into the actual joint position θa.

The designed MAF algorithm is shown below.

Algorithm 1: The moving average filtering algorithm

Define: Window[ ] : An array to store sampled dataget adc(): A function to get sensor value from the A/D converter

Input: sum: The summation of all the sampled data in one sampling periodcount : A count variable to be reset after one sampling periodN : The number of sampled data in the average

Output: filter val1. sum← 02. count← 03. N← 134. if count < N then

Window[count]← get adc()sum← sum + Window[count]count← count + 1else

count← 0filter val← (sum/N)

end

end5. Return: filter val

4.3.4 Cascaded PID Controller Design

Twelve DC motors are expected to manipulate the joints and thus control the loco-

motion of the quadruped robot. Hence, a closed-loop joint motion control system is

designed using proportional-integral-derivative (PID) strategy. Figure 4.6 illustrates

the block diagram of the joint motion system.

In this cascaded control system, the position error θe is first determined between

the desired position θr and actual positions θa. Passing through the position con-

troller, the reference velocity Vr is then issued as an input to the cascaded velocity

58

Desired

position

Controllers

+

-

+

+

Measured

position

Sensor

Noise

Filtering

𝐾𝐾𝑝𝑝𝐾𝐾𝑖𝑖 𝐾𝐾𝑃𝑃′ DC

motor

Robot

joint

Actuator

PotentiometerMAF

Sensor processing

Plant

PWM

𝑉𝑉𝑟𝑟𝜃𝜃𝑒𝑒𝜃𝜃𝑟𝑟𝜃𝜃𝑎𝑎

Rotation

angle



Figure 4.6: Control block diagram of the closed-loop joint motion system.

controller. Scaling by the proportional gain K′p , the PWM signal is generated to

further control the motor speed Va and the motor position θa. In practice, the motor

cannot precisely brake and stop at the ideal end position. Therefore, a dead-zone is

also set and the motor is expected to stop within a small interval around the target

position. In the experiment, the parameters of the controllers and specifications of

the joint motion system are listed in Table 4.3.

Table 4.3: Parameter settings of the joint motion control system.

Index Value

Position controller Kp = 0.1, Ki = 0.3, Kd = 0

Velocity controller K′p = 0.56, K

′i = K

′

d = 0

Sampling frequency (MHZ) 8

Control frequency (kHZ) 3.7

Motor dead zone () 3

59

4.4 Joint Motion Experiments

4.4.1 Knee Joint Test

For convenience, the robot is firstly turned over, as illustrated in Figure 4.7. We aim

to manipulate the knee joint into rotating from the actual position θa = 1980 to

the desired position θr = 1780. Meanwhile, the angular velocity is required to be

decreasing when approaching to the destination. Moreover, the performance of the

joints motion in filtered and unfiltered case is tested and the results are shown in

Figure 4.8.

(a) (b)

Figure 4.7: Knee joint rotates from position (a) to (b) in handstand status.

1750

1800

1850

1900

1950

2000

0 1 2 3 4 5 6 7 8 9 10 11 12

Join

t posi

tion

(°)

Time (sec)

Filtered Unfiltered



Figure 4.8: Comparison of filtered and unfiltered joint control.

60

Originally, the objective cannot be achieved when applying the designed control

strategy without filtering. As a matter of fact, the motor rotates back and forth

around the target position. In addition, the fluctuation range is measured around

26.4, which is greatly larger than the preset dead-zone, as shown by the red curve.

However, after adding the designed MAF and tuning the controller parameters, the

joint vibration issue is finally addressed, and all the motor can brake and stop within

the preset dead-zone, as illustrated by the blue curve. Thus, the angular position of

the knee joint can be controlled.

Next, we recover the robot in standing posture with four legs hanging in the air,

and repeat the same test on the knee joint, as pictured in Figure 4.9 (a). The results

show that the knee joint can stop at the desired position in Figure 4.9 (b) and verify

the feasibility of the proposed joint motion control algorithm.

(a) (b)

Figure 4.9: Knee joint rotates from position (a) to (b) in “standing” status.

4.4.2 Hip Joint Test

The test of hip joint is not exactly the same as knee joint because of the different

mechanical structure and degrees of freedom. Two motors are coupled to be controlled

simultaneously, and to complete the motion with cooperation, which increases the

complexity of parameter tuning.

61

In handstand status, the hip joint can somehow reach the set position only if the

leg rotates in vertical plane ideally. However, it fails in most cases. The screws used

to set the joint mechanical structure become loose when the motor is rotating, and

consequently, the torque cannot be transmitted from the motor to the hip joint. In

“standing” status, test also fails due to the same reasons. Therefore, the mechanism

of the hip joint needs to be further revised or redesigned.

4.5 Structural Problems and Solutions in Mechan-

ical Design

During the experiment, the mechanical structure of the hip joint is found unreli-

able and has negative influence on the motion performance. Moreover, solutions are

required to eliminate the problems of loose screws.

• Motor and brass shaft

A screw assembled to fix the motor shaft and brass shaft will loose when rotating. As

a result, the torque cannot be transmitted from the motor to the brass shaft. Instead

of screw fixation, the keyed joint structure [60] is preferable, which can effectively

protect the motor shaft, and meanwhile extend its service life.

• Bevel gear and pulley

Similarly, the screws used to fix bevel gear 1 and pulley 2 on the shaft sleeve are always

loose, which leads to asynchronous rotation between these two components. To solve

this, a keyway is firstly machined on the shaft sleeve and a proper standard key is

then selected. The keyed joint restricts the relative rotational movement between the

shaft and rotation element, and guarantees torque transmission. The same structural

solution is applicable to the bevel gear 2 and pulley 3, as illustrated in Figure 4.10.

62

Rotation element

Key

Keyway

Shaft sleeve



Figure 4.10: Keyed joint connection between bevel gear and shaft sleeve.

4.6 Conclusions

Software and hardware are indispensable parts to set up the experiment platform.

In our design, the hardware including motors and sensors is firstly tested and picked

out for the experiment. In addition, firmware is configured in STM32CubeMX and

software is then developed specifically for motor control.

Next, a closed-loop joint motion control system is presented. The cascaded PID

control law is designed and is implemented to control the position and velocity of the

motors. To reduce random noise, the MAF is also designed for sensor processing.

In addition, the joint motion experiments are conducted. The results show that

the knee joint is able to rotate at different speed and finally stop at the desired

position. Meanwhile, feasibility of the designed joint motion control algorithm is

verified.

63

Chapter 5

Conclusions and Future Work

5.1 Conclusions

In this thesis, the embedded system design and joint motion control of a quadruped

robot have been presented.

The overall structures and specifications of the quadruped robot have been intro-

duced in Chapter 2. By analyzing the joint structures, the motion mechanism of

the robot legs and two walking patterns have been illustrated. Moreover, the detailed

development procedures of this project have been discussed.

The embedded system hardware design of the quadruped robot has been presented

in Chapter 3. According to the functional requirements and marketing research, the

onboard components of the embedded system have been selected. By illustrating the

hardware architecture, the circuit schematic diagrams for all functional modules have

been introduced. The PCB information and comparison of two versions design have

been provided.

The MAF-based cascaded PID control strategy for dealing with the robot joint

motion system has been proposed in Chapter 4. With the combination of hardware

64

testing, firmware configuration, and software development, the robot experimental

platform has been setup. To control the motor position and velocity, cascaded PID

controllers have been designed and implemented on two types of joints. In addition,

the moving average filter has been added to reduce the noise and obtain reliable

sampled data. Finally, the experimental tests have been conducted to verify the

effectiveness of the proposed control algorithm.

5.2 Future Work

The results of this work open a variety of interesting areas and the quadruped robot

can be further developed from the following aspects.

• Improvement of the robot leg structure

The existing leg structure can be redesigned to effectively transmit the actuator torque

to the operational joints. Two DOFs of the hip joint can be designed separately to

decrease the difficulty of assembly and control strategy implementation. Moreover,

an additional passive ankle joint is considered for rough terrain mobility, as shown in

Figure 5.1.

Hip pitch

Hip yaw

Ankle pitch (passive)

Knee pitch

yaw

rollpitch



Figure 5.1: Leg structure with three active joints and one passive joint [61].

65

• Selection of actuator and sensor

The actuators and sensors can be more appropriately selected. The motor with high

reduction ratio can be utilized not only to enlarge the output torque, but also to

reduce the moment of inertia for quick motion and response. To increase environment

perception of the robot, different types of sensors can be used to complete certain

tasks.

• Hierarchical network communication

Similar to the PCB structure, the robotic control consists of different layers, which

contain either singular or multiple parallel processes. By using hybrid control [62], the

robot behavior can be governed. Typically, the structure of hybrid control includes

low level, mid level, and high level.

To further control the robot locomotion, we should develop the hierarchical struc-

ture of the robot, and embed it in the practical control system. The online vision-

based system can be applied to conduct image processing using FPGA. Based on

the feedback data, local maps and walking patterns are generated by the high-level

controller. Additionally, the torque and position commands will be sent to the motor

for further control on the joint motion and robot locomotion.

66

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