1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
D D
C C
B B
A A
VCC(12V)
electrolytic
220uF
C4
(25V)
VCC(5V)
POWER 5V & 12V
2K
R4
D1
470ohm
R5
D2
DRGND
D7 UF4004
D8 UF4004
0.22uF,35V
C16
tantalum,A
DRGND
10omhR21
10omhR14
10omhR13 10omhR22
Q3
IRF640N
Q4
IRF640N
Q6
IRF640N
Q5
IRF640N
VCC(12V)
4.7uF,25V
C11
tantalum,B
DRGND
VCC(5V)
1K
R1
VCC(5V)
AGND
1 2
Y1 4MHz
DGND
22pF
C2
22pF
C1
DGND
12
34
56
78
910
P1 USBASP
C9
0.1uf
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
PD0(RX)
PD1(TX)
PD2
PD3
PD4
PD5
PD6
PD7
PB1
PB2
PB3
PB4
PB5
PB0
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7
PB6
PB7
PB0 (XCK/T0)
40
PB1 (T1)
41
PB2 (AIN0/INT2)
42
PB3 (AIN1/OC0)
43
PB4 (SS)
44
PB5 (MOSI)
1
PB6 (MISO)
2
PB7 (SCK)
3
RESET
4
PD0 (RXD)
9
PD1 (TXD)
10
PD2 (INT0)
11
PD3 (INT1)
12
PD4 (OC1B)
13
PD5 (OC1A)
14
PD6 (ICP)
15
PD7 (OC2)
16
XTAL2
7
XTAL1
8
GND
6
PC0 (SCL)
19
PC1 (SDA)
20
PC2 (TCK)
21
PC3 (TMS)
22
PC4 (TDO)
23
PC5 (TDI)
24
PC6 (TOSC1)
25
PC7 (TOSC2)
26
AREF
29
AVCC
27
GND
28
PA7 (ADC7)
30
PA6 (ADC6)
31
PA5 (ADC5)
32
PA4 (ADC4)
33
PA3 (ADC3)
34
PA2 (ADC2)
35
PA1 (ADC1)
36
PA0 (ADC0)
37
VCC
5
VCC
17
GND
18
VCC
38
GND
39
U2
ATmega16-16AI
USBASP DOWNLOAD
RESET
XTAL2
XTAL1
AREF
MCU
BHO
BHS
BLO
BLS
VDD
VCC
ALS
ALO
AHS
AHO
BHB
BHI
DIS
VSS
BLI
ALI
AHI
HDEL
LDEL
AHB
VCC(12V)
VCC(12V)
AHO
AHS
ALO
ALS
BHO
BHS
BLO
BLS
M+ M-
VCC(12V)
VCC(48VINPUT)
PGND
470U
C5
100V
10momh
R3
constantan
PGND
ULTRASONIC
Amplification
200K
R15
200K
R16
VCC(5V)
BHB
1
BHI
2
DIS
3
Vss
4
BLI
5
ALI
6
AHI
7
HDEL
8
LDEL
9
AHB
10
AHO
11
AHS
12
ALO
13
ALS
14
Vcc
15
VDD
16
BLS
17
BLO
18
BHS
19
BHO
20
HIP4081A
U3
HIP4081A
OUT
1
GND
2
VIN+
3
VIN-
4
V+
5
INA169 U1
VCC(5V)
AGND
100K
R2
C10
0.1uf
1K R19
1K R20
S DA
S C L
A_CURRENT
2012-4-22(MOTOR CONTROLLER - CAN)
PD0(RX)
PD1(TX)
F1
PPTC resettable fuses(5A)
VCC(48V)
VCC(48V)
POWER 48V
D3
4.7K
R6
4K7
R17
D6
4K7
R18
D9
H-BRIDGE
DGND PGNDDRGND
104
0.1uF,100V
C8
ceramic
ceramic
104
C7
0.1uF,50V
104
0.1uF,100V
C12
thin-film
TVS4
SMB J100CA
TVS5
SMBJ100CA
HIP4081A
PGND
V3.2
DC+
1
DC-
2
FG
3
V2+(12)
4
V2-(12)
5
NC
6
V1+(5)
7
V1-(5)
8
POWER1
DC-DC POWER 48V-5V12V
VCC(48V)
electrolytic
220uF
C3
(25V)
ceramic
104
C6
0.1uF,50V
PGND
PGND
104
0.1uF,100V
C13
ceramic
104
0.1uF,100V
C14
ceramic
104
0.1uF,100V
C15
thin-film
A_CURRENTPA3
TVS2
SMB J12CA
TVS3
SMBJ5CA
TVS1
SMBJ54CA
SDA
SCLPB1
PB0
BHI
DIS
BLI
ALI
AHI
PB3
PD7
PC7
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
12
12
13
13
14
14
15
15
16
16
17
17
18
18
19
19
20
20
PORT-1
VCC(48VINPUT)
M+
M-
DGND
DGND
VCC(5V)
SDA
SCL
USART
PGND
VCC(5V)
D4 IN5824
D5 IN5824
D10
IN5824
D11 IN5824
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
COC14
PIC1501
PIC1502
COC15
PIC1601
PIC1602
COC16
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
PIF101 PIF102
COF1
PIP101PIP102
PIP103PIP104
PIP105PIP106
PIP107PIP108
PIP109
PIP1010
COP1
PIPORT0101
PIPORT0102
PIPORT0103
PIPORT0104
PIPORT0105
PIPORT0106 PIPORT0107
PIPORT0108
PIPORT0109
PIPORT01010
PIPORT01011
PIPORT01012
PIPORT01013
PIPORT01014 PIPORT01015
PIPORT01016 PIPORT01017
PIPORT01018
PIPORT01019 PIPORT01020
COPORT01
PIPOWER101
PIPOWER102
PIPOWER103
PIPOWER104
PIPOWER105
PIPOWER106
PIPOWER107
PIPOWER108
COPOWER1
PIQ301
PIQ302
PIQ303
COQ3
PIQ401
PIQ402
PIQ403
COQ4
PIQ501
PIQ502
PIQ503
COQ5
PIQ601
PIQ602
PIQ603
COQ6
PIR101
PIR102
COR1
PIR201
PIR202
COR2
PIR301PIR302
COR3
PIR401
PIR402
COR4
PIR501
PIR502
COR5
PIR601
PIR602
COR6
PIR1301 PIR1302
COR13
PIR1401 PIR1402
COR14
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801
PIR1802
COR18
PIR1901PIR1902
COR19
PIR2001PIR2002
COR20
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PITVS101
PITVS102
COTVS1
PITVS201
PITVS202
COTVS2
PITVS301
PITVS302
COTVS3
PITVS401
PITVS402
COTVS4
PITVS501
PITVS502
COTVS5
PIU101
PIU102
PIU103 PIU104
PIU105
COU1
PIU201
PIU202
PIU203
PIU204
PIU205
PIU206
PIU207
PIU208
PIU209
PIU2010
PIU2011
PIU2012
PIU2013
PIU2014
PIU2015
PIU2016
PIU2017
PIU2018
PIU2019
PIU2020
PIU2021
PIU2022
PIU2023
PIU2024
PIU2025
PIU2026
PIU2027
PIU2028
PIU2029
PIU2030
PIU2031
PIU2032
PIU2033
PIU2034
PIU2035
PIU2036
PIU2037
PIU2038
PIU2039
PIU2040
PIU2041
PIU2042
PIU2043
PIU2044
COU2
PIU301
PIU302
PIU303
PIU304
PIU305
PIU306
PIU307
PIU308
PIU309
PIU3010 PIU3011
PIU3012
PIU3013
PIU3014
PIU3015
PIU3016
PIU3017
PIU3018
PIU3019
PIU3020
COU3
PIY101 PIY102
COY1
PIR202
PIU101
PIU2034
NLA0CURRENT
NLPA3
PIC1402
PID802
PIU3010
NLAHB
PIU2016
PIU305
PIU307
NLAHI NLBLI
NLPD7
PID402
PIR1401
PIU3011
NLAHO
PIU2043
PIU302
PIU306
NLALINLBHI
NLPB3
PID502
PIR1301
PIU3013
NLALO
PIC901
PIU2029
NLAREF
PIC1302
PID702
PIU301
NLBHB
PID1002
PIR2102
PIU3020
NLBHO
PIC1301
PID901
PIPORT0105
PIQ502
PIQ603
PITVS501
PIU3019
NLBHS
NLM0
PID1102
PIR2202
PIU3018
NLBLO
PIU2026
PIU303
NLDIS
NLPC7
PIR1502
PIU308
NLHDEL
PIR1602
PIU309
NLLDEL
PIC1401
PID601
PIPORT0104
PIQ303
PIQ402
PITVS401
PIU3012
NLAHS
NLM0
PID102
PIR402
PID202
PIR502
PID302
PIR602
PID401
PIQ301
PIR1402
PID501
PIQ401
PIR1302
PID602
PIR1702
PID902
PIR1802
PID1001
PIQ601
PIR2101
PID1101
PIQ501
PIR2201
PIF101
PIR301
PIU104
PIPORT0103
PIPORT0106
PIPORT01011
PIPORT01012
PIPORT01013
PIPORT01014 PIPORT01015
PIPORT01016
PIPOWER103
PIPOWER106
PIU2037
NLPA0
PIU2036
NLPA1
PIU2035
NLPA2
PIU2033
NLPA4
PIU2032
NLPA5
PIU2031
NLPA6
PIU2030
NLPA7
PIPORT0108
PIR1901
PIU2040
NLPB0
NLSDA
PIPORT0109
PIR2001
PIU2041
NLPB1
NLSCL
PIU2042
NLPB2
PIU2044
NLPB4
PIP101
PIU201
NLPB5
PIP109
PIU202
NLPB6
PIP107
PIU203
NLPB7
PIU2019
NLPC0
PIU2020
NLPC1
PIU2021
NLPC2
PIU2022
NLPC3
PIU2023
NLPC4
PIU2024
NLPC5
PIU2025
NLPC6
PIPORT01018
PIU209
NLPD0(RX)
PIPORT01019
PIU2010
NLPD1(TX)
PIU2011
NLPD2
PIU2012
NLPD3
PIU2013
NLPD4
PIU2014
NLPD5
PIU2015
NLPD6
PIC101 PIC201
PIC302
PIC402
PIC502
PIC601
PIC701
PIC801
PIC902
PIC1002
PIC1102
PIC1202
PIC1502
PIC1602
PIP104
PIP106
PIP108
PIP1010
PIPORT0102
PIPORT01010
PIPORT01020
PIPOWER102
PIPOWER105
PIPOWER108
PIQ403
PIQ503
PIR201
PIR401
PIR501
PIR601
PIR1501
PIR1601
PIR1701
PIR1801
PITVS101
PITVS202
PITVS302
PITVS402 PITVS502
PIU102
PIU206
PIU2018
PIU2028
PIU2039
PIU304
PIU3014
PIU3017
NLAGND
NLALS
NLBLS
NLDGND
NLPGND
NLVSS
PIP103
PIP105
PIR101
PIU204
NLRESET
PIC301 PIC602
PIC1101
PIC1601
PID101
PID701
PID801
PIPOWER104
PITVS201
PIU3015
PIU3016
NLVCC
NLVDD
PIC401 PIC702
PIC1001
PID201
PIP102
PIPORT0107
PIPORT01017
PIPOWER107
PIR102
PIR1902
PIR2002
PITVS301
PIU105
PIU205
PIU2017
PIU2027
PIU2038
NLVCC(5V)
PIC501 PIC802
PIC1201
PIC1501
PID301PIF102
PIPOWER101
PIQ302
PIQ602
PIPORT0101
PIR302
PITVS102
PIU103
PIC202
PIU208
PIY102
NLXTAL1
PIC102
PIU207
PIY101
NLXTAL2
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