1
1
2
2
3
3
4
4
5
5
6
6
F F
E E
D D
C C
B B
A A
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
U3A
K60DN512Z_144PIN
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
61 62
U3B
6364
6566
6768
6970
7172
7374
7576
7778
7980
8182
8384
8586
8788
8990
9192
U3C
9394
9596
9798
99100
101102
103104
105106
107108
109110
111112
113114
115116
117118
119120
121122
123124
U3D
PTC2 PTC3
PTC4PTC5
PTC6PTC7
PTC8PTC9
PTC10PTC11
PTC12PTC13
PTC14PTC15
PTC16PTC17
PTC18PTC19
PTC0 PTC1
PTB0 PTB1
PTB2 PTB3
PTB4 PTB5
PTB6 PTB7
PTB8 PTB9
PTB10 PTB11
PTB16 PTB17
PTB18 PTB19
PTB20 PTB21
PTB22 PTB23
PTA4
PTA5PTA6
PTA7PTA8
PTA9PTA10
PTA11PTA12
PTA13
PTA16
PTA17PTA19
PTD0PTD1
PTD2PTD3
PTD4PTD5
PTD6PTD7
PTD8PTD9
PTD10PTD11
PTD12 PTD13
PTD14 PTD15
PTE0 PTE1
PTE2 PTE3
PTE4 PTE5
PTE6 PTE7
PTE8 PTE9
PTE10 PTE11
PTE12
PTE24PTE25
PTE26PTE27
PTE28
VREGIN
PGA2_DM
PGA3_DM
PGA0_DM
PGA1_DM
ADC0_SE16
USB0_DM
PGA2_DP
PGA3_DP
PGA1_DP
PGA0_DP
ADC1_SE16
DAC0
DAC1
GND
GND
GND
GND
GND
PTA24 PTA25
PTA26 PTA27
PTA28 PTA29
GNDGND
Vin
7
EN
2
FREQ
6
GND
5
COMP
3
FB
4
SW
1
BST
8
MP1584
U2
MP1584
C1
100nF
L1
22uH
R2
210K
R3
40.2K
C4
150pF
R5
100K
GND
GND
5V
GND
GND
R4
100K
GND
R1
100K
POWER_IN
GND
GND
C2
10uF/35V
C3
2uF/25V
D1
SS34
GND
1
out
2
OUT
4
VIN
3
U5
ASM1117
5V
C5
22uf/25v C8
22uf/25v
GND
3.3V
C6
0.1uF
C7
0.1uF
PTD6
PTD5
1
2
3
4
5
GND
VCC
SCLK
MISO
RST
6
7
MOSI
CS
U4
OLED
GND
3.3V
PTA29
PTA28
PTA27
PTA26
PTA25
B1 BUTTEN
B2 BUTTEN
B3 BUTTEN
GND
R8
10K
R7
10K
R6
10K
3.3V
PTA7
PTA6
PTE28
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
SW1
拨码开关
GND
R15
10K
R14
10K
R13
10K
R12
10K
3.3V
PTE25
PTE24
PTE27
PTE26
PTE0
PTE1
VCC
1
GND
2
SCL
3
SDA
4
XDA
5
XCL
6
ADO
7
INT
8
MPU-6050
U6
MPU6050
GND
5V
GND
PTC10
PTC11
1
2
3
P3
舵机
PTB19
C9
0.1uF
GND
5V
USR_C215
OLED
光码盘
MPU6050
舵机
按键
拨码开关
电机PWM
GND
+
-
P5
IN
POWER_SW1
开关MTS-102
+
-
P6
MOTER
POWER_IN
GND
GND
OV7620摄像头
电源输入
1
2
3
4
P1
光码盘1
5V
PTA8
PTA9
GND
1
2
3
4
P2
光码盘2
5V
PTA12
GND
PTA13
1
2
3
P4
电机
GND
1
VCC
2
RELOAD
3
RESET
4
UART_RX
5
UART_TX
6
PWR_SW
7
WPS
8
READY
9
nLINK
10
U1
USR_C215
GND
3.3V
R11
4.7k
R16
4.7k
R17
4.7k
R18
4.7k
3.3V
LED3
LED
LED4
LED
LED5
LED
LED6
LED
PTD10
PTD13
PTD14
PTD15
PTE2
PTE3
PTC8
PTC9
AD引脚
GND
5V
5V
PTB0 PTB1
PTB2 PTB3
PTB4 PTB5
PTB6 PTB7
-
1
-
2
Y0
3
Y1
4
Y2
5
Y3
6
Y4
7
Y5
8
Y6
9
Y7
10
RST
11
VTO
12
H
13
FODD
14
VSY
15
PK
16
SDA
17
SCL
18
GND
19
5V
20
U7
ov7625
PTA5
PTC0
PTB8 PTB9
PTE6
ADC1_SE16
ADC0_SE16
1
2
3
4
5
6
P7
6pin
1
2
3
4
5
6
P8
6pin
1
2
3
4
5
6
P9
6pin
R19
1k
GND
3.3V
5V输出
3.3V输出
四路LED
5V 5V
核心板插座
工程名：
文件名：
图纸大小：
编号：
第 页 共 页
版本号：V1.0 绘制：王著
1450*1190
日期：
2017/11/23
1 1
1
k60driver.SchDoc
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PIB101 PIB102
COB1
PIB201 PIB202
COB2
PIB301 PIB302
COB3
PIC101
PIC102
COC1
PIC201
PIC202
COC2
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COC3
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PILED601 PILED602
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PIP103
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COP1
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