TR_RCU.bak
EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L Connector:Conn_01x20_Female JA1
U 1 1 6047C2A8
P 6800 4100
F 0 "JA1" H 6828 4076 50  0000 L CNN
F 1 "Conn_01x20_Female" H 6828 3985 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x20_P2.54mm_Vertical" H 6800 4100 50  0001 C CNN
F 3 "~" H 6800 4100 50  0001 C CNN
	1    6800 4100
	1    0    0    -1  
$EndComp
Text GLabel 5450 3300 2    50   Input ~ 0
5V
$Comp
L power:GND #PWR05
U 1 1 604DE3BA
P 5400 4200
F 0 "#PWR05" H 5400 3950 50  0001 C CNN
F 1 "GND" H 5405 4072 50  0000 R CNN
F 2 "" H 5400 4200 50  0001 C CNN
F 3 "" H 5400 4200 50  0001 C CNN
	1    5400 4200
	0    -1   -1   0   
$EndComp
Text GLabel 5300 4100 2    50   Input ~ 0
5V
Wire Wire Line
	6300 4400 6600 4400
Wire Wire Line
	6300 4500 6600 4500
Wire Wire Line
	6300 4600 6350 4600
Text GLabel 6400 4900 0    50   Input ~ 0
3V3
Wire Wire Line
	6400 4900 6600 4900
$Comp
L power:GND #PWR011
U 1 1 60507FE9
P 8250 3300
F 0 "#PWR011" H 8250 3050 50  0001 C CNN
F 1 "GND" H 8255 3172 50  0000 R CNN
F 2 "" H 8250 3300 50  0001 C CNN
F 3 "" H 8250 3300 50  0001 C CNN
	1    8250 3300
	0    1    1    0   
$EndComp
Wire Wire Line
	8250 3300 8300 3300
Text GLabel 8250 3400 0    50   Input ~ 0
5V
Wire Wire Line
	8250 3400 8300 3400
$Comp
L power:GND #PWR015
U 1 1 60552E69
P 10050 4600
F 0 "#PWR015" H 10050 4350 50  0001 C CNN
F 1 "GND" V 10055 4472 50  0000 R CNN
F 2 "" H 10050 4600 50  0001 C CNN
F 3 "" H 10050 4600 50  0001 C CNN
	1    10050 4600
	0    1    1    0   
$EndComp
Text GLabel 7950 4800 2    50   Input ~ 0
MOSI
Text GLabel 8200 4900 2    50   Input ~ 0
MISO
Text GLabel 7950 5000 2    50   Input ~ 0
SCK
Text GLabel 8200 5100 2    50   Input ~ 0
SS
Wire Wire Line
	6600 5000 6450 5000
Wire Wire Line
	6450 5000 6450 5050
Wire Wire Line
	6450 5100 6600 5100
$Comp
L power:GND #PWR07
U 1 1 60562BA1
P 6250 5050
F 0 "#PWR07" H 6250 4800 50  0001 C CNN
F 1 "GND" H 6255 4877 50  0000 C CNN
F 2 "" H 6250 5050 50  0001 C CNN
F 3 "" H 6250 5050 50  0001 C CNN
	1    6250 5050
	1    0    0    -1  
$EndComp
Wire Wire Line
	6250 5050 6450 5050
Connection ~ 6450 5050
Wire Wire Line
	6450 5050 6450 5100
$Comp
L TR_RCU-rescue:B4B-PH-K-S(LF)(SN)-JSTXH4 J4
U 1 1 60534725
P 5000 4200
F 0 "J4" H 4893 4567 50  0000 C CNN
F 1 "Encoder2" H 4893 4476 50  0000 C CNN
F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 5000 4200 50  0001 L BNN
F 3 "" H 5000 4200 50  0001 L BNN
F 4 "JST" H 5000 4200 50  0001 L BNN "MANUFACTURER"
F 5 "Manufacturer Recommendations" H 5000 4200 50  0001 L BNN "STANDARD"
	1    5000 4200
	-1   0    0    -1  
$EndComp
$Comp
L power:GND #PWR08
U 1 1 6055B0BC
P 6350 4600
F 0 "#PWR08" H 6350 4350 50  0001 C CNN
F 1 "GND" H 6355 4427 50  0000 R BNN
F 2 "" H 6350 4600 50  0001 C CNN
F 3 "" H 6350 4600 50  0001 C CNN
	1    6350 4600
	1    0    0    -1  
$EndComp
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J6
U 1 1 6055DA0A
P 10950 4150
F 0 "J6" H 10843 4517 50  0000 C CNN
F 1 "Relay" H 10843 4426 50  0000 C CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 10950 4150 50  0001 L BNN
F 3 "" H 10950 4150 50  0001 L BNN
F 4 "" H 10950 4150 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 10950 4150 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 10950 4150 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 10950 4150 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    10950 4150
	1    0    0    1   
$EndComp
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J5
U 1 1 605726EF
P 5900 4500
F 0 "J5" H 5793 4867 50  0000 C CNN
F 1 "Motor2" H 5793 4776 50  0000 C CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 5900 4500 50  0001 L BNN
F 3 "" H 5900 4500 50  0001 L BNN
F 4 "" H 5900 4500 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 5900 4500 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 5900 4500 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 5900 4500 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    5900 4500
	-1   0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x20_Female JB1
U 1 1 6047DAC1
P 7750 4200
F 0 "JB1" H 7642 2975 50  0000 L CNN
F 1 "Conn_01x20_Female" H 7642 3066 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x20_P2.54mm_Vertical" H 7750 4200 50  0001 C CNN
F 3 "~" H 7750 4200 50  0001 C CNN
	1    7750 4200
	-1   0    0    1   
$EndComp
$Comp
L power:GND #PWR010
U 1 1 605AA891
P 8000 3000
F 0 "#PWR010" H 8000 2750 50  0001 C CNN
F 1 "GND" V 8005 2872 50  0000 R CNN
F 2 "" H 8000 3000 50  0001 C CNN
F 3 "" H 8000 3000 50  0001 C CNN
	1    8000 3000
	0    -1   -1   0   
$EndComp
Wire Wire Line
	7950 3300 8000 3300
Wire Wire Line
	8000 3300 8000 3000
Wire Wire Line
	7950 3600 8200 3600
Wire Wire Line
	8200 3600 8200 3650
$Comp
L power:GND #PWR013
U 1 1 605F0C58
P 9100 3400
F 0 "#PWR013" H 9100 3150 50  0001 C CNN
F 1 "GND" H 9105 3272 50  0000 R CNN
F 2 "" H 9100 3400 50  0001 C CNN
F 3 "" H 9100 3400 50  0001 C CNN
	1    9100 3400
	0    1    1    0   
$EndComp
Text GLabel 9100 3500 0    50   Input ~ 0
5V
Wire Wire Line
	7950 3500 8300 3500
Wire Wire Line
	8200 3650 8950 3650
Wire Wire Line
	8950 3650 8950 3600
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J9
U 1 1 60618220
P 10350 3650
F 0 "J9" H 10580 3696 50  0000 L CNN
F 1 "Servo" H 10580 3605 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 10350 3650 50  0001 L BNN
F 3 "" H 10350 3650 50  0001 L BNN
F 4 "" H 10350 3650 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 10350 3650 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 10350 3650 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 10350 3650 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    10350 3650
	1    0    0    -1  
$EndComp
Wire Wire Line
	8800 3700 8800 3750
Wire Wire Line
	7950 3700 8800 3700
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J7
U 1 1 605AF4C2
P 8700 3400
F 0 "J7" H 8536 3761 50  0000 L CNN
F 1 "Servo_Picking_1" H 8536 3670 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 8700 3400 50  0001 L BNN
F 3 "" H 8700 3400 50  0001 L BNN
F 4 "" H 8700 3400 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 8700 3400 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 8700 3400 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 8700 3400 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    8700 3400
	1    0    0    -1  
$EndComp
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J8
U 1 1 605CDB44
P 9500 3500
F 0 "J8" H 9336 3861 50  0000 L CNN
F 1 "Servo_Picking_2" H 9336 3770 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 9500 3500 50  0001 L BNN
F 3 "" H 9500 3500 50  0001 L BNN
F 4 "" H 9500 3500 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 9500 3500 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 9500 3500 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 9500 3500 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    9500 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	8950 3600 9100 3600
$Comp
L power:GND #PWR016
U 1 1 60649062
P 9950 3550
F 0 "#PWR016" H 9950 3300 50  0001 C CNN
F 1 "GND" H 9955 3422 50  0000 R CNN
F 2 "" H 9950 3550 50  0001 C CNN
F 3 "" H 9950 3550 50  0001 C CNN
	1    9950 3550
	0    1    1    0   
$EndComp
Wire Wire Line
	8800 3750 9950 3750
$Comp
L power:GND #PWR014
U 1 1 60670919
P 9400 3900
F 0 "#PWR014" H 9400 3650 50  0001 C CNN
F 1 "GND" H 9405 3772 50  0000 R CNN
F 2 "" H 9400 3900 50  0001 C CNN
F 3 "" H 9400 3900 50  0001 C CNN
	1    9400 3900
	1    0    0    1   
$EndComp
Wire Wire Line
	6600 4300 6250 4300
Wire Wire Line
	6250 4300 6250 4250
Wire Wire Line
	7950 4600 8500 4600
Wire Wire Line
	8500 4600 8500 4650
Wire Wire Line
	8500 4650 8800 4650
Wire Wire Line
	7950 4700 9050 4700
Wire Wire Line
	7950 4900 8200 4900
Wire Wire Line
	7950 5100 8200 5100
Wire Wire Line
	6100 3800 6600 3800
Wire Wire Line
	6100 3900 6600 3900
$Comp
L power:GND #PWR06
U 1 1 604D6AA5
P 6100 4000
F 0 "#PWR06" H 6100 3750 50  0001 C CNN
F 1 "GND" H 6105 3827 50  0000 L BNN
F 2 "" H 6100 4000 50  0001 C CNN
F 3 "" H 6100 4000 50  0001 C CNN
	1    6100 4000
	1    0    0    -1  
$EndComp
Text GLabel 9900 1850 0    50   Input ~ 0
MOSI
Text GLabel 9650 1950 0    50   Input ~ 0
MISO
Text GLabel 9900 2050 0    50   Input ~ 0
SCK
Text GLabel 10500 2050 2    50   Input ~ 0
SS
$Comp
L Device:R R5
U 1 1 605EC118
P 8800 4950
F 0 "R5" H 8870 4996 50  0000 L CNN
F 1 "1k" H 8870 4905 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 8730 4950 50  0001 C CNN
F 3 "~" H 8800 4950 50  0001 C CNN
	1    8800 4950
	1    0    0    -1  
$EndComp
$Comp
L Device:R R6
U 1 1 605ED286
P 9050 4950
F 0 "R6" H 9120 4996 50  0000 L CNN
F 1 "1k" H 9120 4905 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 8980 4950 50  0001 C CNN
F 3 "~" H 9050 4950 50  0001 C CNN
	1    9050 4950
	1    0    0    -1  
$EndComp
$Comp
L Device:R R1
U 1 1 605F9514
P 5650 3050
F 0 "R1" H 5720 3096 50  0000 L CNN
F 1 "1k" H 5720 3005 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5580 3050 50  0001 C CNN
F 3 "~" H 5650 3050 50  0001 C CNN
	1    5650 3050
	1    0    0    -1  
$EndComp
$Comp
L Device:R R2
U 1 1 605F951A
P 5900 3050
F 0 "R2" H 5970 3096 50  0000 L CNN
F 1 "1k" H 5970 3005 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5830 3050 50  0001 C CNN
F 3 "~" H 5900 3050 50  0001 C CNN
	1    5900 3050
	1    0    0    -1  
$EndComp
$Comp
L Device:R R3
U 1 1 605FBCCC
P 5400 5150
F 0 "R3" H 5470 5196 50  0000 L CNN
F 1 "1k" H 5470 5105 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5330 5150 50  0001 C CNN
F 3 "~" H 5400 5150 50  0001 C CNN
	1    5400 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:R R4
U 1 1 605FBCD2
P 5650 5150
F 0 "R4" H 5720 5196 50  0000 L CNN
F 1 "1k" H 5720 5105 50  0000 L CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5580 5150 50  0001 C CNN
F 3 "~" H 5650 5150 50  0001 C CNN
	1    5650 5150
	1    0    0    -1  
$EndComp
Wire Wire Line
	8800 4800 8800 4650
Wire Wire Line
	9050 4800 9050 4700
Wire Wire Line
	5650 4200 6600 4200
Text GLabel 5400 5300 3    50   Input ~ 0
5V
Text GLabel 5650 5300 3    50   Input ~ 0
5V
Text GLabel 8800 5100 3    50   Input ~ 0
5V
Text GLabel 9050 5100 3    50   Input ~ 0
5V
Text GLabel 5650 2900 1    50   Input ~ 0
5V
Text GLabel 5900 2900 1    50   Input ~ 0
5V
$Comp
L Connector:Conn_01x01_Male J12
U 1 1 6053C1F3
P 8150 4100
F 0 "J12" H 8279 4173 50  0000 R CNN
F 1 "Serial_Print" H 8279 4261 50  0000 R CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x01_P2.54mm_Vertical" H 8150 4100 50  0001 C CNN
F 3 "~" H 8150 4100 50  0001 C CNN
	1    8150 4100
	-1   0    0    1   
$EndComp
$Comp
L Connector_Generic:Conn_02x20_Odd_Even J15
U 1 1 606F262C
P 10150 1850
F 0 "J15" H 10200 2967 50  0000 C CNN
F 1 "Conn_02x20_Odd_Even" H 10200 2876 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_2x20_P2.54mm_Vertical" H 10150 1850 50  0001 C CNN
F 3 "~" H 10150 1850 50  0001 C CNN
	1    10150 1850
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR01
U 1 1 60705882
P 9950 1350
F 0 "#PWR01" H 9950 1100 50  0001 C CNN
F 1 "GND" H 9955 1177 50  0000 C CNN
F 2 "" H 9950 1350 50  0001 C CNN
F 3 "" H 9950 1350 50  0001 C CNN
	1    9950 1350
	0    1    1    0   
$EndComp
Wire Wire Line
	9900 1850 9950 1850
Wire Wire Line
	9650 1950 9950 1950
Wire Wire Line
	9900 2050 9950 2050
Wire Wire Line
	10450 2050 10500 2050
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA2
U 1 1 6070824B
P 1900 3000
F 0 "XA2" H 1839 2870 50  0000 L CNN
F 1 "7.2Vi/p" H 1748 2870 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1900 3000 50  0001 L BNN
F 3 "" H 1900 3000 50  0001 L BNN
F 4 "JST" H 1900 3000 50  0001 L BNN "MANUFACTURER"
	1    1900 3000
	0    -1   -1   0   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA4
U 1 1 607107CD
P 4550 2050
F 0 "XA4" H 4489 1920 50  0000 L CNN
F 1 "3.3Vi/p" H 4398 1920 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 4550 2050 50  0001 L BNN
F 3 "" H 4550 2050 50  0001 L BNN
F 4 "JST" H 4550 2050 50  0001 L BNN "MANUFACTURER"
	1    4550 2050
	0    -1   -1   0   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA5
U 1 1 607142F6
P 2550 3150
F 0 "XA5" H 2489 3020 50  0000 L CNN
F 1 "12V(MD1)" H 2398 3020 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2550 3150 50  0001 L BNN
F 3 "" H 2550 3150 50  0001 L BNN
F 4 "JST" H 2550 3150 50  0001 L BNN "MANUFACTURER"
	1    2550 3150
	-1   0    0    1   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA6
U 1 1 60718335
P 2550 3650
F 0 "XA6" H 2489 3520 50  0000 L CNN
F 1 "12V(MD2)" H 2398 3520 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2550 3650 50  0001 L BNN
F 3 "" H 2550 3650 50  0001 L BNN
F 4 "JST" H 2550 3650 50  0001 L BNN "MANUFACTURER"
	1    2550 3650
	-1   0    0    1   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA1
U 1 1 60721311
P 3400 2050
F 0 "XA1" H 3339 1920 50  0000 L CNN
F 1 "12Vi/p" H 3248 1920 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 3400 2050 50  0001 L BNN
F 3 "" H 3400 2050 50  0001 L BNN
F 4 "JST" H 3400 2050 50  0001 L BNN "MANUFACTURER"
	1    3400 2050
	0    -1   -1   0   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA7
U 1 1 60723878
P 2550 4150
F 0 "XA7" H 2489 4020 50  0000 L CNN
F 1 "12V(MD3)" H 2398 4020 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2550 4150 50  0001 L BNN
F 3 "" H 2550 4150 50  0001 L BNN
F 4 "JST" H 2550 4150 50  0001 L BNN "MANUFACTURER"
	1    2550 4150
	-1   0    0    1   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA10
U 1 1 60725B54
P 1050 4250
F 0 "XA10" H 989 4120 50  0000 L CNN
F 1 "7.2V(5V)" H 898 4120 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1050 4250 50  0001 L BNN
F 3 "" H 1050 4250 50  0001 L BNN
F 4 "JST" H 1050 4250 50  0001 L BNN "MANUFACTURER"
	1    1050 4250
	-1   0    0    1   
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA3
U 1 1 6070BDEB
P 4000 2050
F 0 "XA3" H 3939 1920 50  0000 L CNN
F 1 "5Vi/p" H 3848 1920 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 4000 2050 50  0001 L BNN
F 3 "" H 4000 2050 50  0001 L BNN
F 4 "JST" H 4000 2050 50  0001 L BNN "MANUFACTURER"
	1    4000 2050
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR021
U 1 1 60780AF1
P 3450 2350
F 0 "#PWR021" H 3450 2100 50  0001 C CNN
F 1 "GND" H 3455 2177 50  0000 C CNN
F 2 "" H 3450 2350 50  0001 C CNN
F 3 "" H 3450 2350 50  0001 C CNN
	1    3450 2350
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR02
U 1 1 60783A75
P 2850 3200
F 0 "#PWR02" H 2850 2950 50  0001 C CNN
F 1 "GND" H 2855 3027 50  0000 C CNN
F 2 "" H 2850 3200 50  0001 C CNN
F 3 "" H 2850 3200 50  0001 C CNN
	1    2850 3200
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR09
U 1 1 60787A7B
P 2850 3700
F 0 "#PWR09" H 2850 3450 50  0001 C CNN
F 1 "GND" H 2855 3527 50  0000 C CNN
F 2 "" H 2850 3700 50  0001 C CNN
F 3 "" H 2850 3700 50  0001 C CNN
	1    2850 3700
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR017
U 1 1 6078BA8B
P 2850 4200
F 0 "#PWR017" H 2850 3950 50  0001 C CNN
F 1 "GND" H 2855 4027 50  0000 C CNN
F 2 "" H 2850 4200 50  0001 C CNN
F 3 "" H 2850 4200 50  0001 C CNN
	1    2850 4200
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR018
U 1 1 6078F12C
P 2850 4700
F 0 "#PWR018" H 2850 4450 50  0001 C CNN
F 1 "GND" H 2855 4527 50  0000 C CNN
F 2 "" H 2850 4700 50  0001 C CNN
F 3 "" H 2850 4700 50  0001 C CNN
	1    2850 4700
	1    0    0    -1  
$EndComp
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA8
U 1 1 6073737B
P 2550 4650
F 0 "XA8" H 2489 4520 50  0000 L CNN
F 1 "12V(NEMA23)" H 2398 4520 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2550 4650 50  0001 L BNN
F 3 "" H 2550 4650 50  0001 L BNN
F 4 "JST" H 2550 4650 50  0001 L BNN "MANUFACTURER"
	1    2550 4650
	-1   0    0    1   
$EndComp
$Comp
L power:GND #PWR024
U 1 1 607A0028
P 1950 3300
F 0 "#PWR024" H 1950 3050 50  0001 C CNN
F 1 "GND" H 1955 3127 50  0000 C CNN
F 2 "" H 1950 3300 50  0001 C CNN
F 3 "" H 1950 3300 50  0001 C CNN
	1    1950 3300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR023
U 1 1 607A212E
P 1350 4300
F 0 "#PWR023" H 1350 4050 50  0001 C CNN
F 1 "GND" H 1355 4127 50  0000 C CNN
F 2 "" H 1350 4300 50  0001 C CNN
F 3 "" H 1350 4300 50  0001 C CNN
	1    1350 4300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR025
U 1 1 607A8880
P 4050 2350
F 0 "#PWR025" H 4050 2100 50  0001 C CNN
F 1 "GND" H 4055 2177 50  0000 C CNN
F 2 "" H 4050 2350 50  0001 C CNN
F 3 "" H 4050 2350 50  0001 C CNN
	1    4050 2350
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR026
U 1 1 607B9C38
P 4600 2350
F 0 "#PWR026" H 4600 2100 50  0001 C CNN
F 1 "GND" H 4605 2177 50  0000 C CNN
F 2 "" H 4600 2350 50  0001 C CNN
F 3 "" H 4600 2350 50  0001 C CNN
	1    4600 2350
	1    0    0    -1  
$EndComp
Wire Wire Line
	3350 3100 2850 3100
Wire Wire Line
	3350 3100 3350 3600
Wire Wire Line
	3350 3600 2850 3600
Wire Wire Line
	3350 3600 3350 4100
Wire Wire Line
	3350 4100 2850 4100
Connection ~ 3350 3600
Wire Wire Line
	2850 4600 3350 4600
Wire Wire Line
	3350 4600 3350 4100
Connection ~ 3350 4100
Wire Wire Line
	1350 4200 1850 4200
Wire Wire Line
	4500 2650 4500 2350
$Comp
L Connector:Conn_01x08_Female J16
U 1 1 607F5DC1
P 4500 5450
F 0 "J16" H 4528 5426 50  0000 L CNN
F 1 "Conn_01x08_Female" H 4528 5335 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" H 4500 5450 50  0001 C CNN
F 3 "~" H 4500 5450 50  0001 C CNN
	1    4500 5450
	-1   0    0    -1  
$EndComp
$Comp
L Connector:Conn_01x08_Female J1
U 1 1 607F7A2A
P 3550 5550
F 0 "J1" H 3578 5526 50  0000 L CNN
F 1 "Conn_01x08_Female" H 3578 5435 50  0000 L CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" H 3550 5550 50  0001 C CNN
F 3 "~" H 3550 5550 50  0001 C CNN
	1    3550 5550
	1    0    0    -1  
$EndComp
Text GLabel 4700 5150 2    50   Input ~ 0
EN
Text GLabel 4700 5250 2    50   Input ~ 0
MS1
Text GLabel 4700 5350 2    50   Input ~ 0
MS2
Text GLabel 4700 5450 2    50   Input ~ 0
MS3
Text GLabel 4700 5550 2    50   Input ~ 0
RST
Text GLabel 4700 5650 2    50   Input ~ 0
SLEEP
Text GLabel 4700 5750 2    50   Input ~ 0
STEP
$Comp
L power:GND #PWR022
U 1 1 6080CFB1
P 4700 5850
F 0 "#PWR022" H 4700 5600 50  0001 C CNN
F 1 "GND" H 4705 5677 50  0000 C CNN
F 2 "" H 4700 5850 50  0001 C CNN
F 3 "" H 4700 5850 50  0001 C CNN
	1    4700 5850
	-1   0    0    -1  
$EndComp
$Comp
L power:GND #PWR020
U 1 1 6080DA58
P 3350 5950
F 0 "#PWR020" H 3350 5700 50  0001 C CNN
F 1 "GND" H 3355 5777 50  0000 C CNN
F 2 "" H 3350 5950 50  0001 C CNN
F 3 "" H 3350 5950 50  0001 C CNN
	1    3350 5950
	-1   0    0    -1  
$EndComp
Text GLabel 3350 5850 0    50   Input ~ 0
5V
Text GLabel 4500 2650 3    50   Input ~ 0
3V3
Text GLabel 3950 2350 3    50   Input ~ 0
5V
Wire Wire Line
	3350 5250 3350 4800
Connection ~ 3350 4600
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA9
U 1 1 6070AAC2
P 2550 2750
F 0 "XA9" H 2489 2620 50  0000 L CNN
F 1 "12V(KILL_SW)" H 2398 2620 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2550 2750 50  0001 L BNN
F 3 "" H 2550 2750 50  0001 L BNN
F 4 "JST" H 2550 2750 50  0001 L BNN "MANUFACTURER"
	1    2550 2750
	-1   0    0    1   
$EndComp
Wire Wire Line
	2850 2700 3350 2700
Wire Wire Line
	3350 2350 3350 2700
Wire Wire Line
	2850 2800 3350 2800
Wire Wire Line
	3350 2800 3350 3100
Connection ~ 3350 3100
$Comp
L TR_RCU-rescue:B2P-VH(LF)(SN)-JSTVH2 XA11
U 1 1 6071BA0D
P 1050 3850
F 0 "XA11" H 989 3720 50  0000 L CNN
F 1 "7.2V(KILL_SW)" H 898 3720 50  0000 R CNN
F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1050 3850 50  0001 L BNN
F 3 "" H 1050 3850 50  0001 L BNN
F 4 "JST" H 1050 3850 50  0001 L BNN "MANUFACTURER"
	1    1050 3850
	-1   0    0    1   
$EndComp
Wire Wire Line
	1350 3800 1850 3800
Wire Wire Line
	1850 3300 1850 3800
Wire Wire Line
	1350 3900 1850 3900
Wire Wire Line
	1850 3900 1850 4200
$Comp
L TR_RCU-rescue:B4B-PH-K-S(LF)(SN)-JSTXH4 J17
U 1 1 60731263
P 2750 5550
F 0 "J17" H 2643 5917 50  0000 C CNN
F 1 "B4B-PH-K-S(LF)(SN)" H 2643 5826 50  0000 C CNN
F 2 "Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical" H 2750 5550 50  0001 L BNN
F 3 "" H 2750 5550 50  0001 L BNN
F 4 "JST" H 2750 5550 50  0001 L BNN "MANUFACTURER"
F 5 "Manufacturer Recommendations" H 2750 5550 50  0001 L BNN "STANDARD"
	1    2750 5550
	-1   0    0    -1  
$EndComp
Wire Wire Line
	3050 5450 3350 5450
Wire Wire Line
	3050 5550 3350 5550
Wire Wire Line
	3050 5650 3350 5650
Wire Wire Line
	3050 5750 3350 5750
Text GLabel 1850 3300 0    50   Input ~ 0
7.2VInput_Kill
Text GLabel 3350 2500 0    50   Input ~ 0
12Vinput_Kill
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J10
U 1 1 6065419F
P 9900 4000
F 0 "J10" H 10130 4046 50  0000 L CNN
F 1 "Servo_Lock" H 10130 3955 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 9900 4000 50  0001 L BNN
F 3 "" H 9900 4000 50  0001 L BNN
F 4 "" H 9900 4000 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 9900 4000 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 9900 4000 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 9900 4000 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    9900 4000
	1    0    0    -1  
$EndComp
Wire Wire Line
	9400 3900 9500 3900
Wire Wire Line
	7950 3800 9050 3800
Wire Wire Line
	9050 3800 9050 4100
Wire Wire Line
	9050 4100 9500 4100
$Comp
L power:GND #PWR04
U 1 1 604CE328
P 5500 3400
F 0 "#PWR04" H 5500 3150 50  0001 C CNN
F 1 "GND" H 5505 3272 50  0000 L CNN
F 2 "" H 5500 3400 50  0001 C CNN
F 3 "" H 5500 3400 50  0001 C CNN
	1    5500 3400
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5300 4200 5400 4200
Wire Wire Line
	5300 4300 5650 4300
Wire Wire Line
	5650 4200 5650 4300
Connection ~ 5650 4300
Wire Wire Line
	5650 4300 5650 5000
Wire Wire Line
	5800 4250 5800 4400
Wire Wire Line
	5800 4400 5400 4400
Wire Wire Line
	5400 5000 5400 4400
Connection ~ 5400 4400
Wire Wire Line
	5400 4400 5300 4400
Wire Wire Line
	5800 4250 6250 4250
Wire Wire Line
	8800 4650 9800 4650
Wire Wire Line
	9800 4650 9800 4700
Connection ~ 8800 4650
Wire Wire Line
	9050 4700 9700 4700
Wire Wire Line
	9700 4700 9700 4800
Connection ~ 9050 4700
Wire Wire Line
	3100 5050 3250 5050
Wire Wire Line
	3250 5350 3350 5350
$Comp
L pspice:CAP C1
U 1 1 60804CFF
P 3750 4950
F 0 "C1" H 3928 4996 50  0000 L CNN
F 1 "De_CAP" H 3928 4905 50  0000 L CNN
F 2 "Capacitor_THT:CP_Radial_D8.0mm_P5.00mm" H 3750 4950 50  0001 C CNN
F 3 "~" H 3750 4950 50  0001 C CNN
	1    3750 4950
	1    0    0    -1  
$EndComp
Wire Wire Line
	3750 4700 3500 4700
Wire Wire Line
	3500 4700 3500 4800
Wire Wire Line
	3500 4800 3350 4800
Connection ~ 3350 4800
Wire Wire Line
	3350 4800 3350 4600
Wire Wire Line
	3750 5200 3250 5200
Wire Wire Line
	3250 5050 3250 5200
Connection ~ 3250 5200
Wire Wire Line
	3250 5200 3250 5350
Text GLabel 10200 4500 0    50   Input ~ 0
5V
Wire Wire Line
	10050 4600 10200 4600
Wire Wire Line
	9800 4700 10200 4700
Wire Wire Line
	9700 4800 10200 4800
$Comp
L TR_RCU-rescue:B4B-PH-K-S(LF)(SN)-JSTXH4 J14
U 1 1 606D65AF
P 10500 4600
F 0 "J14" H 10630 4596 50  0000 L CNN
F 1 "Encoder3" H 10630 4505 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 10500 4600 50  0001 L BNN
F 3 "" H 10500 4600 50  0001 L BNN
F 4 "JST" H 10500 4600 50  0001 L BNN "MANUFACTURER"
F 5 "Manufacturer Recommendations" H 10500 4600 50  0001 L BNN "STANDARD"
	1    10500 4600
	1    0    0    -1  
$EndComp
$Comp
L TR_RCU-rescue:B4B-PH-K-S(LF)(SN)-JSTXH4 J2
U 1 1 60504B9B
P 5100 3400
F 0 "J2" H 4993 3767 50  0000 C CNN
F 1 "Encoder1" H 4993 3676 50  0000 C CNN
F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 5100 3400 50  0001 L BNN
F 3 "" H 5100 3400 50  0001 L BNN
F 4 "JST" H 5100 3400 50  0001 L BNN "MANUFACTURER"
F 5 "Manufacturer Recommendations" H 5100 3400 50  0001 L BNN "STANDARD"
	1    5100 3400
	-1   0    0    -1  
$EndComp
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J3
U 1 1 605142E1
P 5700 3900
F 0 "J3" H 5593 4267 50  0000 C CNN
F 1 "Motor1" H 5593 4176 50  0000 C CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 5700 3900 50  0001 L BNN
F 3 "" H 5700 3900 50  0001 L BNN
F 4 "" H 5700 3900 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 5700 3900 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 5700 3900 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 5700 3900 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    5700 3900
	-1   0    0    -1  
$EndComp
Wire Wire Line
	5400 3300 5450 3300
Wire Wire Line
	5400 3400 5500 3400
Wire Wire Line
	6350 3600 6350 3700
Wire Wire Line
	6350 3700 6600 3700
Wire Wire Line
	6450 3500 6450 3600
Wire Wire Line
	6450 3600 6600 3600
Text Label 6100 3500 0    50   ~ 0
E1_ChannelA
Text Label 6200 3600 0    50   ~ 0
E1_ChannelB
Text Label 6400 3800 0    50   ~ 0
M1_DIR
Text Label 6400 3900 0    50   ~ 0
M1_PWM
Text Label 6350 4200 0    50   ~ 0
E2_ChannelA
Text Label 6450 4300 0    50   ~ 0
E2_ChannelB
Text Label 6450 4400 0    50   ~ 0
M2_DIR
Text Label 6400 4500 0    50   ~ 0
M2_PWM
Text Label 9400 4650 0    50   ~ 0
E3_ChannelA
Text Label 9750 4800 0    50   ~ 0
E3_ChannelB
Wire Wire Line
	5400 3600 5900 3600
Wire Wire Line
	5400 3500 5650 3500
Text GLabel 1850 4200 3    50   Input ~ 0
7.2V
$Comp
L power:GND #PWR012
U 1 1 60547464
P 9050 4300
F 0 "#PWR012" H 9050 4050 50  0001 C CNN
F 1 "GND" V 9055 4172 50  0000 R CNN
F 2 "" H 9050 4300 50  0001 C CNN
F 3 "" H 9050 4300 50  0001 C CNN
	1    9050 4300
	0    1    1    0   
$EndComp
$Comp
L TR_RCU-rescue:S3B-PH-K-S(LF)(SN)-JSTXH3 J13
U 1 1 606B7677
P 9450 4400
F 0 "J13" H 9680 4446 50  0000 L CNN
F 1 "Motor3" H 9680 4355 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 9450 4400 50  0001 L BNN
F 3 "" H 9450 4400 50  0001 L BNN
F 4 "" H 9450 4400 50  0001 L BNN "PARTREV"
F 5 "JST Sales" H 9450 4400 50  0001 L BNN "MANUFACTURER"
F 6 "Manufacturer Recommendations" H 9450 4400 50  0001 L BNN "STANDARD"
F 7 "4.8mm" H 9450 4400 50  0001 L BNN "MAXIMUM_PACKAGE_HEIGHT"
	1    9450 4400
	1    0    0    -1  
$EndComp
Wire Wire Line
	7950 4500 9050 4500
Wire Wire Line
	7950 4400 9050 4400
Text Label 8850 4500 0    50   ~ 0
M3_DIR
Text Label 8850 4400 0    50   ~ 0
M3_PWM
Text GLabel 9400 4000 0    50   Input ~ 0
7.2V
Wire Wire Line
	9400 4000 9500 4000
Text GLabel 9900 3650 0    50   Input ~ 0
7.2V
Wire Wire Line
	9900 3650 9950 3650
Text Label 9250 4100 0    50   ~ 0
Servo_Lock
Text Label 9800 3750 0    50   ~ 0
Servo_Rotation
Text Label 9050 3600 0    50   ~ 0
Servo_Picking_2
Text Label 8200 3500 0    50   ~ 0
Servo_Picking_1
Text Label 3350 2950 0    50   ~ 0
12V
Text GLabel 6000 4800 0    50   Input ~ 0
STEP
Wire Wire Line
	6600 4600 6450 4600
Wire Wire Line
	6450 4600 6450 4800
Wire Wire Line
	6450 4800 6000 4800
Text GLabel 10500 3950 0    50   Input ~ 0
5V
Wire Wire Line
	10500 3950 10550 3950
Wire Wire Line
	10550 3950 10550 4050
$Comp
L power:GND #PWR0101
U 1 1 60889F89
P 10500 4250
F 0 "#PWR0101" H 10500 4000 50  0001 C CNN
F 1 "GND" V 10505 4122 50  0000 R CNN
F 2 "" H 10500 4250 50  0001 C CNN
F 3 "" H 10500 4250 50  0001 C CNN
	1    10500 4250
	0    1    1    0   
$EndComp
Wire Wire Line
	10500 4250 10550 4250
Wire Wire Line
	8800 4300 8800 4150
Wire Wire Line
	8800 4150 9700 4150
Wire Wire Line
	9700 4150 9700 4250
Wire Wire Line
	9700 4250 10250 4250
Wire Wire Line
	10250 4250 10250 4150
Wire Wire Line
	10250 4150 10550 4150
Wire Wire Line
	5650 3200 5650 3500
Connection ~ 5650 3500
Wire Wire Line
	5650 3500 6450 3500
Wire Wire Line
	5900 3200 5900 3600
Connection ~ 5900 3600
Wire Wire Line
	5900 3600 6350 3600
$Comp
L power:GND #PWR0102
U 1 1 608C5192
P 3100 5050
F 0 "#PWR0102" H 3100 4800 50  0001 C CNN
F 1 "GND" V 3105 4922 50  0000 R CNN
F 2 "" H 3100 5050 50  0001 C CNN
F 3 "" H 3100 5050 50  0001 C CNN
	1    3100 5050
	0    1    1    0   
$EndComp
$Comp
L JSTXH4:B4B-PH-K-S(LF)(SN) J11
U 1 1 607C4FE4
P 8600 4000
F 0 "J11" H 8730 3996 50  0000 L CNN
F 1 "Step_nema23" H 8730 3905 50  0000 L CNN
F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 8600 4000 50  0001 L BNN
F 3 "" H 8600 4000 50  0001 L BNN
F 4 "JST" H 8600 4000 50  0001 L BNN "MANUFACTURER"
F 5 "Manufacturer Recommendations" H 8600 4000 50  0001 L BNN "STANDARD"
	1    8600 4000
	1    0    0    -1  
$EndComp
Wire Wire Line
	7950 4300 8800 4300
Wire Wire Line
	7950 3900 8300 3900
Wire Wire Line
	7950 4000 8300 4000
$Comp
L power:GND #PWR03
U 1 1 607DB8A1
P 8300 4100
F 0 "#PWR03" H 8300 3850 50  0001 C CNN
F 1 "GND" V 8305 3972 50  0000 R CNN
F 2 "" H 8300 4100 50  0001 C CNN
F 3 "" H 8300 4100 50  0001 C CNN
	1    8300 4100
	0    1    1    0   
$EndComp
Wire Wire Line
	8300 4200 8300 4100
Connection ~ 8300 4100
$EndSCHEMATC