Files
Last update 3 years 6 months
by
SHARVARI BHOSALE
| Files | |
|---|---|
| DR_RCU-cache.lib | |
| DR_RCU.kicad_pcb | |
| DR_RCU.pro | |
| DR_RCU.sch | |
| DR_RCU.sch-bak | |
| README.md |
DR_RCU.sch-bakEESchema 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 J2 U 1 1 6087A31F P 7300 3250 F 0 "J2" H 7328 3344 50 0000 L CNN F 1 "STM32_Right(uUSB)" H 7328 3253 50 0000 L CNN F 2 "Connector_PinSocket_2.54mm:PinSocket_1x20_P2.54mm_Vertical" H 7300 3250 50 0001 C CNN F 3 "~" H 7300 3250 50 0001 C CNN 1 7300 3250 -1 0 0 -1 $EndComp $Comp L Connector:Conn_01x20_Female J3 U 1 1 6087B125 P 6300 3250 F 0 "J3" H 6328 3226 50 0000 L CNN F 1 "STM32_Left(uUSB)" H 6328 3135 50 0000 L CNN F 2 "Connector_PinSocket_2.54mm:PinSocket_1x20_P2.54mm_Vertical" H 6300 3250 50 0001 C CNN F 3 "~" H 6300 3250 50 0001 C CNN 1 6300 3250 1 0 0 -1 $EndComp $Comp L Connector_Generic:Conn_02x20_Odd_Even J1 U 1 1 6088A442 P 1750 6000 F 0 "J1" H 1800 7117 50 0000 C CNN F 1 "Rpi" H 1800 7026 50 0000 C CNN F 2 "Connector_PinHeader_2.54mm:PinHeader_2x20_P2.54mm_Vertical" H 1750 6000 50 0001 C CNN F 3 "~" H 1750 6000 50 0001 C CNN 1 1750 6000 1 0 0 -1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA1 U 1 1 60892298 P 1350 1050 F 0 "XA1" V 1289 920 50 0000 R CNN F 1 "7.2Vi/p" V 1198 920 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1350 1050 50 0001 L BNN F 3 "" H 1350 1050 50 0001 L BNN F 4 "JST" H 1350 1050 50 0001 L BNN "MANUFACTURER" 1 1350 1050 0 -1 -1 0 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA2 U 1 1 608947AA P 900 1900 F 0 "XA2" H 1036 1770 50 0000 R CNN F 1 "7.2V(killSW)" H 866 1770 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 900 1900 50 0001 L BNN F 3 "" H 900 1900 50 0001 L BNN F 4 "JST" H 900 1900 50 0001 L BNN "MANUFACTURER" 1 900 1900 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA3 U 1 1 60895D5F P 900 2350 F 0 "XA3" H 1036 2220 50 0000 R CNN F 1 "7.2V(5V)" H 866 2220 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 900 2350 50 0001 L BNN F 3 "" H 900 2350 50 0001 L BNN F 4 "JST" H 900 2350 50 0001 L BNN "MANUFACTURER" 1 900 2350 -1 0 0 1 $EndComp Wire Wire Line 1300 1350 1300 1850 Wire Wire Line 1300 1850 1200 1850 Wire Wire Line 1200 1950 1300 1950 Wire Wire Line 1300 1950 1300 2300 Wire Wire Line 1300 2300 1200 2300 $Comp L power:GND #PWR04 U 1 1 60896727 P 1400 1350 F 0 "#PWR04" H 1400 1100 50 0001 C CNN F 1 "GND" H 1405 1177 50 0000 C CNN F 2 "" H 1400 1350 50 0001 C CNN F 3 "" H 1400 1350 50 0001 C CNN 1 1400 1350 1 0 0 -1 $EndComp $Comp L power:GND #PWR03 U 1 1 6089736E P 1200 2400 F 0 "#PWR03" H 1200 2150 50 0001 C CNN F 1 "GND" H 1205 2227 50 0000 C CNN F 2 "" H 1200 2400 50 0001 C CNN F 3 "" H 1200 2400 50 0001 C CNN 1 1200 2400 1 0 0 -1 $EndComp Text GLabel 1300 1350 0 50 Input ~ 0 7.2V(killSW_input) Text GLabel 1300 2150 2 50 Input ~ 0 7.2V $Comp L JSTVH2:B2P-VH(LF)(SN) XA4 U 1 1 60898CF0 P 2600 1050 F 0 "XA4" V 2539 920 50 0000 R CNN F 1 "12Vi/p" V 2448 920 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2600 1050 50 0001 L BNN F 3 "" H 2600 1050 50 0001 L BNN F 4 "JST" H 2600 1050 50 0001 L BNN "MANUFACTURER" 1 2600 1050 0 -1 -1 0 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA5 U 1 1 608994AD P 2000 1900 F 0 "XA5" H 2136 1770 50 0000 R CNN F 1 "12V(killSW)" H 1966 1770 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 1900 50 0001 L BNN F 3 "" H 2000 1900 50 0001 L BNN F 4 "JST" H 2000 1900 50 0001 L BNN "MANUFACTURER" 1 2000 1900 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA6 U 1 1 60899C47 P 2000 2350 F 0 "XA6" H 2136 2220 50 0000 R CNN F 1 "12V(MD1)" H 1966 2220 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 2350 50 0001 L BNN F 3 "" H 2000 2350 50 0001 L BNN F 4 "JST" H 2000 2350 50 0001 L BNN "MANUFACTURER" 1 2000 2350 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA7 U 1 1 6089AF5E P 2000 2800 F 0 "XA7" H 2136 2670 50 0000 R CNN F 1 "12V(MD2)" H 1966 2670 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 2800 50 0001 L BNN F 3 "" H 2000 2800 50 0001 L BNN F 4 "JST" H 2000 2800 50 0001 L BNN "MANUFACTURER" 1 2000 2800 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA8 U 1 1 6089AF65 P 2000 3250 F 0 "XA8" H 2136 3120 50 0000 R CNN F 1 "12V(MD3)" H 1966 3120 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 3250 50 0001 L BNN F 3 "" H 2000 3250 50 0001 L BNN F 4 "JST" H 2000 3250 50 0001 L BNN "MANUFACTURER" 1 2000 3250 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA9 U 1 1 6089BAEE P 2000 3700 F 0 "XA9" H 2136 3570 50 0000 R CNN F 1 "12V(MD4)" H 1966 3570 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 3700 50 0001 L BNN F 3 "" H 2000 3700 50 0001 L BNN F 4 "JST" H 2000 3700 50 0001 L BNN "MANUFACTURER" 1 2000 3700 -1 0 0 1 $EndComp $Comp L JSTVH2:B2P-VH(LF)(SN) XA10 U 1 1 6089BAF5 P 2000 4150 F 0 "XA10" H 2136 4020 50 0000 R CNN F 1 "12V(MD5)" H 1927 4020 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 2000 4150 50 0001 L BNN F 3 "" H 2000 4150 50 0001 L BNN F 4 "JST" H 2000 4150 50 0001 L BNN "MANUFACTURER" 1 2000 4150 -1 0 0 1 $EndComp Wire Wire Line 2550 1350 2550 1850 Wire Wire Line 2550 1850 2300 1850 Wire Wire Line 2300 1950 2550 1950 Wire Wire Line 2550 1950 2550 2300 Wire Wire Line 2550 2300 2300 2300 Wire Wire Line 2550 2300 2550 2750 Wire Wire Line 2550 2750 2300 2750 Connection ~ 2550 2300 Wire Wire Line 2550 2750 2550 3200 Wire Wire Line 2550 3200 2300 3200 Connection ~ 2550 2750 Wire Wire Line 2550 3200 2550 3650 Wire Wire Line 2550 3650 2300 3650 Connection ~ 2550 3200 Wire Wire Line 2550 3650 2550 4100 Wire Wire Line 2550 4100 2300 4100 Connection ~ 2550 3650 $Comp L power:GND #PWR07 U 1 1 6089DC38 P 2300 2400 F 0 "#PWR07" H 2300 2150 50 0001 C CNN F 1 "GND" H 2305 2227 50 0000 C CNN F 2 "" H 2300 2400 50 0001 C CNN F 3 "" H 2300 2400 50 0001 C CNN 1 2300 2400 1 0 0 -1 $EndComp $Comp L power:GND #PWR08 U 1 1 6089E49C P 2300 2850 F 0 "#PWR08" H 2300 2600 50 0001 C CNN F 1 "GND" H 2305 2677 50 0000 C CNN F 2 "" H 2300 2850 50 0001 C CNN F 3 "" H 2300 2850 50 0001 C CNN 1 2300 2850 1 0 0 -1 $EndComp $Comp L power:GND #PWR09 U 1 1 6089E8C4 P 2300 3300 F 0 "#PWR09" H 2300 3050 50 0001 C CNN F 1 "GND" H 2305 3127 50 0000 C CNN F 2 "" H 2300 3300 50 0001 C CNN F 3 "" H 2300 3300 50 0001 C CNN 1 2300 3300 1 0 0 -1 $EndComp $Comp L power:GND #PWR010 U 1 1 6089EFF5 P 2300 3750 F 0 "#PWR010" H 2300 3500 50 0001 C CNN F 1 "GND" H 2305 3577 50 0000 C CNN F 2 "" H 2300 3750 50 0001 C CNN F 3 "" H 2300 3750 50 0001 C CNN 1 2300 3750 1 0 0 -1 $EndComp $Comp L power:GND #PWR011 U 1 1 6089F818 P 2300 4200 F 0 "#PWR011" H 2300 3950 50 0001 C CNN F 1 "GND" H 2305 4027 50 0000 C CNN F 2 "" H 2300 4200 50 0001 C CNN F 3 "" H 2300 4200 50 0001 C CNN 1 2300 4200 1 0 0 -1 $EndComp $Comp L power:GND #PWR012 U 1 1 608A00FF P 2650 1350 F 0 "#PWR012" H 2650 1100 50 0001 C CNN F 1 "GND" H 2655 1177 50 0000 C CNN F 2 "" H 2650 1350 50 0001 C CNN F 3 "" H 2650 1350 50 0001 C CNN 1 2650 1350 1 0 0 -1 $EndComp Text GLabel 2550 1350 0 50 Input ~ 0 12V(killSW_input) Text GLabel 2550 2150 2 50 Input ~ 0 12V $Comp L JSTVH2:B2P-VH(LF)(SN) XA11 U 1 1 608A1E60 P 1100 3100 F 0 "XA11" V 1039 2970 50 0000 R CNN F 1 "5Vi/p" V 948 2970 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1100 3100 50 0001 L BNN F 3 "" H 1100 3100 50 0001 L BNN F 4 "JST" H 1100 3100 50 0001 L BNN "MANUFACTURER" 1 1100 3100 0 -1 -1 0 $EndComp $Comp L power:GND #PWR01 U 1 1 608A2368 P 1150 3400 F 0 "#PWR01" H 1150 3150 50 0001 C CNN F 1 "GND" H 1155 3227 50 0000 C CNN F 2 "" H 1150 3400 50 0001 C CNN F 3 "" H 1150 3400 50 0001 C CNN 1 1150 3400 1 0 0 -1 $EndComp Text GLabel 1050 3400 3 50 Input ~ 0 5V $Comp L JSTVH2:B2P-VH(LF)(SN) XA12 U 1 1 608A31E6 P 1100 4050 F 0 "XA12" V 1039 3920 50 0000 R CNN F 1 "3.3Vi/p" V 948 3920 50 0000 R CNN F 2 "Connector_JST:JST_VH_B2P-VH_1x02_P3.96mm_Vertical" H 1100 4050 50 0001 L BNN F 3 "" H 1100 4050 50 0001 L BNN F 4 "JST" H 1100 4050 50 0001 L BNN "MANUFACTURER" 1 1100 4050 0 -1 -1 0 $EndComp $Comp L power:GND #PWR02 U 1 1 608A31EC P 1150 4350 F 0 "#PWR02" H 1150 4100 50 0001 C CNN F 1 "GND" H 1155 4177 50 0000 C CNN F 2 "" H 1150 4350 50 0001 C CNN F 3 "" H 1150 4350 50 0001 C CNN 1 1150 4350 1 0 0 -1 $EndComp Text GLabel 1050 4350 3 50 Input ~ 0 3V3 $Comp L Connector:Conn_01x08_Female J5 U 1 1 608A39C7 P 3600 6400 F 0 "J5" H 3628 6376 50 0000 L CNN F 1 "A4988_Left(En)" H 3628 6285 50 0000 L CNN F 2 "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" H 3600 6400 50 0001 C CNN F 3 "~" H 3600 6400 50 0001 C CNN 1 3600 6400 1 0 0 -1 $EndComp $Comp L Connector:Conn_01x08_Female J4 U 1 1 608A4971 P 4400 6400 F 0 "J4" H 4428 6573 50 0000 L CNN F 1 "A4988_Right(12V)" H 4428 6482 50 0000 L CNN F 2 "Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical" H 4400 6400 50 0001 C CNN F 3 "~" H 4400 6400 50 0001 C CNN 1 4400 6400 -1 0 0 -1 $EndComp Text GLabel 3400 6100 0 50 Input ~ 0 EN Text GLabel 3400 6200 0 50 Input ~ 0 MS1 Text GLabel 3400 6300 0 50 Input ~ 0 MS2 Text GLabel 3400 6400 0 50 Input ~ 0 MS3 Text GLabel 3400 6500 0 50 Input ~ 0 RST Text GLabel 3400 6600 0 50 Input ~ 0 SLEEP Text GLabel 3400 6700 0 50 Input ~ 0 STEP Text GLabel 3400 6800 0 50 Input ~ 0 DIR $Comp L power:GND #PWR013 U 1 1 608AA35C P 3400 6900 F 0 "#PWR013" H 3400 6650 50 0001 C CNN F 1 "GND" H 3405 6727 50 0000 C CNN F 2 "" H 3400 6900 50 0001 C CNN F 3 "" H 3400 6900 50 0001 C CNN 1 3400 6900 1 0 0 -1 $EndComp Wire Wire Line 3400 6900 3400 6800 Text GLabel 4600 6100 2 50 Input ~ 0 12V $Comp L pspice:CAP C1 U 1 1 608AB952 P 4950 5850 F 0 "C1" V 5265 5850 50 0000 C CNN F 1 "CAP" V 5174 5850 50 0000 C CNN F 2 "Capacitor_THT:CP_Radial_D8.0mm_P5.00mm" H 4950 5850 50 0001 C CNN F 3 "~" H 4950 5850 50 0001 C CNN 1 4950 5850 0 -1 -1 0 $EndComp $Comp L JSTXH4:B4B-PH-K-S(LF)(SN) J6 U 1 1 608B03DA P 5350 6400 F 0 "J6" H 5480 6396 50 0000 L CNN F 1 "NEMA17(magzine)" H 5480 6305 50 0000 L CNN F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 5350 6400 50 0001 L BNN F 3 "" H 5350 6400 50 0001 L BNN F 4 "JST" H 5350 6400 50 0001 L BNN "MANUFACTURER" F 5 "Manufacturer Recommendations" H 5350 6400 50 0001 L BNN "STANDARD" 1 5350 6400 1 0 0 -1 $EndComp Wire Wire Line 4700 5850 4600 5850 Wire Wire Line 4600 5850 4600 6100 $Comp L power:GND #PWR017 U 1 1 608B3966 P 5200 6000 F 0 "#PWR017" H 5200 5750 50 0001 C CNN F 1 "GND" H 5205 5827 50 0000 C CNN F 2 "" H 5200 6000 50 0001 C CNN F 3 "" H 5200 6000 50 0001 C CNN 1 5200 6000 0 -1 -1 0 $EndComp Wire Wire Line 4600 6200 5200 6200 Wire Wire Line 5200 6200 5200 6000 Wire Wire Line 5200 5850 5200 6000 Connection ~ 5200 6000 Wire Wire Line 4600 6300 5050 6300 Wire Wire Line 4600 6400 5050 6400 Wire Wire Line 4600 6500 5050 6500 Wire Wire Line 4600 6600 5050 6600 $Comp L power:GND #PWR015 U 1 1 608B743D P 4600 6900 F 0 "#PWR015" H 4600 6650 50 0001 C CNN F 1 "GND" H 4605 6727 50 0000 C CNN F 2 "" H 4600 6900 50 0001 C CNN F 3 "" H 4600 6900 50 0001 C CNN 1 4600 6900 1 0 0 -1 $EndComp Text GLabel 4600 6700 2 50 Input ~ 0 5V Wire Wire Line 4600 6800 4600 6900 $Comp L power:GND #PWR05 U 1 1 608C2340 P 1550 5500 F 0 "#PWR05" H 1550 5250 50 0001 C CNN F 1 "GND" H 1555 5327 50 0000 C CNN F 2 "" H 1550 5500 50 0001 C CNN F 3 "" H 1550 5500 50 0001 C CNN 1 1550 5500 0 1 1 0 $EndComp $Comp L power:GND #PWR06 U 1 1 608C2E3A P 2050 5300 F 0 "#PWR06" H 2050 5050 50 0001 C CNN F 1 "GND" H 2055 5127 50 0000 C CNN F 2 "" H 2050 5300 50 0001 C CNN F 3 "" H 2050 5300 50 0001 C CNN 1 2050 5300 0 -1 -1 0 $EndComp Text GLabel 1550 6000 0 50 Input ~ 0 MOSI Text GLabel 1550 6100 0 50 Input ~ 0 MISO Text GLabel 1550 6200 0 50 Input ~ 0 SCK Text GLabel 2050 6200 2 50 Input ~ 0 SS Wire Wire Line 7500 2350 7550 2350 Wire Wire Line 7550 2350 7550 2400 Wire Wire Line 7550 2450 7500 2450 $Comp L power:GND #PWR023 U 1 1 608C67F2 P 7600 2400 F 0 "#PWR023" H 7600 2150 50 0001 C CNN F 1 "GND" V 7700 2350 50 0000 C CNN F 2 "" H 7600 2400 50 0001 C CNN F 3 "" H 7600 2400 50 0001 C CNN 1 7600 2400 0 -1 -1 0 $EndComp Text GLabel 7500 2550 2 50 Input ~ 0 3V3 Wire Wire Line 7600 2400 7550 2400 Connection ~ 7550 2400 Wire Wire Line 7550 2400 7550 2450 Text GLabel 6100 2350 0 50 Input ~ 0 SS Text GLabel 6100 2650 0 50 Input ~ 0 MOSI Text GLabel 6100 2550 0 50 Input ~ 0 MISO Text GLabel 6100 2450 0 50 Input ~ 0 SCK $Comp L JSTXH4:B4B-PH-K-S(LF)(SN) J7 U 1 1 608AB9C7 P 5100 2550 F 0 "J7" H 4993 2917 50 0000 C CNN F 1 "Encoder_3" H 4993 2826 50 0000 C CNN F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 5100 2550 50 0001 L BNN F 3 "" H 5100 2550 50 0001 L BNN F 4 "JST" H 5100 2550 50 0001 L BNN "MANUFACTURER" F 5 "Manufacturer Recommendations" H 5100 2550 50 0001 L BNN "STANDARD" 1 5100 2550 -1 0 0 -1 $EndComp $Comp L power:GND #PWR016 U 1 1 608B24F1 P 5050 3150 F 0 "#PWR016" H 5050 2900 50 0001 C CNN F 1 "GND" H 4950 3050 50 0000 C CNN F 2 "" H 5050 3150 50 0001 C CNN F 3 "" H 5050 3150 50 0001 C CNN 1 5050 3150 1 0 0 -1 $EndComp Text GLabel 5400 2450 2 50 Input ~ 0 5V $Comp L power:GND #PWR018 U 1 1 608B324E P 5400 2550 F 0 "#PWR018" H 5400 2300 50 0001 C CNN F 1 "GND" H 5400 2400 50 0000 C CNN F 2 "" H 5400 2550 50 0001 C CNN F 3 "" H 5400 2550 50 0001 C CNN 1 5400 2550 0 -1 -1 0 $EndComp Wire Wire Line 5400 2650 5800 2650 Wire Wire Line 5800 2650 5800 2750 Wire Wire Line 5800 2750 6100 2750 Wire Wire Line 5700 2750 5700 2850 Wire Wire Line 5700 2850 6100 2850 Wire Wire Line 5400 2750 5600 2750 $Comp L Device:R R2 U 1 1 608B564F P 5800 2100 F 0 "R2" H 5870 2146 50 0000 L CNN F 1 "1k" H 5870 2055 50 0000 L CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5730 2100 50 0001 C CNN F 3 "~" H 5800 2100 50 0001 C CNN 1 5800 2100 1 0 0 -1 $EndComp $Comp L Device:R R1 U 1 1 608B6D29 P 5600 2100 F 0 "R1" H 5450 2150 50 0000 L CNN F 1 "1k" H 5450 2050 50 0000 L CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 5530 2100 50 0001 C CNN F 3 "~" H 5600 2100 50 0001 C CNN 1 5600 2100 1 0 0 -1 $EndComp Wire Wire Line 5600 2250 5600 2750 Connection ~ 5600 2750 Wire Wire Line 5600 2750 5700 2750 Wire Wire Line 5800 2250 5800 2650 Connection ~ 5800 2650 Text GLabel 5600 1950 1 50 Input ~ 0 5V Text GLabel 5800 1950 1 50 Input ~ 0 5V Text Label 5800 2750 0 39 ~ 0 E3_A Text Label 5800 2850 0 39 ~ 0 E3_B $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J8 U 1 1 608AE3D6 P 4650 3050 F 0 "J8" H 4500 3400 50 0000 C CNN F 1 "Motor_3" H 4600 3300 50 0000 C CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 4650 3050 50 0001 L BNN F 3 "" H 4650 3050 50 0001 L BNN F 4 "" H 4650 3050 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 4650 3050 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 4650 3050 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 4650 3050 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 4650 3050 -1 0 0 -1 $EndComp Text Label 5050 2950 0 39 ~ 0 M3_DIR Text Label 5050 3050 0 39 ~ 0 M3_PWM $Comp L JSTXH2:XHP-2 P1 U 1 1 608C2794 P 5650 3200 F 0 "P1" H 5500 3250 50 0000 C CNN F 1 "Piston_1,2" H 5350 3150 50 0000 C CNN F 2 "Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical" H 5650 3200 50 0001 L BNN F 3 "" H 5650 3200 50 0001 L BNN F 4 "JST" H 5650 3200 50 0001 L BNN "MANUFACTURER" 1 5650 3200 1 0 0 -1 $EndComp Wire Wire Line 5050 2950 6100 2950 Wire Wire Line 5050 3050 6100 3050 Wire Wire Line 6100 3150 5950 3150 Wire Wire Line 6100 3250 5950 3250 Text Label 5950 3150 0 39 ~ 0 P_1 Text Label 5950 3250 0 39 ~ 0 P_2 $Comp L Connector:Conn_01x01_Male J9 U 1 1 608D3E9C P 5850 3350 F 0 "J9" H 5500 3350 50 0000 C CNN F 1 "S_Print" H 5700 3350 50 0000 C CNN F 2 "Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical" H 5850 3350 50 0001 C CNN F 3 "~" H 5850 3350 50 0001 C CNN 1 5850 3350 1 0 0 -1 $EndComp Wire Wire Line 6100 3350 6050 3350 $Comp L JSTXH4:B4B-PH-K-S(LF)(SN) J10 U 1 1 608D5F71 P 3950 3300 F 0 "J10" H 3843 3667 50 0000 C CNN F 1 "Encoder_4" H 3843 3576 50 0000 C CNN F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 3950 3300 50 0001 L BNN F 3 "" H 3950 3300 50 0001 L BNN F 4 "JST" H 3950 3300 50 0001 L BNN "MANUFACTURER" F 5 "Manufacturer Recommendations" H 3950 3300 50 0001 L BNN "STANDARD" 1 3950 3300 -1 0 0 -1 $EndComp $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J11 U 1 1 608D7270 P 5350 3750 F 0 "J11" H 5650 3850 50 0000 C CNN F 1 "Motor_4" H 5750 3750 50 0000 C CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 5350 3750 50 0001 L BNN F 3 "" H 5350 3750 50 0001 L BNN F 4 "" H 5350 3750 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 5350 3750 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 5350 3750 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 5350 3750 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 5350 3750 -1 0 0 -1 $EndComp $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J13 U 1 1 608D7CD3 P 5500 4650 F 0 "J13" H 5800 4550 50 0000 C CNN F 1 "Servo_1" H 5900 4650 50 0000 C CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 5500 4650 50 0001 L BNN F 3 "" H 5500 4650 50 0001 L BNN F 4 "" H 5500 4650 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 5500 4650 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 5500 4650 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 5500 4650 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 5500 4650 -1 0 0 1 $EndComp $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J12 U 1 1 608D871D P 5050 4200 F 0 "J12" H 5350 4300 50 0000 C CNN F 1 "Motor_5" H 5450 4200 50 0000 C CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 5050 4200 50 0001 L BNN F 3 "" H 5050 4200 50 0001 L BNN F 4 "" H 5050 4200 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 5050 4200 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 5050 4200 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 5050 4200 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 5050 4200 -1 0 0 -1 $EndComp Text GLabel 4250 3200 2 50 Input ~ 0 5V $Comp L power:GND #PWR014 U 1 1 608DEEC0 P 4250 3300 F 0 "#PWR014" H 4250 3050 50 0001 C CNN F 1 "GND" H 4250 3150 50 0000 C CNN F 2 "" H 4250 3300 50 0001 C CNN F 3 "" H 4250 3300 50 0001 C CNN 1 4250 3300 0 -1 -1 0 $EndComp $Comp L power:GND #PWR021 U 1 1 608E9B89 P 5750 3850 F 0 "#PWR021" H 5750 3600 50 0001 C CNN F 1 "GND" H 5650 3750 50 0000 C CNN F 2 "" H 5750 3850 50 0001 C CNN F 3 "" H 5750 3850 50 0001 C CNN 1 5750 3850 1 0 0 -1 $EndComp Wire Wire Line 6100 3650 5750 3650 Wire Wire Line 6100 3750 5750 3750 Wire Wire Line 6100 3550 5650 3550 Wire Wire Line 5650 3550 5650 3500 Wire Wire Line 4250 3500 4600 3500 $Comp L Device:R R3 U 1 1 608F541F P 4400 3700 F 0 "R3" H 4550 3750 50 0000 R CNN F 1 "1k" H 4550 3650 50 0000 R CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 4330 3700 50 0001 C CNN F 3 "~" H 4400 3700 50 0001 C CNN 1 4400 3700 -1 0 0 1 $EndComp $Comp L Device:R R4 U 1 1 608F5425 P 4600 3700 F 0 "R4" H 4450 3750 50 0000 L CNN F 1 "1k" H 4450 3650 50 0000 L CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 4530 3700 50 0001 C CNN F 3 "~" H 4600 3700 50 0001 C CNN 1 4600 3700 -1 0 0 1 $EndComp Text GLabel 4600 3850 3 50 Input ~ 0 5V Text GLabel 4400 3850 3 50 Input ~ 0 5V Wire Wire Line 4600 3550 4600 3500 Connection ~ 4600 3500 Wire Wire Line 4600 3500 5650 3500 Wire Wire Line 6100 3850 5850 3850 Wire Wire Line 5850 3850 5850 4200 Wire Wire Line 5850 4200 5450 4200 $Comp L power:GND #PWR020 U 1 1 608F9F5F P 5450 4300 F 0 "#PWR020" H 5450 4050 50 0001 C CNN F 1 "GND" V 5500 4150 50 0000 C CNN F 2 "" H 5450 4300 50 0001 C CNN F 3 "" H 5450 4300 50 0001 C CNN 1 5450 4300 0 -1 -1 0 $EndComp $Comp L power:GND #PWR019 U 1 1 608FB1DE P 5450 4100 F 0 "#PWR019" H 5450 3850 50 0001 C CNN F 1 "GND" V 5500 3950 50 0000 C CNN F 2 "" H 5450 4100 50 0001 C CNN F 3 "" H 5450 4100 50 0001 C CNN 1 5450 4100 0 -1 -1 0 $EndComp Wire Wire Line 6100 3950 5900 3950 Wire Wire Line 5900 3950 5900 4550 $Comp L power:GND #PWR022 U 1 1 608FF9C9 P 5900 4750 F 0 "#PWR022" H 5900 4500 50 0001 C CNN F 1 "GND" H 5905 4577 50 0000 C CNN F 2 "" H 5900 4750 50 0001 C CNN F 3 "" H 5900 4750 50 0001 C CNN 1 5900 4750 0 -1 -1 0 $EndComp Text GLabel 5900 4650 2 39 Input ~ 0 7.2V Wire Wire Line 5250 3400 5250 3450 Wire Wire Line 5250 3450 6100 3450 Wire Wire Line 4250 3400 4400 3400 Wire Wire Line 4400 3550 4400 3400 Connection ~ 4400 3400 Wire Wire Line 4400 3400 5250 3400 Text Label 4500 3400 0 39 ~ 0 E4_A Text Label 4500 3500 0 39 ~ 0 E4_B Text Label 5750 3650 0 39 ~ 0 M4_DIR Text Label 5750 3750 0 39 ~ 0 M4_PWM Text Label 5850 3850 0 39 ~ 0 M5_PWM Text Label 5900 3950 0 39 ~ 0 Servo_1 Text GLabel 7800 2150 0 39 Input ~ 0 5V Wire Wire Line 7500 2750 7800 2750 Wire Wire Line 7800 2750 7800 2250 $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J15 U 1 1 60911B3B P 8450 2600 F 0 "J15" H 8600 2250 50 0000 C CNN F 1 "Motor_2" H 8550 2350 50 0000 C CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 8450 2600 50 0001 L BNN F 3 "" H 8450 2600 50 0001 L BNN F 4 "" H 8450 2600 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 8450 2600 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 8450 2600 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 8450 2600 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 8450 2600 1 0 0 1 $EndComp $Comp L power:GND #PWR025 U 1 1 60919DC4 P 8050 2700 F 0 "#PWR025" H 8050 2450 50 0001 C CNN F 1 "GND" H 7950 2600 50 0000 C CNN F 2 "" H 8050 2700 50 0001 C CNN F 3 "" H 8050 2700 50 0001 C CNN 1 8050 2700 -1 0 0 -1 $EndComp Wire Wire Line 7500 2850 7850 2850 Wire Wire Line 7850 2850 7850 2500 Wire Wire Line 7850 2500 8050 2500 Wire Wire Line 7500 2950 7900 2950 Wire Wire Line 7900 2950 7900 2600 Wire Wire Line 7900 2600 8050 2600 Text Label 7500 2750 0 39 ~ 0 P_3 Text Label 7500 2850 0 39 ~ 0 M2_DIR Text Label 7500 2950 0 39 ~ 0 M2_PWM $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J14 U 1 1 60908572 P 8200 2150 F 0 "J14" H 8000 2500 50 0000 L CNN F 1 "Piston_3" H 8000 2400 50 0000 L CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 8200 2150 50 0001 L BNN F 3 "" H 8200 2150 50 0001 L BNN F 4 "" H 8200 2150 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 8200 2150 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 8200 2150 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 8200 2150 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 8200 2150 1 0 0 -1 $EndComp $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J16 U 1 1 6092A99F P 9200 2850 F 0 "J16" H 9250 3200 50 0000 L CNN F 1 "Servo_2" H 9100 3100 50 0000 L CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 9200 2850 50 0001 L BNN F 3 "" H 9200 2850 50 0001 L BNN F 4 "" H 9200 2850 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 9200 2850 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 9200 2850 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 9200 2850 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 9200 2850 1 0 0 -1 $EndComp $Comp L power:GND #PWR024 U 1 1 6090BC96 P 7800 2050 F 0 "#PWR024" H 7800 1800 50 0001 C CNN F 1 "GND" V 7805 1877 50 0000 C CNN F 2 "" H 7800 2050 50 0001 C CNN F 3 "" H 7800 2050 50 0001 C CNN 1 7800 2050 0 1 1 0 $EndComp Text GLabel 8800 2850 0 39 Input ~ 0 5V $Comp L power:GND #PWR028 U 1 1 6092ED94 P 8800 2750 F 0 "#PWR028" H 8800 2500 50 0001 C CNN F 1 "GND" V 8700 2700 50 0000 C CNN F 2 "" H 8800 2750 50 0001 C CNN F 3 "" H 8800 2750 50 0001 C CNN 1 8800 2750 0 1 1 0 $EndComp Wire Wire Line 7500 3050 8200 3050 Wire Wire Line 8200 3050 8200 2950 Wire Wire Line 8200 2950 8800 2950 Text Label 7500 3050 0 39 ~ 0 Servo_2 Text GLabel 7500 3350 2 39 Input ~ 0 STEP $Comp L JSTXH4:B4B-PH-K-S(LF)(SN) J17 U 1 1 60935989 P 10000 3050 F 0 "J17" H 9900 3400 50 0000 L CNN F 1 "Encoder_2" H 9900 3300 50 0000 L CNN F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 10000 3050 50 0001 L BNN F 3 "" H 10000 3050 50 0001 L BNN F 4 "JST" H 10000 3050 50 0001 L BNN "MANUFACTURER" F 5 "Manufacturer Recommendations" H 10000 3050 50 0001 L BNN "STANDARD" 1 10000 3050 1 0 0 -1 $EndComp Text GLabel 9700 2950 0 39 Input ~ 0 5V $Comp L power:GND #PWR030 U 1 1 60937BC8 P 9700 3050 F 0 "#PWR030" H 9700 2800 50 0001 C CNN F 1 "GND" V 9705 2877 50 0000 C CNN F 2 "" H 9700 3050 50 0001 C CNN F 3 "" H 9700 3050 50 0001 C CNN 1 9700 3050 0 1 -1 0 $EndComp Wire Wire Line 7500 3150 9600 3150 Wire Wire Line 9700 3250 7500 3250 $Comp L Device:R R5 U 1 1 6093CF75 P 9700 3550 F 0 "R5" H 9850 3600 50 0000 R CNN F 1 "1k" H 9850 3500 50 0000 R CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 9630 3550 50 0001 C CNN F 3 "~" H 9700 3550 50 0001 C CNN 1 9700 3550 -1 0 0 1 $EndComp $Comp L Device:R R6 U 1 1 6093CF7B P 9850 3550 F 0 "R6" H 9700 3600 50 0000 L CNN F 1 "1k" H 9700 3500 50 0000 L CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 9780 3550 50 0001 C CNN F 3 "~" H 9850 3550 50 0001 C CNN 1 9850 3550 -1 0 0 1 $EndComp Text GLabel 9850 3700 3 50 Input ~ 0 5V Text GLabel 9700 3700 3 50 Input ~ 0 5V Text Label 7500 3150 0 39 ~ 0 E2_A Text 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3 "" H 8050 3600 50 0001 C CNN 1 8050 3600 1 0 0 -1 $EndComp $Comp L JSTXH3:S3B-PH-K-S(LF)(SN) J19 U 1 1 6094B60D P 9300 3650 F 0 "J19" H 9350 4000 50 0000 L CNN F 1 "Servo_3" H 9200 3900 50 0000 L CNN F 2 "Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical" H 9300 3650 50 0001 L BNN F 3 "" H 9300 3650 50 0001 L BNN F 4 "" H 9300 3650 50 0001 L BNN "PARTREV" F 5 "JST Sales" H 9300 3650 50 0001 L BNN "MANUFACTURER" F 6 "Manufacturer Recommendations" H 9300 3650 50 0001 L BNN "STANDARD" F 7 "4.8mm" H 9300 3650 50 0001 L BNN "MAXIMUM_PACKAGE_HEIGHT" 1 9300 3650 1 0 0 -1 $EndComp Text GLabel 8900 3650 0 39 Input ~ 0 5V $Comp L power:GND #PWR029 U 1 1 6094B614 P 8900 3550 F 0 "#PWR029" H 8900 3300 50 0001 C CNN F 1 "GND" H 8900 3400 50 0000 C CNN F 2 "" H 8900 3550 50 0001 C CNN F 3 "" H 8900 3550 50 0001 C CNN 1 8900 3550 0 1 1 0 $EndComp Wire Wire Line 9850 3400 9850 3300 Wire Wire Line 9850 3300 9700 3300 Wire Wire Line 9700 3300 9700 3250 Connection ~ 9700 3250 Wire Wire Line 9600 3150 9600 3400 Wire Wire Line 9600 3400 9700 3400 Connection ~ 9600 3150 Wire Wire Line 9600 3150 9700 3150 Wire Wire Line 7500 3650 7950 3650 Wire Wire Line 7950 3650 7950 3750 Wire Wire Line 7950 3750 8900 3750 Text Label 7500 3650 0 39 ~ 0 Servo_3 $Comp L JSTXH4:B4B-PH-K-S(LF)(SN) J20 U 1 1 60965168 P 8350 4100 F 0 "J20" H 8550 3900 50 0000 C CNN F 1 "Encoder_1" H 8650 4000 50 0000 C CNN F 2 "Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical" H 8350 4100 50 0001 L BNN F 3 "" H 8350 4100 50 0001 L BNN F 4 "JST" H 8350 4100 50 0001 L BNN "MANUFACTURER" F 5 "Manufacturer Recommendations" H 8350 4100 50 0001 L BNN "STANDARD" 1 8350 4100 1 0 0 1 $EndComp Wire Wire Line 7500 3750 7750 3750 Wire Wire Line 7750 3750 7750 3900 Wire Wire Line 7750 3900 7800 3900 Wire Wire Line 7500 3850 7700 3850 Wire Wire Line 7700 3850 7700 4000 Wire Wire Line 7700 4000 8050 4000 Text GLabel 8050 4200 0 39 Input ~ 0 5V $Comp L power:GND #PWR027 U 1 1 60973E0D P 8050 4100 F 0 "#PWR027" H 8050 3850 50 0001 C CNN F 1 "GND" H 8050 3950 50 0000 C CNN F 2 "" H 8050 4100 50 0001 C CNN F 3 "" H 8050 4100 50 0001 C CNN 1 8050 4100 0 1 1 0 $EndComp $Comp L Device:R R7 U 1 1 60976523 P 7650 4350 F 0 "R7" H 7800 4400 50 0000 R CNN F 1 "1k" H 7800 4300 50 0000 R CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 7580 4350 50 0001 C CNN F 3 "~" H 7650 4350 50 0001 C CNN 1 7650 4350 -1 0 0 1 $EndComp $Comp L Device:R R8 U 1 1 60976529 P 7800 4350 F 0 "R8" H 7650 4400 50 0000 L CNN F 1 "1k" H 7650 4300 50 0000 L CNN F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 7730 4350 50 0001 C CNN F 3 "~" H 7800 4350 50 0001 C CNN 1 7800 4350 -1 0 0 1 $EndComp Text GLabel 7800 4500 3 50 Input ~ 0 5V Text GLabel 7650 4500 3 50 Input ~ 0 5V Wire Wire Line 7650 4200 7650 4000 Wire Wire Line 7650 4000 7700 4000 Connection ~ 7700 4000 Wire Wire Line 7800 4200 7800 3900 Connection ~ 7800 3900 Wire Wire Line 7800 3900 8050 3900 Text Label 7500 3750 0 39 ~ 0 E1_A Text Label 7500 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