EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 3
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L Device:D_Bridge_-AA+ D1
U 1 1 5F58E9CC
P 3300 1200
F 0 "D1" H 3500 1450 50  0000 L CNN
F 1 "BAS3007" H 3500 1350 50  0000 L CNN
F 2 "footprint:SOT-143" H 3300 1200 50  0001 C CNN
F 3 "~" H 3300 1200 50  0001 C CNN
	1    3300 1200
	1    0    0    -1  
$EndComp
Wire Wire Line
	3300 900  3300 800 
Wire Wire Line
	3300 1500 3300 1600
Wire Wire Line
	3300 1600 2700 1600
Wire Wire Line
	2700 800  3300 800 
Wire Wire Line
	3000 1200 2900 1200
Wire Wire Line
	3600 1200 3900 1200
Connection ~ 3900 1200
$Comp
L Device:C C1
U 1 1 5F595895
P 3900 1800
F 0 "C1" H 4015 1846 50  0000 L CNN
F 1 "104" H 4015 1755 50  0000 L CNN
F 2 "footprint:C_1005_v2" H 3938 1650 50  0001 C CNN
F 3 "~" H 3900 1800 50  0001 C CNN
	1    3900 1800
	1    0    0    -1  
$EndComp
Wire Wire Line
	3900 1650 3900 1200
Wire Wire Line
	3900 1950 3900 2400
Wire Wire Line
	3900 1000 3900 1200
$Comp
L power:+12V #PWR0101
U 1 1 5F59C2F8
P 3900 1000
F 0 "#PWR0101" H 3900 850 50  0001 C CNN
F 1 "+12V" H 3915 1173 50  0000 C CNN
F 2 "" H 3900 1000 50  0001 C CNN
F 3 "" H 3900 1000 50  0001 C CNN
	1    3900 1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	2900 2400 3900 2400
Wire Wire Line
	2900 1200 2900 2400
Connection ~ 3900 2400
Wire Wire Line
	3900 2400 3900 2600
$Comp
L power:GND #PWR0102
U 1 1 5F59D19C
P 3900 2600
F 0 "#PWR0102" H 3900 2350 50  0001 C CNN
F 1 "GND" H 3905 2427 50  0000 C CNN
F 2 "" H 3900 2600 50  0001 C CNN
F 3 "" H 3900 2600 50  0001 C CNN
	1    3900 2600
	1    0    0    -1  
$EndComp
Text GLabel 2700 800  0    50   Input ~ 0
RAIL+
Text GLabel 2700 1600 0    50   Input ~ 0
RAIL-
Wire Wire Line
	3600 4900 3600 4800
Wire Wire Line
	3600 6700 3600 6800
$Comp
L power:GND #PWR0103
U 1 1 5F5A0A39
P 3600 7450
F 0 "#PWR0103" H 3600 7200 50  0001 C CNN
F 1 "GND" H 3605 7277 50  0000 C CNN
F 2 "" H 3600 7450 50  0001 C CNN
F 3 "" H 3600 7450 50  0001 C CNN
	1    3600 7450
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR0104
U 1 1 5F5A0C97
P 3600 4700
F 0 "#PWR0104" H 3600 4550 50  0001 C CNN
F 1 "+5V" H 3615 4873 50  0000 C CNN
F 2 "" H 3600 4700 50  0001 C CNN
F 3 "" H 3600 4700 50  0001 C CNN
	1    3600 4700
	1    0    0    -1  
$EndComp
Text GLabel 5400 4450 2    50   Input ~ 0
BEMF
Text GLabel 5400 5650 2    50   Output ~ 0
FWD
Wire Wire Line
	7750 900  7550 900 
Wire Wire Line
	7550 900  7550 800 
$Comp
L power:+12V #PWR0105
U 1 1 5F5B095B
P 7550 800
F 0 "#PWR0105" H 7550 650 50  0001 C CNN
F 1 "+12V" H 7565 973 50  0000 C CNN
F 2 "" H 7550 800 50  0001 C CNN
F 3 "" H 7550 800 50  0001 C CNN
	1    7550 800 
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR0106
U 1 1 5F59C116
P 5300 1000
F 0 "#PWR0106" H 5300 850 50  0001 C CNN
F 1 "+5V" H 5315 1173 50  0000 C CNN
F 2 "" H 5300 1000 50  0001 C CNN
F 3 "" H 5300 1000 50  0001 C CNN
	1    5300 1000
	1    0    0    -1  
$EndComp
$Comp
L Device:C C3
U 1 1 5F5927FB
P 5300 1800
F 0 "C3" H 5415 1846 50  0000 L CNN
F 1 "226" H 5415 1755 50  0000 L CNN
F 2 "footprint:C_1608" H 5338 1650 50  0001 C CNN
F 3 "~" H 5300 1800 50  0001 C CNN
	1    5300 1800
	1    0    0    -1  
$EndComp
Wire Wire Line
	5300 1000 5300 1200
Wire Wire Line
	5100 1200 5300 1200
Connection ~ 5300 1200
$Comp
L 6pin-mosfet:DMG6601LVT Q1
U 1 1 5F5C0BB3
P 8250 2950
F 0 "Q1" H 8441 2996 50  0000 L CNN
F 1 "DMG6601LVT" H 8441 2905 50  0000 L CNN
F 2 "footprint:SOT-23-6" H 8441 2859 50  0001 L CIN
F 3 "http://www.diodes.com/_files/datasheets/DMG6601LVT.pdf" H 8440 2814 50  0001 L CNN
	1    8250 2950
	1    0    0    -1  
$EndComp
$Comp
L 6pin-mosfet:DMG6601LVT Q1
U 2 1 5F5C153A
P 8250 1400
F 0 "Q1" H 8441 1446 50  0000 L CNN
F 1 "DMG6601LVT" H 8441 1355 50  0000 L CNN
F 2 "footprint:SOT-23-6" H 8441 1309 50  0001 L CIN
F 3 "http://www.diodes.com/_files/datasheets/DMG6601LVT.pdf" H 8440 1264 50  0001 L CNN
	2    8250 1400
	1    0    0    -1  
$EndComp
$Comp
L Device:R R3
U 1 1 5F5C2663
P 7750 1150
F 0 "R3" H 7820 1196 50  0000 L CNN
F 1 "102" H 7820 1105 50  0000 L CNN
F 2 "footprint:R_1608_v2" V 7680 1150 50  0001 C CNN
F 3 "~" H 7750 1150 50  0001 C CNN
	1    7750 1150
	1    0    0    -1  
$EndComp
Wire Wire Line
	7750 1300 7750 1400
Wire Wire Line
	7750 1000 7750 900 
Wire Wire Line
	8350 900  8350 1200
Connection ~ 8350 900 
Wire Wire Line
	7750 1400 8050 1400
Wire Wire Line
	7750 900  8350 900 
Wire Wire Line
	7750 1400 7750 1750
Connection ~ 7750 1400
$Comp
L Device:R R5
U 1 1 5F5CE947
P 7750 2600
F 0 "R5" H 7820 2646 50  0000 L CNN
F 1 "331" H 7820 2555 50  0000 L CNN
F 2 "footprint:R_1608_v2" V 7680 2600 50  0001 C CNN
F 3 "~" H 7750 2600 50  0001 C CNN
	1    7750 2600
	1    0    0    -1  
$EndComp
$Comp
L Device:R R6
U 1 1 5F5CF1BB
P 10250 2600
F 0 "R6" H 10320 2646 50  0000 L CNN
F 1 "331" H 10320 2555 50  0000 L CNN
F 2 "footprint:R_1608_v2" V 10180 2600 50  0001 C CNN
F 3 "~" H 10250 2600 50  0001 C CNN
	1    10250 2600
	1    0    0    -1  
$EndComp
Wire Wire Line
	7200 1850 7200 1950
Wire Wire Line
	7200 1950 7450 1950
Wire Wire Line
	7200 1950 7200 2350
Connection ~ 7200 1950
Wire Wire Line
	8350 1600 8350 1950
Wire Wire Line
	7200 2750 7200 3250
Wire Wire Line
	7200 3250 8350 3250
Wire Wire Line
	8350 3250 8350 3150
Wire Wire Line
	7200 2450 7200 2350
Connection ~ 7200 2350
Wire Wire Line
	7200 1550 7200 1400
Wire Wire Line
	7200 1400 7000 1400
$Comp
L 6pin-mosfet:DMG6601LVT Q2
U 1 1 5F5E3AEF
P 9750 2950
F 0 "Q2" H 9941 2996 50  0000 L CNN
F 1 "DMG6601LVT" H 9941 2905 50  0000 L CNN
F 2 "footprint:SOT-23-6" H 9941 2859 50  0001 L CIN
F 3 "http://www.diodes.com/_files/datasheets/DMG6601LVT.pdf" H 9940 2814 50  0001 L CNN
	1    9750 2950
	-1   0    0    -1  
$EndComp
$Comp
L 6pin-mosfet:DMG6601LVT Q2
U 2 1 5F5E4612
P 9750 1400
F 0 "Q2" H 9941 1446 50  0000 L CNN
F 1 "DMG6601LVT" H 9941 1355 50  0000 L CNN
F 2 "footprint:SOT-23-6" H 9941 1309 50  0001 L CIN
F 3 "http://www.diodes.com/_files/datasheets/DMG6601LVT.pdf" H 9940 1264 50  0001 L CNN
	2    9750 1400
	-1   0    0    -1  
$EndComp
Wire Wire Line
	9650 2750 9650 1950
Wire Wire Line
	9650 3150 9650 3250
Wire Wire Line
	9650 3250 9000 3250
Connection ~ 8350 3250
Wire Wire Line
	9650 1200 9650 900 
$Comp
L Device:R R4
U 1 1 5F5F1F52
P 10250 1150
F 0 "R4" H 10320 1196 50  0000 L CNN
F 1 "102" H 10320 1105 50  0000 L CNN
F 2 "footprint:R_1608_v2" V 10180 1150 50  0001 C CNN
F 3 "~" H 10250 1150 50  0001 C CNN
	1    10250 1150
	1    0    0    -1  
$EndComp
Wire Wire Line
	9950 1400 10250 1400
Wire Wire Line
	10250 1400 10250 1300
Wire Wire Line
	10250 1000 10250 900 
Wire Wire Line
	10250 900  9650 900 
Connection ~ 9650 900 
Wire Wire Line
	9950 1950 9850 1950
Wire Wire Line
	9850 1950 9850 2350
Wire Wire Line
	7200 2350 9850 2350
Wire Wire Line
	10250 1750 10250 1400
Connection ~ 10250 1400
Text GLabel 10450 2950 2    50   Input ~ 0
FWD
Text GLabel 7000 2950 0    50   Input ~ 0
REV
Text GLabel 7000 1400 0    50   Input ~ 0
PWM
Wire Wire Line
	9000 3250 9000 3350
Connection ~ 9000 3250
Wire Wire Line
	9000 3250 8350 3250
$Comp
L power:GND #PWR0107
U 1 1 5F608733
P 9000 3350
F 0 "#PWR0107" H 9000 3100 50  0001 C CNN
F 1 "GND" H 9005 3177 50  0000 C CNN
F 2 "" H 9000 3350 50  0001 C CNN
F 3 "" H 9000 3350 50  0001 C CNN
	1    9000 3350
	1    0    0    -1  
$EndComp
Wire Wire Line
	8350 1950 8550 1950
Connection ~ 8350 1950
Wire Wire Line
	8350 1950 8350 2750
Wire Wire Line
	9650 1950 9450 1950
Connection ~ 9650 1950
Wire Wire Line
	9650 1950 9650 1600
Text GLabel 9450 1950 0    50   Output ~ 0
MOTOR-
Text GLabel 8550 1950 2    50   Output ~ 0
MOTOR+
Wire Wire Line
	8350 900  9650 900 
$Comp
L Connector_Generic:Conn_01x01 P21
U 1 1 5F6541E2
P 800 650
F 0 "P21" H 950 700 50  0000 C CNN
F 1 "PAD" H 950 600 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 650 50  0001 C CNN
F 3 "~" H 800 650 50  0001 C CNN
	1    800  650 
	-1   0    0    -1  
$EndComp
$Comp
L Device:C C7
U 1 1 5F6559B1
P 1250 3050
F 0 "C7" H 1365 3096 50  0000 L CNN
F 1 "182" H 1365 3005 50  0000 L CNN
F 2 "footprint:C_1005_v2" H 1288 2900 50  0001 C CNN
F 3 "~" H 1250 3050 50  0001 C CNN
	1    1250 3050
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P7
U 1 1 5F656352
P 800 4000
F 0 "P7" H 718 4217 50  0000 C CNN
F 1 "PAD" H 718 4126 50  0000 C CNN
F 2 "footprint:PAD_1.0x1.8_SMD" H 800 4000 50  0001 C CNN
F 3 "~" H 800 4000 50  0001 C CNN
	1    800  4000
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 2750 1250 2750
Wire Wire Line
	1250 2750 1250 2900
Wire Wire Line
	1250 2750 1450 2750
Connection ~ 1250 2750
Wire Wire Line
	1000 3350 1250 3350
Wire Wire Line
	1250 3200 1250 3350
Connection ~ 1250 3350
Wire Wire Line
	1250 3350 1450 3350
Wire Wire Line
	1000 1250 1200 1250
Text GLabel 1450 1250 2    50   Output ~ 0
RAIL+
Text GLabel 1450 1650 2    50   Output ~ 0
RAIL-
Text GLabel 1450 2750 2    50   Input ~ 0
MOTOR+
Text GLabel 1450 3350 2    50   Input ~ 0
MOTOR-
$Comp
L Connector_Generic:Conn_01x01 P8
U 1 1 5F67F057
P 800 4400
F 0 "P8" H 718 4617 50  0000 C CNN
F 1 "PAD" H 718 4526 50  0000 C CNN
F 2 "footprint:PAD_0.6x1.0_SMD" H 800 4400 50  0001 C CNN
F 3 "~" H 800 4400 50  0001 C CNN
	1    800  4400
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 4000 1250 4000
Wire Wire Line
	1250 4000 1250 3900
Wire Wire Line
	1000 4400 1250 4400
Wire Wire Line
	1250 4400 1250 4500
$Comp
L power:+12V #PWR0109
U 1 1 5F687A2C
P 1250 3900
F 0 "#PWR0109" H 1250 3750 50  0001 C CNN
F 1 "+12V" H 1265 4073 50  0000 C CNN
F 2 "" H 1250 3900 50  0001 C CNN
F 3 "" H 1250 3900 50  0001 C CNN
	1    1250 3900
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0110
U 1 1 5F687EC4
P 1250 4500
F 0 "#PWR0110" H 1250 4250 50  0001 C CNN
F 1 "GND" H 1255 4327 50  0000 C CNN
F 2 "" H 1250 4500 50  0001 C CNN
F 3 "" H 1250 4500 50  0001 C CNN
	1    1250 4500
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR0111
U 1 1 5F6A4C03
P 1200 5450
F 0 "#PWR0111" H 1200 5200 50  0001 C CNN
F 1 "GND" H 1205 5277 50  0000 C CNN
F 2 "" H 1200 5450 50  0001 C CNN
F 3 "" H 1200 5450 50  0001 C CNN
	1    1200 5450
	1    0    0    -1  
$EndComp
$Comp
L Device:R R12
U 1 1 5F5EDAF9
P 4400 1450
F 0 "R12" H 4470 1496 50  0000 L CNN
F 1 "472" H 4470 1405 50  0000 L CNN
F 2 "footprint:R_1005" V 4330 1450 50  0001 C CNN
F 3 "~" H 4400 1450 50  0001 C CNN
	1    4400 1450
	1    0    0    -1  
$EndComp
$Comp
L Device:D_Zener D3
U 1 1 5F5EE0C4
P 4400 2150
F 0 "D3" V 4354 2230 50  0000 L CNN
F 1 "UDZV5.6B" V 4445 2230 50  0000 L CNN
F 2 "footprint:UMD2" H 4400 2150 50  0001 C CNN
F 3 "~" H 4400 2150 50  0001 C CNN
	1    4400 2150
	0    1    1    0   
$EndComp
$Comp
L Device:Q_NPN_BEC Q5
U 1 1 5F5EE851
P 4900 1300
F 0 "Q5" H 5090 1346 50  0000 L CNN
F 1 "2SC4116" H 5090 1255 50  0000 L CNN
F 2 "footprint:SC-70_v2" H 5100 1400 50  0001 C CNN
F 3 "~" H 4900 1300 50  0001 C CNN
	1    4900 1300
	0    -1   -1   0   
$EndComp
Wire Wire Line
	4400 2300 4400 2400
Wire Wire Line
	4400 2000 4400 1800
Wire Wire Line
	4400 1800 4400 1600
Connection ~ 4400 1800
Wire Wire Line
	4400 1300 4400 1200
Wire Wire Line
	4700 1200 4400 1200
Wire Wire Line
	4900 1800 4900 1500
Wire Wire Line
	4400 1800 4900 1800
Wire Wire Line
	4400 2400 5300 2400
Connection ~ 7750 900 
Wire Wire Line
	7000 2950 7750 2950
Wire Wire Line
	9950 2950 10250 2950
Wire Wire Line
	7750 2750 7750 2950
Connection ~ 7750 2950
Wire Wire Line
	7750 2950 8050 2950
Wire Wire Line
	7750 2450 7750 2150
Wire Wire Line
	10250 2450 10250 2150
Wire Wire Line
	10250 2750 10250 2950
Connection ~ 10250 2950
Wire Wire Line
	10250 2950 10450 2950
$Comp
L Device:R R7
U 1 1 5F611CFB
P 7200 1700
F 0 "R7" H 7270 1746 50  0000 L CNN
F 1 "102" H 7270 1655 50  0000 L CNN
F 2 "footprint:R_1005" V 7130 1700 50  0001 C CNN
F 3 "~" H 7200 1700 50  0001 C CNN
	1    7200 1700
	1    0    0    -1  
$EndComp
$Comp
L Device:R R8
U 1 1 5F612018
P 7200 2600
F 0 "R8" H 7270 2646 50  0000 L CNN
F 1 "102" H 7270 2555 50  0000 L CNN
F 2 "footprint:R_1005" V 7130 2600 50  0001 C CNN
F 3 "~" H 7200 2600 50  0001 C CNN
	1    7200 2600
	1    0    0    -1  
$EndComp
Wire Wire Line
	5300 1200 5300 1650
Wire Wire Line
	5300 1950 5300 2400
$Comp
L MCU_Microchip_ATtiny:ATtiny1606-M U2
U 1 1 5FFCBDFC
P 3600 5800
F 0 "U2" H 3000 6750 50  0000 C CNN
F 1 "ATtiny1606-M" H 3200 6650 50  0000 C CNN
F 2 "footprint:VQFN-20-1EP_3x3mm_P0.4mm_EP1.7x1.7mm" H 3600 5800 50  0001 C CIN
F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/ATtiny806_1606_Data_Sheet_40002029A.pdf" H 3600 5800 50  0001 C CNN
	1    3600 5800
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x02 P9
U 1 1 5FFDDEA1
P 800 5250
F 0 "P9" H 718 5467 50  0000 C CNN
F 1 "PROG" H 718 5376 50  0000 C CNN
F 2 "footprint:PAD_PROG_2PIN_HOLE0.7" H 800 5250 50  0001 C CNN
F 3 "~" H 800 5250 50  0001 C CNN
	1    800  5250
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 5250 1300 5250
Wire Wire Line
	1000 5350 1200 5350
Wire Wire Line
	1200 5350 1200 5450
Text GLabel 1300 5250 2    50   BiDi ~ 0
UPDI
Wire Wire Line
	4600 5100 4600 4650
Text GLabel 4600 4650 1    50   BiDi ~ 0
UPDI
Text GLabel 2200 6350 0    50   Output ~ 0
REV
$Comp
L Device:R R13
U 1 1 5FFF7837
P 8650 4950
F 0 "R13" V 8443 4950 50  0000 C CNN
F 1 "103" V 8534 4950 50  0000 C CNN
F 2 "footprint:R_1005" V 8580 4950 50  0001 C CNN
F 3 "~" H 8650 4950 50  0001 C CNN
	1    8650 4950
	0    1    1    0   
$EndComp
Wire Wire Line
	8800 4950 9000 4950
Wire Wire Line
	9000 4750 9000 4950
Connection ~ 9000 4950
Wire Wire Line
	9600 4550 9600 4750
Connection ~ 9600 4550
Wire Wire Line
	9000 4200 9000 4050
Wire Wire Line
	9300 4550 9600 4550
Wire Wire Line
	9000 4950 9300 4950
$Comp
L power:+5V #PWR0112
U 1 1 60027C26
P 9000 4050
F 0 "#PWR0112" H 9000 3900 50  0001 C CNN
F 1 "+5V" H 9015 4223 50  0000 C CNN
F 2 "" H 9000 4050 50  0001 C CNN
F 3 "" H 9000 4050 50  0001 C CNN
	1    9000 4050
	1    0    0    -1  
$EndComp
$Comp
L Device:R R15
U 1 1 60028EBE
P 9250 5750
F 0 "R15" V 9043 5750 50  0000 C CNN
F 1 "682" V 9134 5750 50  0000 C CNN
F 2 "footprint:R_1005" V 9180 5750 50  0001 C CNN
F 3 "~" H 9250 5750 50  0001 C CNN
	1    9250 5750
	0    1    1    0   
$EndComp
Wire Wire Line
	9600 5750 9800 5750
Wire Wire Line
	8900 5750 9100 5750
Wire Wire Line
	9400 5750 9600 5750
Connection ~ 9600 5750
Wire Wire Line
	9600 6100 9600 5750
Wire Wire Line
	8600 5950 8600 6100
Text GLabel 10300 5450 2    50   Output ~ 0
RAIL-
Text GLabel 10300 5300 2    50   Output ~ 0
RAIL+
Text GLabel 8300 4950 0    50   Input ~ 0
TXD
Wire Wire Line
	8300 4950 8500 4950
$Comp
L power:GND #PWR0113
U 1 1 6005BC0B
P 8600 6100
F 0 "#PWR0113" H 8600 5850 50  0001 C CNN
F 1 "GND" H 8605 5927 50  0000 C CNN
F 2 "" H 8600 6100 50  0001 C CNN
F 3 "" H 8600 6100 50  0001 C CNN
	1    8600 6100
	1    0    0    -1  
$EndComp
Text GLabel 5100 3250 2    50   Output ~ 0
BEMF
Wire Wire Line
	4900 3250 5100 3250
$Comp
L Device:R R11
U 1 1 5F63CB28
P 4750 3250
F 0 "R11" V 4543 3250 50  0000 C CNN
F 1 "102" V 4634 3250 50  0000 C CNN
F 2 "footprint:R_1005" V 4680 3250 50  0001 C CNN
F 3 "~" H 4750 3250 50  0001 C CNN
	1    4750 3250
	0    1    1    0   
$EndComp
Connection ~ 4400 3250
Wire Wire Line
	4400 3250 4600 3250
$Comp
L power:GND #PWR0108
U 1 1 5F6398B0
P 4400 3850
F 0 "#PWR0108" H 4400 3600 50  0001 C CNN
F 1 "GND" H 4405 3677 50  0000 C CNN
F 2 "" H 4400 3850 50  0001 C CNN
F 3 "" H 4400 3850 50  0001 C CNN
	1    4400 3850
	1    0    0    -1  
$EndComp
Wire Wire Line
	4400 3750 4400 3850
Connection ~ 4000 3250
Wire Wire Line
	4400 3250 4400 3450
Wire Wire Line
	4000 3250 4400 3250
Wire Wire Line
	4000 3250 3800 3250
Wire Wire Line
	4000 3650 4000 3250
Wire Wire Line
	3800 3650 4000 3650
Text GLabel 3300 3650 0    50   Input ~ 0
MOTOR-
Text GLabel 3300 3250 0    50   Input ~ 0
MOTOR+
Wire Wire Line
	3500 3650 3300 3650
Wire Wire Line
	3500 3250 3300 3250
$Comp
L Device:R R10
U 1 1 5F62A845
P 3650 3650
F 0 "R10" V 3443 3650 50  0000 C CNN
F 1 "103" V 3534 3650 50  0000 C CNN
F 2 "footprint:R_1005" V 3580 3650 50  0001 C CNN
F 3 "~" H 3650 3650 50  0001 C CNN
	1    3650 3650
	0    1    1    0   
$EndComp
$Comp
L Device:R R9
U 1 1 5F62A1D5
P 3650 3250
F 0 "R9" V 3443 3250 50  0000 C CNN
F 1 "103" V 3534 3250 50  0000 C CNN
F 2 "footprint:R_1005" V 3580 3250 50  0001 C CNN
F 3 "~" H 3650 3250 50  0001 C CNN
	1    3650 3250
	0    1    1    0   
$EndComp
Wire Wire Line
	10100 6100 10100 5950
Wire Wire Line
	9600 6100 10100 6100
Wire Wire Line
	10300 5300 8600 5300
Wire Wire Line
	8600 5300 8600 5550
Wire Wire Line
	10300 5450 10100 5450
Wire Wire Line
	10100 5450 10100 5550
Wire Wire Line
	9600 5150 9600 5750
$Comp
L Device:R R14
U 1 1 600A674A
P 9300 4200
F 0 "R14" V 9093 4200 50  0000 C CNN
F 1 "220" V 9184 4200 50  0000 C CNN
F 2 "footprint:R_1608_v2" V 9230 4200 50  0001 C CNN
F 3 "~" H 9300 4200 50  0001 C CNN
	1    9300 4200
	0    1    1    0   
$EndComp
Wire Wire Line
	9450 4200 9600 4200
Wire Wire Line
	9600 4200 9600 4550
Wire Wire Line
	9150 4200 9000 4200
Wire Wire Line
	9000 4200 9000 4350
Connection ~ 9000 4200
Text GLabel 5400 6300 2    50   Output ~ 0
TXD
Text GLabel 5400 6000 2    50   Output ~ 0
PWM
Wire Wire Line
	5300 6100 5300 6150
Wire Wire Line
	5300 6150 5400 6150
Wire Wire Line
	5200 6200 5200 6300
Wire Wire Line
	5200 6300 5400 6300
Wire Wire Line
	4800 6400 4800 6600
Wire Wire Line
	4700 6500 4700 6750
Text GLabel 5400 5350 2    50   Output ~ 0
Func1
Text GLabel 5400 6450 2    50   Output ~ 0
Func4
Text GLabel 5400 6750 2    50   Output ~ 0
Func5
Text GLabel 5400 5800 2    50   Output ~ 0
Func3
Text GLabel 2200 5900 0    50   Output ~ 0
Func6
Text GLabel 2200 6050 0    50   Output ~ 0
Func2
Wire Wire Line
	5200 5700 5200 5650
Wire Wire Line
	5100 5600 5100 5500
Text GLabel 5400 6600 2    50   Output ~ 0
Func7
Text GLabel 5400 6150 2    50   Output ~ 0
DIR_JP
Wire Wire Line
	2200 6050 2300 6050
Wire Wire Line
	2300 6050 2300 6100
Wire Wire Line
	2200 5900 2400 5900
Wire Wire Line
	2400 5900 2400 6000
$Comp
L Device:R R1
U 1 1 6019381E
P 5150 4800
F 0 "R1" V 4943 4800 50  0000 C CNN
F 1 "104" V 5034 4800 50  0000 C CNN
F 2 "footprint:R_1005" V 5080 4800 50  0001 C CNN
F 3 "~" H 5150 4800 50  0001 C CNN
	1    5150 4800
	0    1    1    0   
$EndComp
$Comp
L Device:R R2
U 1 1 60194058
P 5150 5150
F 0 "R2" V 4943 5150 50  0000 C CNN
F 1 "104" V 5034 5150 50  0000 C CNN
F 2 "footprint:R_1005" V 5080 5150 50  0001 C CNN
F 3 "~" H 5150 5150 50  0001 C CNN
	1    5150 5150
	0    1    1    0   
$EndComp
Wire Wire Line
	4900 5150 5000 5150
Wire Wire Line
	4800 4800 5000 4800
Wire Wire Line
	4800 4800 4800 5300
Wire Wire Line
	5300 5150 5400 5150
Wire Wire Line
	5300 4800 5400 4800
Text GLabel 5400 4800 2    50   Input ~ 0
RAIL+
Text GLabel 5400 5150 2    50   Input ~ 0
RAIL-
Wire Wire Line
	5400 4450 4700 4450
Wire Wire Line
	4700 4450 4700 5200
Wire Wire Line
	5000 5350 5400 5350
Wire Wire Line
	5100 5500 5400 5500
Wire Wire Line
	5200 5650 5400 5650
Wire Wire Line
	4800 6600 5400 6600
Wire Wire Line
	4700 6750 5400 6750
Text GLabel 5400 5500 2    50   Input ~ 0
ABC+
Text GLabel 2200 6200 0    50   Input ~ 0
ABC-
Wire Wire Line
	2200 6350 2400 6350
Wire Wire Line
	2400 6350 2400 6300
$Sheet
S 6000 6800 600  200 
U 5FFE6B2A
F0 "FuncUnit3057" 50
F1 "FuncUnit3057.sch" 50
$EndSheet
$Sheet
S 6000 7250 600  200 
U 600D40F6
F0 "ABCunit" 50
F1 "ABCunit.sch" 50
$EndSheet
Wire Wire Line
	5000 6300 5000 6450
Wire Wire Line
	5000 6450 5400 6450
$Comp
L Device:Q_DUAL_NPN_NPN_E1B1C2E2B2C1 Q3
U 1 1 60032C0D
P 7650 1950
F 0 "Q3" H 7840 1996 50  0000 L CNN
F 1 "PMBT3904VS" H 7840 1905 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 7850 2050 50  0001 C CNN
F 3 "~" H 7650 1950 50  0001 C CNN
	1    7650 1950
	1    0    0    -1  
$EndComp
$Comp
L Device:Q_DUAL_NPN_NPN_E1B1C2E2B2C1 Q3
U 2 1 60033BFC
P 10150 1950
F 0 "Q3" H 10340 1996 50  0000 L CNN
F 1 "PMBT3904VS" H 10340 1905 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 10350 2050 50  0001 C CNN
F 3 "~" H 10150 1950 50  0001 C CNN
	2    10150 1950
	1    0    0    -1  
$EndComp
$Comp
L Device:Q_DUAL_NPN_NPN_E1B1C2E2B2C1 Q8
U 1 1 6003592F
P 8700 5750
F 0 "Q8" H 8891 5796 50  0000 L CNN
F 1 "PMBT3904VS" H 8891 5705 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 8900 5850 50  0001 C CNN
F 3 "~" H 8700 5750 50  0001 C CNN
	1    8700 5750
	-1   0    0    -1  
$EndComp
$Comp
L Device:Q_DUAL_NPN_NPN_E1B1C2E2B2C1 Q8
U 2 1 60036091
P 10000 5750
F 0 "Q8" H 10190 5796 50  0000 L CNN
F 1 "PMBT3904VS" H 10190 5705 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 10200 5850 50  0001 C CNN
F 3 "~" H 10000 5750 50  0001 C CNN
	2    10000 5750
	1    0    0    -1  
$EndComp
$Comp
L Device:Q_DUAL_PNP_PNP_E1B1C2E2B2C1 Q6
U 1 1 6003D3D7
P 9100 4550
F 0 "Q6" H 9291 4504 50  0000 L CNN
F 1 "PMBT3906VS" H 9291 4595 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 9300 4650 50  0001 C CNN
F 3 "~" H 9100 4550 50  0001 C CNN
	1    9100 4550
	-1   0    0    1   
$EndComp
$Comp
L Device:Q_DUAL_PNP_PNP_E1B1C2E2B2C1 Q6
U 2 1 6003DE97
P 9500 4950
F 0 "Q6" H 9690 4904 50  0000 L CNN
F 1 "PMBT3906VS" H 9690 4995 50  0000 L CNN
F 2 "footprint:SOT-666-nomark" H 9700 5050 50  0001 C CNN
F 3 "~" H 9500 4950 50  0001 C CNN
	2    9500 4950
	1    0    0    1   
$EndComp
Connection ~ 1200 1250
Wire Wire Line
	1200 1250 1450 1250
Wire Wire Line
	1200 1650 1450 1650
$Comp
L Device:C C5
U 1 1 600C825F
P 2750 5450
F 0 "C5" H 2865 5496 50  0000 L CNN
F 1 "104" H 2865 5405 50  0000 L CNN
F 2 "footprint:C_1005_v2" H 2788 5300 50  0001 C CNN
F 3 "~" H 2750 5450 50  0001 C CNN
	1    2750 5450
	1    0    0    -1  
$EndComp
Wire Wire Line
	2750 5600 2750 6800
Wire Wire Line
	2750 6800 3600 6800
Connection ~ 3600 6800
Wire Wire Line
	2750 5300 2750 4800
Wire Wire Line
	2750 4800 3600 4800
Connection ~ 3600 4800
Wire Wire Line
	3600 4800 3600 4700
Wire Wire Line
	2400 6000 3000 6000
Wire Wire Line
	2300 6100 3000 6100
Wire Wire Line
	2200 6200 3000 6200
Wire Wire Line
	2400 6300 3000 6300
Wire Wire Line
	3900 1200 4400 1200
Connection ~ 4400 1200
Wire Wire Line
	3900 2400 4400 2400
Connection ~ 4400 2400
Wire Wire Line
	5800 1650 5800 1200
Wire Wire Line
	5800 1200 5300 1200
Wire Wire Line
	5800 1950 5800 2400
Wire Wire Line
	5800 2400 5300 2400
Connection ~ 5300 2400
Wire Wire Line
	4900 5150 4900 5500
Wire Wire Line
	5000 5400 5000 5350
$Comp
L Device:CP C4
U 1 1 600EB515
P 5800 1800
F 0 "C4" H 5918 1846 50  0000 L CNN
F 1 "476" H 5918 1755 50  0000 L CNN
F 2 "footprint:CP_1608" H 5838 1650 50  0001 C CNN
F 3 "~" H 5800 1800 50  0001 C CNN
	1    5800 1800
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P10
U 1 1 600E3268
P 800 6250
F 0 "P10" H 718 6467 50  0000 C CNN
F 1 "PAD" H 718 6376 50  0000 C CNN
F 2 "footprint:PAD_0.6x1.0_SMD" H 800 6250 50  0001 C CNN
F 3 "~" H 800 6250 50  0001 C CNN
	1    800  6250
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P11
U 1 1 600E326E
P 800 6650
F 0 "P11" H 718 6867 50  0000 C CNN
F 1 "PAD" H 718 6776 50  0000 C CNN
F 2 "footprint:PAD_0.5x1.2_SMD" H 800 6650 50  0001 C CNN
F 3 "~" H 800 6650 50  0001 C CNN
	1    800  6650
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 6250 1250 6250
Wire Wire Line
	1250 6250 1250 6150
Wire Wire Line
	1000 6650 1250 6650
Wire Wire Line
	1250 6650 1250 6750
$Comp
L power:GND #PWR0135
U 1 1 600E327E
P 1250 6750
F 0 "#PWR0135" H 1250 6500 50  0001 C CNN
F 1 "GND" H 1255 6577 50  0000 C CNN
F 2 "" H 1250 6750 50  0001 C CNN
F 3 "" H 1250 6750 50  0001 C CNN
	1    1250 6750
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR0136
U 1 1 600EE4CA
P 1250 6150
F 0 "#PWR0136" H 1250 6000 50  0001 C CNN
F 1 "+5V" H 1265 6323 50  0000 C CNN
F 2 "" H 1250 6150 50  0001 C CNN
F 3 "" H 1250 6150 50  0001 C CNN
	1    1250 6150
	1    0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P22
U 1 1 602E1438
P 800 850
F 0 "P22" H 950 900 50  0000 C CNN
F 1 "PAD" H 950 800 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_7mm" H 800 850 50  0001 C CNN
F 3 "~" H 800 850 50  0001 C CNN
	1    800  850 
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P23
U 1 1 602E1791
P 800 1050
F 0 "P23" H 950 1100 50  0000 C CNN
F 1 "PAD" H 950 1000 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_7mm" H 800 1050 50  0001 C CNN
F 3 "~" H 800 1050 50  0001 C CNN
	1    800  1050
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P24
U 1 1 602E1BB0
P 800 1250
F 0 "P24" H 950 1300 50  0000 C CNN
F 1 "PAD" H 950 1200 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 1250 50  0001 C CNN
F 3 "~" H 800 1250 50  0001 C CNN
	1    800  1250
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 650  1200 650 
Wire Wire Line
	1200 650  1200 850 
Wire Wire Line
	1000 850  1200 850 
Connection ~ 1200 850 
Wire Wire Line
	1200 850  1200 1050
Wire Wire Line
	1000 1050 1200 1050
Connection ~ 1200 1050
Wire Wire Line
	1200 1050 1200 1250
$Comp
L Connector_Generic:Conn_01x01 P25
U 1 1 603128C7
P 800 1650
F 0 "P25" H 950 1700 50  0000 C CNN
F 1 "PAD" H 950 1600 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 1650 50  0001 C CNN
F 3 "~" H 800 1650 50  0001 C CNN
	1    800  1650
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P26
U 1 1 60312E19
P 800 1850
F 0 "P26" H 950 1900 50  0000 C CNN
F 1 "PAD" H 950 1800 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_7mm" H 800 1850 50  0001 C CNN
F 3 "~" H 800 1850 50  0001 C CNN
	1    800  1850
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P27
U 1 1 60312E23
P 800 2050
F 0 "P27" H 950 2100 50  0000 C CNN
F 1 "PAD" H 950 2000 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_7mm" H 800 2050 50  0001 C CNN
F 3 "~" H 800 2050 50  0001 C CNN
	1    800  2050
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P28
U 1 1 60312E2D
P 800 2250
F 0 "P28" H 950 2300 50  0000 C CNN
F 1 "PAD" H 950 2200 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 2250 50  0001 C CNN
F 3 "~" H 800 2250 50  0001 C CNN
	1    800  2250
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 2050 1200 2050
Wire Wire Line
	1200 1650 1200 1850
Wire Wire Line
	1000 2250 1200 2250
Wire Wire Line
	1200 2250 1200 2050
Connection ~ 1200 2050
Wire Wire Line
	1000 1850 1200 1850
Connection ~ 1200 1850
Wire Wire Line
	1200 1850 1200 2050
Wire Wire Line
	1200 1650 1000 1650
Connection ~ 1200 1650
$Comp
L Connector_Generic:Conn_01x01 P29
U 1 1 60368B3F
P 800 2750
F 0 "P29" H 950 2800 50  0000 C CNN
F 1 "PAD" H 950 2700 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 2750 50  0001 C CNN
F 3 "~" H 800 2750 50  0001 C CNN
	1    800  2750
	-1   0    0    -1  
$EndComp
$Comp
L Connector_Generic:Conn_01x01 P31
U 1 1 60368DDB
P 800 3350
F 0 "P31" H 950 3400 50  0000 C CNN
F 1 "PAD" H 950 3300 50  0000 C CNN
F 2 "footprint:KATO_RAILPAD_3057_8mm" H 800 3350 50  0001 C CNN
F 3 "~" H 800 3350 50  0001 C CNN
	1    800  3350
	-1   0    0    -1  
$EndComp
$Comp
L Device:R R16
U 1 1 6073D475
P 4400 3600
F 0 "R16" H 4470 3646 50  0000 L CNN
F 1 "103" H 4470 3555 50  0000 L CNN
F 2 "footprint:R_1005" V 4330 3600 50  0001 C CNN
F 3 "~" H 4400 3600 50  0001 C CNN
	1    4400 3600
	1    0    0    -1  
$EndComp
$Comp
L Device:R R17
U 1 1 607C1BC0
P 4550 7050
F 0 "R17" H 4620 7096 50  0000 L CNN
F 1 "104" H 4620 7005 50  0000 L CNN
F 2 "footprint:R_1005" V 4480 7050 50  0001 C CNN
F 3 "~" H 4550 7050 50  0001 C CNN
	1    4550 7050
	1    0    0    -1  
$EndComp
$Comp
L Device:R R18
U 1 1 607C1F28
P 4900 7050
F 0 "R18" H 4970 7096 50  0000 L CNN
F 1 "104" H 4970 7005 50  0000 L CNN
F 2 "footprint:R_1005" V 4830 7050 50  0001 C CNN
F 3 "~" H 4900 7050 50  0001 C CNN
	1    4900 7050
	1    0    0    -1  
$EndComp
Wire Wire Line
	4900 6900 4900 5500
Connection ~ 4900 5500
Wire Wire Line
	4550 6900 4550 5300
Connection ~ 4550 5300
Wire Wire Line
	4550 5300 4800 5300
Wire Wire Line
	4200 5300 4550 5300
Wire Wire Line
	4200 5200 4700 5200
Wire Wire Line
	4200 5100 4600 5100
Wire Wire Line
	4200 5400 5000 5400
Wire Wire Line
	4200 5500 4900 5500
Wire Wire Line
	4200 5600 5100 5600
Wire Wire Line
	4200 5700 5200 5700
Wire Wire Line
	4200 5800 5400 5800
Wire Wire Line
	4200 6000 5400 6000
Wire Wire Line
	4200 6100 5300 6100
Wire Wire Line
	4200 6200 5200 6200
Wire Wire Line
	4200 6300 5000 6300
Wire Wire Line
	4200 6400 4800 6400
Wire Wire Line
	4200 6500 4700 6500
Wire Wire Line
	4550 7200 4550 7350
Wire Wire Line
	4550 7350 4900 7350
Wire Wire Line
	4900 7350 4900 7200
Wire Wire Line
	4550 7350 3600 7350
Wire Wire Line
	3600 7350 3600 7450
Connection ~ 4550 7350
Wire Wire Line
	3600 6800 3600 7350
Connection ~ 3600 7350
$Comp
L Connector_Generic:Conn_01x01 P12
U 1 1 608653C8
P 800 7250
F 0 "P12" H 718 7467 50  0000 C CNN
F 1 "PAD" H 718 7376 50  0000 C CNN
F 2 "footprint:PAD_1.0x1.4_SMD" H 800 7250 50  0001 C CNN
F 3 "~" H 800 7250 50  0001 C CNN
	1    800  7250
	-1   0    0    -1  
$EndComp
Wire Wire Line
	1000 7250 1250 7250
Wire Wire Line
	1250 7250 1250 7350
$Comp
L power:GND #PWR0140
U 1 1 608653D0
P 1250 7350
F 0 "#PWR0140" H 1250 7100 50  0001 C CNN
F 1 "GND" H 1255 7177 50  0000 C CNN
F 2 "" H 1250 7350 50  0001 C CNN
F 3 "" H 1250 7350 50  0001 C CNN
	1    1250 7350
	1    0    0    -1  
$EndComp
$EndSCHEMATC