5 4 3 2 1 Table of Contents PAGE PAGE PAGE PAGE PAGE PAGE MOTOR BOARD SCHEMATIC D 1: 2: 3: 4: 5: 6: COVER CONNECTORS MOTOR DRIVER POWER SUPPLIES BUFFER, DAC SIGNAL CONDITIONING D C C B B Revision History Rev 1 : Initial Draft Rev 2 : Update refer to request on changes Rev 3 : Add 0 ohm Resistor R189 across DGND and PGND Reverse D15 pin number Change R184, R186, R187, R188 to 0 ohm Change C20, C21, C22 to 1.0uF Change C11, C13 to 100pF A Rev 4 : Re-route CHANNEL_B_BUF to TM0_TMR0 (PB07) Connector P6 Pin49 Change C20, C21, C22 to 0.082uF Add pullup resistors R64, R65, R66, R67, R68, R69 Change R10 to 2.20kohm Add R190 R191 0 ohm resistors Add Connectors P1 P2 to bring out signals Add more test points BY PROPRIETARY NOTICE IR DATE EXCEPT AS OTHERWISE AGREED IN WRITING, THE INFORMATION LAST CHANGE AND DESIGN DISCLOSED HEREIN Y.WONG ARE THE PROPERTY OF DRAWN BY BOSTON ENGINEERING CORPORATION AND MUST NOT BE COPIED OR CHECKED BY DISTRIBUTED OUTSIDE BEC EXCEPT TO AUTHORIZED PERSONS APPROVED BY WITH A GENUINE NEED-TO-KNOW WHO BY THE USE HEREOF ACKNOWLEDGE BEC OWNERSHIP AND AGREE TO MAINTAIN THIS INFORMATION AND DESIGN IN STRICT CONFIDENCE. BARE PCB P/N ASSY PCB P/N 5 4 3 2 DATE 411 WAVERLEY OAKS ROAD SUITE 114 WALTHAM MA 02452 A 03/23/10 COVER SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 Wednesday, March 12, 2014 1 4 SHEET 1 OF 7 5 4 3 2 1 Voltage Clamped at 39V Current Limit: 12.5A 0.004 R2 DNP Q1 IRFS3006TRLPBF 4 2 MOTOR_PWR 3 1 R1 Voltage Input 24-36V P6 R4 20.0 AH [3] AL [3] CH [3] CL HALL2_W [5] [5] HALL_V_BUF HALL_W_BUF HALL2_U HALL2_V TP109 1N4148WS [5] CHANNEL_B_BUF D16 2 1 PWM2_AH PWM2_AL 1 PWM2_CH PWM2_CL [7] SINC0_CLK0 [7] SINC0_D0 [7] SINC0_D2 1 TP119 [5] TP122 TP124 TP126 TP128 TP134 TP136 CHANNEL_INDEX_BUF [5] CHANNEL_A_BUF 1 1 1 1 ENCODER2_B TWI0_SDA 1 1 TP137 TP139 1 1 TP141 TP143 TP145 TP147 TP149 TP151 TP153 TP155 TP157 TP159 TP161 TP163 TP165 TP167 TP169 TP171 TP173 TP175 TP177 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 B TP180 1 +5V TP182 TP184 +3.3V 1 1 181 182 183 184 185 186 TP15 1 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86 88 90 92 94 96 98 100 102 104 106 108 110 112 114 116 118 120 122 124 126 128 130 132 134 136 138 140 142 144 146 148 150 152 154 156 158 160 162 164 166 168 170 172 174 176 178 180 181 182 183 184 185 186 187 188 189 190 191 192 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86 88 90 92 94 96 98 100 102 104 106 108 110 112 114 116 118 120 122 124 126 128 130 132 134 136 138 140 142 144 146 148 150 152 154 156 158 160 162 164 166 168 170 172 174 176 178 180 /I_TRIP BH [3] BL [3] [3] L1 GATE PGND 5 6 1757255 1 TP101 1 TP102 C2 EN_PWM EN EARTH_GND 12 11 MOTOR POWER CONNECTOR [3] PA_15 1 OUT 1000pF 2000V PGND [5] SNS VCC FB 7 HALL_U_BUF R3 150K D U1 0.1uF 600ohm TP106 SHDN FLT IN + AOUT TMR PAD [3] 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89 91 93 95 97 99 101 103 105 107 109 111 113 115 117 119 121 123 125 127 129 131 133 135 137 139 141 143 145 147 149 151 153 155 157 159 161 163 165 167 169 171 173 175 177 179 3 2 1 PGND 13 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89 91 93 95 97 99 101 103 105 107 109 111 113 115 117 119 121 123 125 127 129 131 133 135 137 139 141 143 145 147 149 151 153 155 157 159 161 163 165 167 169 171 173 175 177 179 PA_00 C C1 J1 D EN_PWM2 GND 4 3 2 9 R5 4.99K 8 1 C3 0.1uF 10 PGND LT4356CDE-1#PBF PWM2_TRIP0b PGND PWM2_BH PGND PWM2_BL P9 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89 91 93 95 97 99 101 103 105 107 109 111 113 115 117 119 PWM2_DH PWM2_DL SINC0_CLK1 [7] SINC0_D1 [7] SINC0_D3 [7] CHANNEL_B_BUF [5] 1 TP120 1 1 1 1 TP121 TP123 TP125 TP127 1 TP135 1 1 TP138 TP140 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 TP142 TP144 TP146 TP148 TP150 TP152 TP154 TP156 TP158 TP160 TP162 TP164 TP166 TP168 TP170 TP172 TP174 TP176 TP178 1 TP179 1 TP181 [3] MOTOR_U_ISENSE [3] MOTOR_W_ISENSE [6] MOTOR_V_VSENSE ADC0_VIN06 ADC1_VIN07 ENCODER2_INDEX ENCODER2_A TWI0_SCL ADC1_VIN05 [6] MOTOR_U_VSENSE ADC1_VIN01 +3.3V +2.5VREF +5V +5V 1 1 121 122 123 124 125 126 127 128 TP183 TP185 187 188 189 190 191 192 AGND DGND 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 81 83 85 87 89 91 93 95 97 99 101 103 105 107 109 111 113 115 117 119 J2 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86 88 90 92 94 96 98 100 102 104 106 108 110 112 114 116 118 120 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86 88 90 92 94 96 98 100 102 104 106 108 110 112 114 116 118 120 [3,6] [3,6] [3,6] MOTOR_U MOTOR_V MOTOR_W 1 2 3 4 ADC0_VIN01 MOTOR CONNECTOR 1757268 VBUS_ISENSE [3] ADC0_VIN05 EARTH_GND ADC0_VIN07 C ADC1_VIN06 MOTOR_W_VSENSE VBUS_VSENSE [6] [6] MOTOR_V_ISENSE [3] +5V +2.5VREF +5V 1 F1 350mA R6 10.0K [5] [5] R7 10.0K R8 10.0K 2 J3 1 2 3 4 5 6 7 8 9 10 11 12 [5] HALL_U [5] HALL_V [5] HALL_W [5] CHANNEL_A [5] /CHANNEL_A [5] CHANNEL_B [5] /CHANNEL_B CHANNEL_INDEX /CHANNEL_INDEX ENCODER HALL CONNECTOR B 1803374 DGND EARTH_GND +5V 121 122 123 124 125 126 127 128 QTH-060-01-F-D-A DGND AGND QTH-090-01-F-D-A Test Point DGND DGND P1 PA_00 HALL2_W HALL2_U HALL2_V PWM2_AH PWM2_AL PWM2_CH PWM2_CL SINC0_D2 A 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 +3.3V ENCODER2_B TWI0_SDA +5V 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 PA_15 EN_PWM2 PWM2_TRIP0b P2 PWM2_BH PWM2_BL PWM2_DH PWM2_DL SINC0_CLK1 SINC0_D3 ENCODER2_INDEX ENCODER2_A TWI0_SCL +2.5VREF ADC0_VIN06 ADC1_VIN07 ADC1_VIN05 ADC1_VIN01 2 4 6 8 10 12 ADC0_VIN01 ADC0_VIN05 ADC0_VIN07 ADC1_VIN06 1 3 5 7 9 11 WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> DF11CZ-12DP-2V(27) A CONNECTORS AGND SIZE CAGE CODE DWG NO REV DF11CZ-32DP-2V(27) DGND 5 2892G01 DGND C 1NST2 4 3 2 Tuesday, March 04, 2014 1 4 SHEET 2 OF 7 5 4 3 2 1 +15V C4 1.0uF 16 LO1 BH [2] BL 3 6 R69 10.0K R68 10.0K HIN2 VB2 LIN2 HO2 23 15 LO2 MOTOR_V GATE_BL R10 2.20K [2] 10 EN_PWM 8 /I_TRIP TP26 11 1 9 LIN3 HO3 MOTOR_PWR 19 GATE_CH TP19 18 VS3 EN 14 LO3 MOTOR_W 1 1 7 1.0uF 20 GATE_CL C8 330uF + FAULT C9 0.1uF RCIN ITRIP 12 C10 0.1uF D8 SMBJ5366B-TP 39V Test Point 2 CL VB3 COM [2] TP9 Test Point 1 HIN3 13 R9 1.00M 4 2 GATE_BH 22 VS2 VSS +3.3V CH 1 1.0uF 24 C7 [2] D D9 1N4148WS 1 IRS2336DSTRPBF I-TRIP = 0.46V @ 6.0A - Gain = 7.7 TP28 Test Point 1 R11 +5VA C12 0.1uF 8 AGND C C11 U3A 4 1 + 3 - 2 100pF 20.0 15.4K 2.00K AGND R19 2.00K PGND PGND D10 1N4148WS 1 R15 10.0K D11 2 TP30 Test Point 1 Q2 IRFS4010PBF 1 GATE_AH R14 R18 PGND 2 R12 2 TP32 Test Point 1 20.0 Q3 IRFS4010PBF 1 GATE_BH 1N4148WS 1 2 4 TP7 Test Point 1 TP8 Test Point 1 [2] 1 MOTOR_U GATE_AL C6 +3.3V [2] GATE_AH 26 VS1 R13 20.0 R16 10.0K Q4 IRFS4010PBF 1 GATE_CH R17 10.0K 3 10.0K 27 HO1 C D12 1N4148WS 1 TP29 Test Point 1 AD8629ARMZ D13 2 R20 20.0 Q5 IRFS4010PBF 1 GATE_AL 1N4148WS 1 D14 2 TP31 Test Point 1 R21 2 TP33 Test Point 1 20.0 Q6 IRFS4010PBF 1 GATE_BL 1N4148WS 1 2 4 R66 LIN1 1.0uF 2 4 10.0K C5 3 TP5 Test Point 1 TP6 Test Point 1 5 R67 28 VB1 D7 1N4148WS 2 4 AL HIN1 D6 1N4148WS 2 4 [2] +3.3V D 2 D5 1N4148WS 3 AH U2 2 4 [2] 2 10.0K 1 R65 1 10.0K VCC TP3 Test Point 1 TP4 Test Point 1 R64 2 PGND +3.3V R22 20.0 Q7 IRFS4010PBF 1 GATE_CL 100pF 1 TP35 1 4 C1 C2 R26 10.0K 3 R25 10.0K 3 3 R24 10.0K S2 C13 15.4K S1 R23 3 AGND 2 RS1 0.01 V_VIN- Test Point [7] W_VIN- [7] W_VIN+ [7] PGND R129 0.05 R122 0.05 V_VIN+ [7] B B +5VA +2.5VREF 0.1uF +5VA +2.5VREF C14 0.1uF Range 0-2.5V -> 0 to 6.6A 0.01 C19 5 MOTOR_V_ISENSE 1 - 0.01 C22 0.082uF AD8210YRZ 0.1uF S1 S2 [2] RS4 TP36 4 6 7 AGND 3 8 + 0.1uF U6 AGND R30 TP13 1Test Point 20.0 5 MOTOR_W_ISENSE 1 - 0.01 [2] C20 0.082uF AD8210YRZ 1 1 35.7K Test Point AGND C23 TP12 1Test Point 20.0 C1 R29 1 0.1uF U5 AGND TP14 R31 C18 2 3 RS3 4 6 7 1 S2 [2] C21 0.082uF AD8210YRZ S1 8 + C2 MOTOR_U_ISENSE C1 5 1 - AGND 3 2 C17 TP11 1Test Point 20.0 2 3 RS2 AGND 4 R28 C2 AD8629ARMZ S2 8 + 0.1uF U4 AGND 2 6 S1 3 6 7 AGND 1 9.10K 2 3 - R27 C1 VBUS_ISENSE 5 C2 + 2 [2] C15 U3B 7 0.1uF Cut off frequency = 100kHz GAIN = 4.92 TP10 Test Point 1 +5VA +2.5VREF C16 TP16 Test Point 1 MOTOR_U [2,6] AGND AGND TP17 Test Point 1 MOTOR_V [2,6] AGND Test Point TP18 Test Point 1 AGND MOTOR_W AGND [2,6] 0V to 2.5V ADC RANGE, ±6.25A CURRENT SENSE RS2, RS3, RS4 - 0.01ohm WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> A A MOTOR DRIVER SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 5 4 3 2 Wednesday, March 12, 2014 1 4 SHEET 3 OF 7 5 4 3 2 1 +5V D15 R32 300 2 1 D LNJ312 D DGND +15V TP1 U7 1 C24 0.1uF 2 +VIN +VOUT TRM RC COM 3 -VIN NC 1 7 6 C25 0.1uF 5 1 4 Test Point CC1R5-0512SF-E R189 Test Point TP2 0 TP34 1 Test Point DGND PGND +15V@100mA POWER SUPPLY +5V +5VA 0.06ohm 1 2 C C C26 10uF 4 3 C27 10uF L2 DGND AGND +5V ANALOG POWER B B WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> A A POWER SUPPLIES SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 5 4 3 2 Wednesday, March 12, 2014 1 4 SHEET 4 OF 7 5 4 3 2 +3.3V 1 JUMPER SETTING JP1-2 - DIFFERENTIAL OUTPUT ENCODER JP2-3 - SINGLE ENDED OUTPUT ENCODER JP1 C31 1 2 3 0.1uF +3.3V C58 0.1uF 68000-103HLF DGND [2] 10 + 7 CHANNEL_A_BUF ROUT - C52 0.01uF GND DGND CHANNEL_A DGND [2] 1 8 2 R70 4 R33 100 1 5 D 2 74LVC1G125GW /CHANNEL_A ADN4662BRZ DGND U20 10 CHANNEL_A [2] 3 VCC R61 5 U9 D [2] DGND DGND C32 0.1uF +3.3V C59 0.1uF U10 CHANNEL_B_BUF ROUT - C53 0.01uF GND CHANNEL_B [2] 2 DGND R34 100 1 R71 U21 10 5 4 /CHANNEL_B ADN4662BRZ DGND 5 + 7 1 [2] 10 DGND 74LVC1G125GW DGND C35 2 CHANNEL_B [2] [2] 3 VCC R62 8 0.1uF DGND U12 7 CHANNEL_INDEX_BUF ROUT - C C54 0.01uF GND 8 DGND +3.3V C60 [2] 0.1uF R36 100 1 DGND 5 /CHANNEL_INDEX ADN4662BRZ DGND CHANNEL_INDEX 2 [2] R72 U22 10 4 2 DGND 74LVC1G125GW ENCODER BUFFER C 5 + CHANNEL_INDEX [2] 3 [2] 10 1 VCC R63 DGND +3.3V C37 0.1uF HALL_U_BUF 5 U13 4 2 74LVC1G125GW HALL_U [2] C55 0.1uF 3 [2] 1 DGND DGND DGND DGND +3.3V C38 0.1uF B B HALL_V_BUF U14 4 2 74LVC1G125GW HALL_V [2] C56 0.1uF 3 [2] 5 DGND 1 DGND DGND DGND +3.3V C39 0.1uF HALL_W_BUF 5 U15 4 2 74LVC1G125GW 3 [2] 1 DGND DGND HALL_W [2] C57 0.1uF DGND DGND WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> HALL BUFFER A A BUFFER, DAC SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 5 4 3 2 Monday, March 03, 2014 1 4 SHEET 5 OF 7 5 4 3 2 1 MOTOR_PWR R37 10.0K C40 0.1uF R38 191K +5VA VBUS SENSE Gain = 0.05 24V -> 1.2V C41 0.1uF PGND AGND U16 5 R39 D 10.0K D 3 + R40 20.0K 1 VBUS_VSENSE 4 10.0K 2 R41 [2] AD8628AUJZ AGND R42 10.0K C42 0.1uF PGND [2,3] MOTOR_U R43 10.0K VBUS SENSE Gain = 0.05 24V -> 1.2V C43 0.1uF R44 191K +5VA C44 0.1uF PGND AGND U17 5 R46 C 10.0K C 3 + R45 20.0K 1 4 10.0K 2 R47 MOTOR_U_VSENSE [2] MOTOR_V_VSENSE [2] AD8628AUJZ AGND R48 10.0K C45 0.1uF PGND [2,3] MOTOR_V R49 10.0K VBUS SENSE Gain = 0.05 24V -> 1.2V C46 0.1uF R50 191K +5VA C47 0.1uF PGND AGND 10.0K 3 + R52 20.0K 1 4 R53 10.0K B 2 B U18 5 R51 AD8628AUJZ AGND R54 10.0K C48 0.1uF PGND [2,3] MOTOR_W R55 10.0K VBUS SENSE Gain = 0.05 24V -> 1.2V C49 0.1uF R56 191K +5VA C50 0.1uF PGND AGND U19 5 R57 10.0K 3 + R58 20.0K 1 4 10.0K 2 R59 MOTOR_W_VSENSE [2] AD8628AUJZ WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> A AGND R60 10.0K C51 0.1uF A PGND SIGNAL CONDITIONING SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 5 4 3 2 Monday, March 03, 2014 1 4 SHEET 6 OF 7 5 4 3 2 1 D D TP24 +5V_ISO_W +3.3V +5V 1 C95 C96 U88 1 7 C108 10uF 4 C107 0.1uF 5 C110 10uF C109 0.1uF 6 2 8 VDD1 VDD1 VISO VISO 1 7 R190 0 [3] VSEL GNDISO GNDISO 2 10 13 3 C135 0.1uF C111 0.1uF RCSEL GND1 GND1 R158 W_VIN+ 15 9 C112 10uF C113 0.1uF C114 10uF [3] R159 W_VIN- R163 DNP SINC0_D2 U35 16 10 RCIN RCOUT 0.1uF 0.1uF 10 R184 0 5 6 R186 0 4 8 VDD1 VDD1 VDD2 MDAT VIN+ MCLKIN 14 R154 0 SINC0_D0 13 [2] SINC0_CLK0 [2] TP21 R155 0 RANGE0 RANGE1 1 TP37 GND2 GND2 9 16 1 Test Point AD7403RI ADUM5000ARWZ TP20 1 DGND 11 VIN- GND1 GND1 [2] DGND DGND FULL RANGE 16 bit, ±6.4A CURRENT SENSE C C R162 0 TP25 1 +3.3V +5V_ISO_V C94 0.1uF R164 DNP U42 C93 1 7 0.1uF VDD1 VDD1 R191 0 +5V [3] V_VIN+ R160 C136 0.1uF U87 1 7 B C119 10uF 4 C117 0.1uF 5 C120 10uF C118 0.1uF 6 2 8 VDD1 VDD1 VISO VISO 16 10 [3] R188 0 VSEL GNDISO GNDISO MCLKIN 14 DGND 5 6 GND1 GND1 13 C121 0.1uF C122 10uF C115 0.1uF C116 10uF SINC0_D1 [2] TP22 SINC0_CLK1 [2] R157 DNP TP27 GND2 GND2 1 9 16 TP23 B 1 AD7403RI 15 9 [2] 1 11 RANGE0 RANGE1 4 8 SINC0_D3 R156 0 VIN- 13 RCSEL GND1 GND1 10 VIN+ 3 R187 0 RCIN RCOUT V_VIN- R161 MDAT 2 10 VDD2 DGND FULL RANGE 16 bit, ±6.4A CURRENT SENSE ADUM5000ARWZ DGND WALTHAM, MASS SUITE 114 <OrgAddr3> <OrgAddr4> A A SIGMA-DELTA MODULATOR SIZE CAGE CODE DWG NO REV 2892G01 C 1NST2 5 4 3 2 Wednesday, March 12, 2014 1 4 SHEET 7 OF 7