S2 Robot Electrical Schematics PDF Viewing Notes:
Public Release: 09DEC2010 Subversion Rev: 2271
The Net Names & Components are Hyper Linked. Left Click on a Component to view additional information. Left Click on a Net Name to follow it through the design.
3V3
TP1
3V3
R65
R50
10K
10K
TP2 Program EEPROM
Propeller Processor Mux_ADC_In Mux_ADC_Out Mux3 Mux2 Mux1 Mux0 Speaker Obs_Rx Mot_Right_PWM Mot_Left_PWM Mot_Right_Dir Mot_Left_Dir Obs_Tx_Right Mot_Right_Enc Mot_Left_Enc Idler_Tx Push Mic_ADC_In Mic_ADC_Out LED_Clk LED_Data Obs_Tx_Left P5 P4 P3 P2 P1 P0
34 33 32 31 26 25 24 23 22 21 20 19 16 15 14 13 12 11 10 9 4 3 2 1 44 43 42 41
P27 P26 P25 P24 P23 P22 P21 P20 P19 P18 P17 P16 P15 P14 P13 P12 P11 P10 P9 P8 P7 P6 P5 P4 P3 P2 P1 P0
U21
P28-SCL P29-SDA
U5 35
6
36
5
SCL SDA
A2 A1 A0 WP
3 2 1 7
256Kb
P30-TX P31-RX
37
Serial_Tx
38
Serial_Rx 3V3 User EEPROM
BOE RES
6
U6
7
Reset
6 5
SCL SDA
A2 A1 A0 WP
3 2 1 7
256Kb
XI
28 Y1
TP35
5.00MHz
XO
29
928-P8X32A-Q44
Mounting Holes
Desinger: Ben Wirz Element Products, Inc. http://www.elementinc.com/ Copyright(c) 2010 Element Products, Inc. & Parallax, Inc. This schematic is released under the Creative Commons Attribution License. (www.creativecommons.org)
SIZE
X1
X2
X5
X6
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
1
PROJECT
8
SCRIBBLER2
X4
Back Board Interface
3V3
9V0
3V3
3V3
3V3
R7
R12
R13
22K
4.7K
22K
TP20 P6
130
Idler LED Driver
TP22 TP33 Q2 TP13
Serial_Tx Serial_Rx
R66 1.0K
TP14
Encoder Schmitt Trigger Buffer
R26 U20
Push
U20
Mot_Right_Enc
10K
TP15
R10
Mot_Left_Enc
330
TP34
5V0_HACK
R11 330
TP9
LED_Clk Reset LED_Data
Idler_Rx_Ang Mic_Ang 3V3 600-20
Back Board Ribbon Cable Connector
R16
Idler_Tx_Drv
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
TP5
C21
C74
C73
C72
C71
C70
C69
C77
C76
C75
C78
1nF
DNI
DNI
1nF
1nF
1nF
1nF
DNI
1nF
1nF
DNI
C85 TP16
1nF
Microphone Sigma Delta ADC
C22
Mic_ADC_In
100nF
C86 1nF
SIZE
R24
Mic_ADC_Out
100K
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
2
PROJECT
8
SCRIBBLER2
Idler_Tx
Motor Driver TP10
9V0
Mot_Left_Dir
TP4
U19
U1
Mot_Left_PWM
21 22 TP36
23
13 14 24
AIN1 AIN2
AO11 AO12
PWMA
AO21 AO22
Mot_Right_Dir 17 16
U19 TP37
15 Mot_Right_PWM 19
BIN1 BIN2
BO11 BO12
PWMB
BO21 BO22
1 2 5 6
R21
C33
DNI
DNI
P7 1 2
Left Motor
623-2M
11 12
R36
7 8
P5
C42
DNI
1 2
DNI
Right Motor
623-2M
STBY 10705
3 4 9 10
3V3
TP12
R9
Over-Current Comparator 14.0K
R46
V_Trip 3V3
DNI
R8
C63
1.00K
3V3
R33
3V3
TP8 U10
Reset
100nF
D CLK
TP3 R35
U7
TP23
4.7K
Q3
Q
+
6
-
Mot_OC
R32
4.7K
100K
Mot_OC
5
8
10439-SON
C35
CLR 10707-1G175
7 4
100nF
Over-Current Latch
3V3 Current Measurement Amp TP6 8
47K
R29 0.10
TP7
U7
R30
C4
3
+
2
-
Mot_I_Ang 1 4
10439-SON 1.0uF
R28 R31
220K
10K
SIZE
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
3
PROJECT
8
SCRIBBLER2
Power Supply
300kHz Switching Regulator 5.0 Vdc @ 1,800mA Max 9V0
Linear Regulator TP17
TP18 U3 4
R57
VIN
R3
C11 DNI
5 6
3
FB
100nF
9V0
3V3_I_Ang
1
VIN
VOUT
EN
BYPASS
5
4.7
C12
C89
+
470uF
C24
C1
C62
100uF
4.7uF
4.7uF
10555-3V3
DNI
4
C41
C32
10nF
4.7uF
R2 1.30K
Input Cap Ripple Current >= 0.9A
9V0
100uH
3V3
1
10743
C3
R55
+
6.80K
TP21
U17
3
OCSET
EN
L2
5V0_HACK
47uH 313-470
3.3 Vdc @ 150mA Max 5V0
D1 R1
2
9V0
L1
2.40K
220K
9V0
OUTA OUTB
TP19
9V0
Output Cap ESR <= 0.19 Ohm
9V0 5V0_HACK
C2
C13
C27
1.0uF
1.0uF
1.0uF
5V0
3V3
3V3
5V0
+
+
470uF
5V0
C40
C64
C52
1.0uF
10nF
10nF
3V3
C16
3V3
C14
+
470uF
TP11
C46
+
470uF
C17
C58
C23
C15
C28
C43
470uF
470uF
470uF
1.0uF
1.0uF
1.0uF
4.7uF
3V3
3V3
3V3
3V3
3V3
3V3
+
C18
+
5V0
+
C29 100uF
3V3
3V3
3V3
3V3
3V3
3V3
3V3
C68
C47
C54
C59
C65
C50
C53
C48
C79
C80
C81
C82
C83
C84
C57
C51
1.0uF
1.0uF
10nF
10nF
10nF
10nF
10nF
10nF
1nF
1nF
1nF
1nF
1nF
1nF
1nF
1nF
+
3V3
C91 100uF
SIZE
+
C30 100uF
3V3
+
C44 100uF
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
4
PROJECT
8
SCRIBBLER2
C38 5V0
Speaker Amplifer
1nF
R38
5V0
22K
C39
R5
100nF
22K
4 3
ININ+
1 2
VO1
SD BYPASS
VO2
P1 C36
1 2
5
4.7uF
623-2M
8
10708-SSOP
C92
C34
4.7uF
4.7uF
3V3
Obstacle IR Detector R42 3V3
100
R47 C49 1.0uF
TP24
U15 VCC
Speaker
U2
10K
R61
OUT
Obs_Tx_Left
Obs_Rx
1.0K
38kHz
R19
D3
Obstacle Emitter Left
680
Obs_Tx_Right
R20
D4
Obstacle Emitter Right
680
SIZE
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
5
PROJECT
8
SCRIBBLER2
16 Channel Sigma Delta ADC 16:1 Analog Mux
Mux3
TP25
Top PCB Light Sensors
TP26
TP27
3V3
P2 1 2 3 4
U9
U18
6
E
Mux2 Mux1 Mux0
9 S2 10 S1 11 S0
Line_Left_Ang Line_Right_Ang Light_Left_Ang 3V3_I_Ang Ang0 Light_Center_Ang Light_Right_Ang Ang1
4 2 5 1 12 15 14 13
Mux[3:0] = 0b1XXX
Y7 Y6 Y5 Y4 Y3 Y2 Y1 Y0
Z
3
10706-SON-HCT
623-4M
3V3
R77 22.0K
C45 1.0uF
R78 22.0K
R79
C55 1.0uF
22.0K
C56
C25
1.0uF
1nF
Sigma Delta ADC
R6
Mux_ADC_In
270K
R25 100K
5V0
9V0
5V0
3V3
R45
R43
R49
3.30K
3.30K
3.30K
R15 3.30K
U18
100nF
R18 3.30K
9 S2 10 S1 11 S0
Idler_Rx_Ang Bat_V_Ang V_Trip Mot_I_Ang C90
C66
C87
100nF
100nF
100nF
1nF
Mux2 Mux1 Mux0
TP28
C20
C19
E
6
R14 10.0K
U8 Mux3
4 2 5 1 12 15 14 13
Y7 Y6 Y5 Y4 Y3 Y2 Y1 Y0
Z
3
Mux[3:0] = 0b0XXX
10706-SON-HCT
SIZE
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
6
PROJECT
8
SCRIBBLER2
Mux_ADC_Out
Line Follow Sensor Interface
Photo Diode Amp C60
R22 3V3
10nF
330K
TP30 P4
TP29
5V0_HACK
1 2 3 4
Left Line Follow Sensor
U11 3
+
2
-
8
Line_Left_Ang 1 4
10439-SON 623-4M
R17 330K
C26 33pF
P3
TP31 1 2 3 4
Right Line Follow Sensor
C61
623-4M
10nF
R23 3V3
330K
TP32 U11 5
+
6
-
R52 51.0
8
Line_Right_Ang 7 4
10439-SON
R27 330K
Enabled Mux[3:0] = 0b111X
C31 33pF
Mux2 Mux3 Mux1
U22
R48
Q6
1.0K 10707-1G11
SIZE
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
7
PROJECT
8
SCRIBBLER2
Hacker Port Interface
5V0_HACK R4 220K
Hacker Port C37
P8
100nF
20 19
2
3V3
R34
R37
R39
R40
R41
R44
4.7K
4.7K
4.7K
4.7K
4.7K
4.7K
A1 B1 C1 A2 B2 C2 A3 B3 C3 A4 B4 C4 A5 B5 C5 A6 B6 C6 A7 B7 C7 A8 B8 C8
3 4 5 6 7 8 9 10
SA SB SC SD SE SF SG SH
GREF DREF
P5 P4 P3 P2 P1 P0
SREF
U14
DA DB DC DD DE DF DG DH
18 17 16 15 14 13 12 11
Hack5 Hack4 Hack3 Hack2 Hack1 Hack0
10608 C5
C6
C7
C8
C9
C10
1nF
1nF
1nF
1nF
1nF
1nF
3.3V - 5.0V Logic Level Translator
Ang1
Ang0
6007-03-08-850
SIZE
C67
C88
1nF
1nF
DWG
A DRAWN BY
B. WIRZ
10712D_Main_PCB SHEET
OF
8
PROJECT
8
SCRIBBLER2
Back PCB
3V3
Q3
R10
Serial_Tx
1.0K
TP200
5V0
RS-232 Level Converter DB-9 Serial Port
9V0
J1 DCD RXD TXD DTR GND DSR RTS CTS RI M1 M2
TP201 1
TP204 P1
R5
4.7K
2
9V0 Main Board Ribbon Cable
3V3 R11
3V3
Reset
Idler_Tx_Drv
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
10K
3
C13
4 5
Q2
C12
10nF
DNI
6
P5
7 8
1 2
9 M1
C15
DNI
M2
Serial_Tx Serial_Rx Right_Enc Push Left_Enc LED_Clk Reset LED_Data
DNI
661-9FA
3V3 Idler_Rx_Ang R9 TP203
Mic_Ang
4.7K
TP202
R15 R8
Serial_Rx
650-20
330
Q1
4.7K
Motor Break Beam Encoders Battery
Power Switch
9V0
5V0
SW1
P2
F1 1 2
R13
1.10A 631-2M
Right_Enc 100
Left_Enc
737-S-7P0MM
U2
U3
User Push Button Switch SW2 Push 730-R-BLU
X1
X2
X3
X4
SIZE
DWG
A DRAWN BY
B. WIRZ
10715E_Back_PCB SHEET
OF
1
PROJECT
3
SCRIBBLER2
C19 10nF
D2 R3
GA
Center User LED
RA
470
Bi-Color LED Driver
GRN/RED
U1 LED_Clk
8
LED_Data
1 2
Reset
9
Q7 Q6 Q5 Q4 Q3 Q2 Q1 Q0
CLK SDA SDB
CLR
C20
13 12 11 10 6 5 4 3
10nF
D1 R6
GA
Right User LED
RA
470 GRN/RED
9V0
5V0
3V3
3V3
3V3
10746-SON-HCT C18 10nF
D3 R4
GA
C6
C5
C11
C10
C9
4.7uF
4.7uF
4.7uF
10nF
10nF
Left User LED
RA
470 GRN/RED
R14
D4
680
BLUE
3V3
Power Indicator LED
C17 10nF
R20 1.0K
R21 C1
3V3
Microphone Pre-Amp
2.2K
4.7uF
U4
C16 100nF
M1
5
+
6
-
8
Mic_Ang 7 4
10439-SON
M 10747
R17 22K
R16 3V3
100K
C14 R7
220pF
100K
R18
R19
22K
C4 4.7uF
R12 100K
2.2K
C7
C8
4.7uF
4.7uF
SIZE
DWG
A DRAWN BY
B. WIRZ
10715E_Back_PCB SHEET
OF
2
PROJECT
3
SCRIBBLER2
Idler Wheel Break Beam Sensor
Photo Diode Amp
C3
R2 3V3
10nF
1.00M
U4 8
P4 1 2 3 4
3
+
2
-
Idler_Rx_Ang 1 4
10439-SON
R1 1.00M
C2 33pF
5V0 P3
Idler_Tx_Drv
1 2 3 4
SIZE
DWG
A DRAWN BY
B. WIRZ
10715E_Back_PCB SHEET
OF
3
PROJECT
3
SCRIBBLER2
Top Light Sensor PCB
Light Sensors P1 1 2 3 4 631-4M
X1
X2
3V3 Right Center Left Right
Center
Left
U3
U2
U1
10766
10766
10766
SIZE
DWG
A DRAWN BY
B. WIRZ
10718C_Top_PCB SHEET
OF
1
PROJECT
1
SCRIBBLER2
Idler Wheel Stall Detector
P1
D1 1 2 3 4
IR LED 705-850IR20W
6007-01-04-850
P2
D2 1 2 3 4
732-940IR16W
IR Photo Diode
6007-01-04-850
SIZE
DWG
A DRAWN BY
B. WIRZ
10753B_Idler_PCB SHEET
OF
1
PROJECT
1
SCRIBBLER2
Battery Box Wire Diagram
J1
2 1
1.5V
1.5V
1.5V
B3 1.5V
B2
+
B4
+
B5
+
B6
+
625-2M
Red Black +
1 2
+
625-2 Pin Out
1.5V
B1 1.5V
24AWG Wire
SIZE
DWG
A DRAWN BY
B. WIRZ
10243D_Battery_Wire SHEET
OF
1
PROJECT
1
SCRIBBLER2
Line Sensor Wire Diagram
D1
625-4 Pin Out
4 3 2 1
IR LED
940nm +/- 30 deg 700-940IR30W
J1 1 2 3 4
Red Green White Black
D? 940nm +/- 25 deg 733-940IR25W
625-4M
IR Photo Diode
28AWG Wire
SIZE
DWG
A DRAWN BY
B. WIRZ
10247F_Line_Sensor_Wire SHEET
OF
1
PROJECT
1
SCRIBBLER2
Speaker Wire Diagram
625-2 Pin Out
SP1
J1 1 2
2 1
625-2M
+ -
Red Black 28AWG Wire
10251-27X9A
SIZE
DWG
A DRAWN BY
B. WIRZ
10248C_Speaker_Wire SHEET
OF
1
PROJECT
1
SCRIBBLER2
Motor Wire Diagram
C2 0.1uF
J1 1 2 625-2M
M1 +
Red Black
M
-
C1
C3
0.1uF
0.1uF
CASE
625-2 Pin Out
2 1
24AWG Wire
SIZE
DWG
A DRAWN BY
B. WIRZ
10268E_Motor_Wire SHEET
OF
1
PROJECT
1
SCRIBBLER2
Top PCB (10719) to Main PCB (10713) Wire Diagram
625-4 Pin Out
4 3 2 1
J1
J2 1 2 3 4 625-4M
RED WHITE GREEN YELLOW
1 2 3 4 625-4M
28AWG Wire
SIZE
DWG
A DRAWN BY
B. WIRZ
10721A_Top_PCB_Wire SHEET
OF
1
PROJECT
1
SCRIBBLER2
S2 Cabling Diagram
Top PCB 10718C
1
2
3
4
1
2
3
4
P1
Right Line Follow Assembly 10247F
Right Motor Assembly
P3
10268E
P5
P2
1 2
Left Motor Assembly
1
3
2
4
10268E
P7 1 2
Left Line Follow Assembly 10247F
Main PCB 10712D
P4 1 2 3 4
Back PCB 10715E
Main to Back PCB Ribbon Cable
P6
P1 P2
Speaker Assembly 10248C
P1 2
1
2
+ -
1
P8
10243D Battery Holder Assembly
Hacker Port
+
+
+
+
+
+
10753B Idler PCB
S2 Top View Front
Left Side
Right Side SIZE
DWG
Cabling_Diagram
A Back
DRAWN BY
B. WIRZ
SHEET
OF
1
PROJECT
1
SCRIBBLER2
S2 System Block Diagram Switching Power Supply 300 kHz Programable LED's
Line Sensors P3/P4/U11/U22
P6/D1/D2/D3/D4/U1
Left Wheel Bi-Directional Control
Light Sensors P2
U1/ U19
Analog MUX U8/U9/U18
Battery & Supply Voltage Monitor
Right Wheel Bi-Directional Control U1/ U19
Microcontroller P8X32A U2
Idler Wheel Sensor P6/U4-B
Left Wheel Encoder P6/U3/U20-A
Wheel Motor Current Measure U7/U10
Right Wheel Encoder P6/U2/U20-B Microphone P6/U4-A Obstacle Sensor D3/D4/U15 RS-232 Serial interface Power Amplifier
+ -
U2 Serial EEPROM U5/U6
OSC Y1 /5.0MHz SIZE
DWG
Block_Diagram
A DRAWN BY
B. WIRZ
SHEET
OF
1
PROJECT
1
SCRIBBLER2