1
1
2
2
3
3
4
4
D D
C C
B B
A A
CSN
SCK
MOSI
MISO BMA1
BMA2
BMB1
BMB2
REFL
REFR
ENCA
ENCB
ENCN
C5
223/50V
C10
105/10V
C8
105/10V
R15
2R2/1%/
C2
104/50V
C14
104/50V
C15
104/50V
1
2
3
4
5
6
7
8
D1 D2
S1 S2
G1
G2
Q1
AO4882
1
2
3
4
5
6
7
8
D1 D2
S1 S2
G1
G2
Q2
AO4882
1
2
3
4
5
6
7
8
D1 D2
S1 S2
G1
G2
Q3
AO4882
1
2
3
4
5
6
7
8
D1 D2
S1 S2
G1
G2
Q4
AO4882
CA1
CA2
CB1
CB2
47R
R21
47R
R22
47R
R27
47R
R28
SRBH
SRBL
SRAL
SRAH
+VM
+VM
+VM
22R
R17
22R
R18
22R
R19
22R
R20
22R
R23
22R
R24
22R
R26
22R
R25
HA1 HA2
LA1 LA2
HB1 HB2
LB1 LB2
BMA1
BMA2
BMB1
BMB2
HA1
HA2
CA1
CA2
LA1
LA2
SRAL
SRAH
HB1
HB2
CB1
CB2
SRBH
SRBL
LB1
LB2
C6
225/25V
C9
225/25V
DIAG1
VCC_IO
HB1
1
CB1
2
12VOUT
3
VSA
4
5VOUT
5
GNDA
6
SRAL
7
SRAH
8
SRBH
9
SRBL
10
TST_MODE
11
CLK
12
CSN_CFG3
13
SCK_CFG2
14
SDI_CFG1
15
SDO_CFG0
16
REFL_STEP
17
REFR_DIR
18
GNDD
19
VCC_IO
20
SD_MODE
21
SPI_MODE
22
ENCB_DCEN_CFG4
23
ENCA_DCIN_CFG5
24
ENCN_DCO_CFG6
25
DIAG0_SWN
26
DIAG1_SWP
27
DRV_ENN
28
VCC
29
GNDD
30
CPO
31
CPI
32
VS
33
VCP
34
CA2
35
HA2
36
BMA2
37
LA2
38
LA1
39
BMA1
40
HA1
41
CA1
42
CB2
43
HB2
44
BMB2
45
LB2
46
LB1
47
BMB1
48
GND_PAD
49
IC1 TMC5160-TA
SA
+VM
0.075R/1W
R29
0.075R/1W
R30
SPI_MODE
SD_MODE
CLK16
DRV_ENN
1
2
3
4
5
6
7
8
ARDUINO Connector0
Header 8
REFL
REFR
REFL1
REFR1
REFL2
REFR2
REFL3
REFR3
1
2
3
4
5
6
7
8
9
10
ARDUINO Connector1
Header 10
CS1
CS2
CS3
CSN
GND
SCK
MISO
MOSI
1
2
3
4
5
6
7
8
9
10
Solder Pads
Header 10
GND
ENCA
ENCB
ENCN
DIAG1
DIAG2
+VM
CLK16
DIAG2
DRV_ENN
1
2
3
4
5
6
MOTOR_OUTPUT
Header 6
1 2
3 4
5 6
7 8
9 10
11 12
ARDUINO Analog Connector
Header 6X2
1
2
3
4
5
6
7
8
ARDUINO Power Connector
Header 8
BMA1
BMA2
BMB1
BMB2
5V_OUT
HEADER
MOTOR OUTPUT
MOS驱动电路
选择SPI片选线
CLK16接GND，采用内部时钟
DRV_ENN接GND，输出状态，功率mos有输出
user pin
SPI_MODE&SD_MODE用于选择芯片功能
1、SPI_MODE为1，SD_MODE为0，选择SPI模式
2、SPI_MODE为0，SD_MODE为0，选择UART模式
3、SPI_MODE为0，SD_MODE为0，STEP/DIR输入引脚控制驱动使能
VCC_IO是输入引脚，即逻辑高电平的电压
5V_OUT是输出引脚，由VM降压得到，输出给VCC供电
引出了原理图唯一的的5V，5V_OUT
该5V引脚在要求里不太清晰
GND
GND
GND
C16
106/50V
C17
106/50V
CE1
470uF/50V
GND
SB
GND
MOS驱动电路
C1
105/50V
C7
105/50V
C3
224/50V
C4
224/50V
C11
224/50V
C12
224/50V
GND
GND
GND
VCC
5V_OUT
GND
12V_OUT
VCC_IO
GND
GND
R31
0R
R14
0R
1
2
J1 CN2
1
2
J2 CN2
1
2
J3 CN2
1
2
J4 CN2
1
2
J5 CN2
1
2
J6 CN2
1
2
J7
CN2
1
2
J8
CN2
1
2
J9
CN2
VCC_IO
1
2
3
J10
CN3
1
2
3
J11
CN3
VCC_IO
GND
TMC5160驱动电路
TX NC
RX NC
R16
1K
LED1
RED
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PIARDUINO Analog Connector01 PIARDUINO Analog Connector02
PIARDUINO Analog Connector03 PIARDUINO Analog Connector04
PIARDUINO Analog Connector05 PIARDUINO Analog Connector06
PIARDUINO Analog Connector07 PIARDUINO Analog Connector08
PIARDUINO Analog Connector09
PIARDUINO Analog Connector010
PIARDUINO Analog Connector011 PIARDUINO Analog Connector012
COARDUINO Analog Connector
PIARDUINO Connector001
PIARDUINO Connector002
PIARDUINO Connector003
PIARDUINO Connector004
PIARDUINO Connector005
PIARDUINO Connector006
PIARDUINO Connector007
PIARDUINO Connector008
COARDUINO Connector0
PIARDUINO Connector101
PIARDUINO Connector102
PIARDUINO Connector103
PIARDUINO Connector104
PIARDUINO Connector105
PIARDUINO Connector106
PIARDUINO Connector107
PIARDUINO Connector108
PIARDUINO Connector109
PIARDUINO Connector1010
COARDUINO Connector1
PIARDUINO Power Connector01
PIARDUINO Power Connector02
PIARDUINO Power Connector03
PIARDUINO Power Connector04
PIARDUINO Power Connector05
PIARDUINO Power Connector06
PIARDUINO Power Connector07
PIARDUINO Power Connector08
COARDUINO Power Connector
PIC101 PIC102
COC1
PIC201
PIC202
COC2
PIC301 PIC302
COC3
PIC401 PIC402
COC4
PIC501
PIC502
COC5
PIC601
PIC602
COC6
PIC701 PIC702
COC7
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC1001
PIC1002
COC10
PIC1101 PIC1102
COC11
PIC1201 PIC1202
COC12
PIC1401
PIC1402
COC14
PIC1501
PIC1502
COC15
PIC1601
PIC1602
COC16
PIC1701
PIC1702
COC17
PICE101
PICE102
COCE1
PIIC101
PIIC102
PIIC103
PIIC104
PIIC105
PIIC106
PIIC107
PIIC108
PIIC109
PIIC1010
PIIC1011
PIIC1012
PIIC1013
PIIC1014
PIIC1015
PIIC1016
PIIC1017
PIIC1018
PIIC1019
PIIC1020
PIIC1021
PIIC1022
PIIC1023
PIIC1024
PIIC1025
PIIC1026
PIIC1027
PIIC1028
PIIC1029
PIIC1030
PIIC1031
PIIC1032
PIIC1033
PIIC1034
PIIC1035
PIIC1036
PIIC1037
PIIC1038
PIIC1039
PIIC1040
PIIC1041
PIIC1042
PIIC1043
PIIC1044
PIIC1045
PIIC1046
PIIC1047
PIIC1048
PIIC1049
COIC1
PIJ101 PIJ102
COJ1
PIJ201
PIJ202
COJ2
PIJ301
PIJ302
COJ3
PIJ401 PIJ402
COJ4
PIJ501
PIJ502
COJ5
PIJ601
PIJ602
COJ6
PIJ701
PIJ702
COJ7
PIJ801
PIJ802
COJ8
PIJ901
PIJ902
COJ9
PIJ1001
PIJ1002
PIJ1003
COJ10
PIJ1101
PIJ1102
PIJ1103
COJ11
PILED10A
PILED10K
COLED1
PIMOTOR0OUTPUT01
PIMOTOR0OUTPUT02
PIMOTOR0OUTPUT03
PIMOTOR0OUTPUT04
PIMOTOR0OUTPUT05
PIMOTOR0OUTPUT06
COMOTOR0OUTPUT
PIQ101
PIQ102
PIQ103
PIQ104
PIQ105 PIQ106 PIQ107 PIQ108
COQ1
PIQ201
PIQ202
PIQ203
PIQ204
PIQ205 PIQ206 PIQ207 PIQ208
COQ2
PIQ301
PIQ302
PIQ303
PIQ304
PIQ305 PIQ306 PIQ307 PIQ308
COQ3
PIQ401
PIQ402
PIQ403
PIQ404
PIQ405 PIQ406 PIQ407 PIQ408
COQ4
PIR1401
PIR1402
COR14
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801PIR1802
COR18
PIR1901
PIR1902
COR19
PIR2001PIR2002
COR20
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PIR2301
PIR2302
COR23
PIR2401PIR2402
COR24
PIR2501
PIR2502
COR25
PIR2601PIR2602
COR26
PIR2701
PIR2702
COR27
PIR2801
PIR2802
COR28
PIR2901
PIR2902
COR29
PIR3001
PIR3002
COR30
PIR3101
PIR3102
COR31
PISolder Pads01
PISolder Pads02
PISolder Pads03
PISolder Pads04
PISolder Pads05
PISolder Pads06
PISolder Pads07
PISolder Pads08
PISolder Pads09
PISolder Pads010
COSolder Pads
PIC101
PIC201
PIC701
PIC1401
PIC1501 PIC1601 PIC1701
PICE101
PIIC104
PIIC1033
PIMOTOR0OUTPUT06
PIQ105 PIQ106 PIQ107 PIQ108
PIQ305 PIQ306 PIQ307 PIQ308
PISolder Pads010
NL0VM
PIC901
PIIC105
PIR1502
PISolder Pads01
NL5V0OUT
PIC602
PIIC103
PIC302
PIIC1040
PIMOTOR0OUTPUT04
PIQ103
PIQ205 PIQ206
NLBMA1
PIC402
PIIC1037
PIMOTOR0OUTPUT03
PIQ101
PIQ207 PIQ208
NLBMA2
PIC1102
PIIC1048
PIMOTOR0OUTPUT02
PIQ303
PIQ405 PIQ406
NLBMB1
PIC1202
PIIC1045
PIMOTOR0OUTPUT01
PIQ301
PIQ407 PIQ408
NLBMB2
PIC301
PIIC1042
NLCA1
PIC401
PIIC1035
NLCA2
PIC1101
PIIC102
NLCB1
PIC1201
PIIC1043
NLCB2
PIIC1012
PIR1402
PISolder Pads07
NLCLK16
PIARDUINO Connector108
PIJ702
NLCS1
PIARDUINO Connector109
PIJ802
NLCS2
PIARDUINO Connector1010
PIJ902
NLCS3
PIIC1013
PIJ701
PIJ801
PIJ901
NLCSN
PIIC1026
PISolder Pads08
NLDIAG1
PIIC1027
PISolder Pads09
NLDIAG2
PIIC1028
PIR3102
PISolder Pads06
NLDRV0ENN
PIIC1024
PISolder Pads03
NLENCA
PIIC1023
PISolder Pads04
NLENCB
PIIC1025
PISolder Pads05
NLENCN
PIARDUINO Connector104
PIARDUINO Power Connector06
PIARDUINO Power Connector07
PIC102
PIC601
PIC702
PIC802 PIC902
PIC1002
PIC1402
PIC1502 PIC1602 PIC1702 PICE102
PIIC106
PIIC1011
PIIC1019
PIIC1030
PIIC1049
PIJ1003
PIJ1103
PILED10K
PIMOTOR0OUTPUT05
PIR1401
PIR2201
PIR2801
PIR2902
PIR3002
PIR3101
PISolder Pads02
NLGND
PIIC1041
PIR1702
NLHA1
PIIC1036
PIR1801
NLHA2
PIIC101
PIR2302
NLHB1
PIIC1044
PIR2401
NLHB2
PIIC1039
PIR1902
NLLA1
PIIC1038
PIR2001
NLLA2
PIIC1047
PIR2502
NLLB1
PIIC1046
PIR2601
NLLB2
PIARDUINO Connector106
PIIC1016
NLMISO
PIARDUINO Connector107
PIIC1015
NLMOSI
PIARDUINO Analog Connector01 PIARDUINO Analog Connector02
PIARDUINO Analog Connector03 PIARDUINO Analog Connector04
PIARDUINO Analog Connector05 PIARDUINO Analog Connector06
PIARDUINO Analog Connector07 PIARDUINO Analog Connector08
PIARDUINO Analog Connector09
PIARDUINO Analog Connector010
PIARDUINO Analog Connector011 PIARDUINO Analog Connector012
PIARDUINO Connector101
PIARDUINO Connector102
PIARDUINO Connector103
PIARDUINO Power Connector01
PIARDUINO Power Connector03
PIARDUINO Power Connector04
PIARDUINO Power Connector05
PIARDUINO Power Connector08
PIC202
PIIC1034
PIC501
PIIC1031
PIC502
PIIC1032
PILED10A
PIR1601
PIQ102
PIR1802
PIQ104
PIR1701
PIQ202
PIR2002
PIQ204
PIR1901
PIQ302
PIR2402
PIQ304
PIR2301
PIQ402
PIR2602
PIQ404
PIR2501
PIIC1017
PIJ101
PIJ201
PIJ301
NLREFL
PIARDUINO Connector001
PIJ302
NLREFL1
PIARDUINO Connector003
PIJ202
NLREFL2
PIARDUINO Connector005
PIJ102
NLREFL3
PIIC1018
PIJ401
PIJ501
PIJ602
NLREFR
PIARDUINO Connector002
PIJ601
NLREFR1
PIARDUINO Connector004
PIJ502
NLREFR2
PIARDUINO Connector006
PIJ402
NLREFR3
PIARDUINO Connector008
NLRX NC
PIQ201PIQ203
PIR2101
PIR2901
NLSA
PIQ401PIQ403
PIR2701
PIR3001
NLSB
PIARDUINO Connector105
PIIC1014
NLSCK
PIIC1021
PIJ1102
NLSD0MODE
PIIC1022
PIJ1002
NLSPI0MODE
PIIC108
PIR2102
NLSRAH
PIIC107
PIR2202
NLSRAL
PIIC109
PIR2702
NLSRBH
PIIC1010
PIR2802
NLSRBL
PIARDUINO Connector007
NLTX NC
PIC1001
PIIC1029
PIR1501
PIARDUINO Power Connector02
PIC801
PIIC1020
PIJ1001
PIJ1101
PIR1602
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