2-24
2
VCC3
39
P
2
0
/P
O
0
/T
IOCA3
/(
IR
Q8
)
52
P
21/
P
O
1/
TIOCB3/
(IRQ9)
53
P
22/
P
O
2/
TIOCC3/
(IRQ10)
54
P
23/P
O
3/TIO
CD
3/(IRQ
11)
55
P
11/
P
O
9/
TIOCB0
44
P
10/P
O
8/TIO
CA
0
43
P70/
EDREQ
0/(DREQ
0)
34
P71/
EDREQ
1/(DREQ
1)
35
W
D
T
OVF
37
GND
99
P
3
0
/T
XD0/
Ir
T
XD
139
P
31/TX
D
1
138
P
3
2
/RXD0
/I
rR
XD
137
P
33/
RX
D
1
135
P
34/
S
C
K
0
134
P
35/
S
C
K
1/
(O
E
)
133
P
8
0
/EDREQ2
/(
IR
Q0
)
140
P
8
1
/EDREQ3
/(
IR
Q1
)
141
P
8
2
/ET
END2
/(
IR
Q2
)
142
P83
/ETEND3
/(IRQ3
)
2
GND
76
PD0/D8
80
PD1/D9
79
PD2/D1
0
78
PD3/D1
1
77
PE
0
/D
0
71
PE
1
/D
1
70
PE
2
/D
2
69
PE
3
/D
3
68
PE
4
/D
4
66
PE
5
/D
5
65
PE
6
/D
6
64
PE
7
/D
7
63
VCC3
96
PB0
/A8
15
PB1
/A9
16
PB2
/A1
0
17
PB3
/A1
1
18
PB4
/A1
2
20
PB5
/A1
3
21
PB6
/A1
4
22
PB7
/A1
5
23
PLLVSS
92
PC0
/A0
6
PC1
/A1
7
PC2
/A2
8
PC3
/A3
9
PC4
/A4
10
PC5
/A5
11
MD2
1
MD1
144
MD0
143
PA4/A2
0
29
PA5/A2
1
30
PA6/A2
2
31
PA7/A2
3
32
VCC3
67
XTAL
98
EXTAL
97
GND
47
NMI
38
RES
93
STBY
100
PF7/C
LKOUT
95
P
7
5
/EDACK
1
/(
DACK
1
)
42
GND
19
P84
/EDAC
K2/(IR
Q4)
3
P85
/EDAC
K3/(IR
Q5)
4
PD4/D1
2
75
PD5/D1
3
74
PC7
/A7
14
PC6
/A6
13
PA1/A1
7
25
P65
/TMO1/DAC
K1/IR
Q1
3
84
P64
/TMO0/DAC
K0/IR
Q1
2
83
P63/TMCI1/TEN
D1
/IRQ11
82
P
17/
P
O
15/
TIOCB2/
TCL
K
D
/E
D
RA
K
3
51
P
15/
P
O
13/
TIO
CB1/
TCL
K
C
49
P
13/
P
O
11/
TIOCD
0/
TCL
K
B
46
P
12/
P
O
10/
TIOCC0/
TCL
K
A
45
GND
26
PA3/A1
9
28
PA2/A1
8
27
PA0/A1
6
24
P
54/
A
N
12/
IRQ
4
127
P
53/
ADT
RG/
IRQ3
110
AVSS
131
P
4
7
/AN7/
DA1
126
P
4
6
/AN6/
DA0
125
P
45/
A
N
5
124
P
44/
A
N
4
123
P
43/
A
N
3
120
P
42/
A
N
2
119
P
41/
A
N
1
118
P
40/
A
N
0
117
VREF
121
AVCC
122
PLLVCC
94
FW
E
62
GND
12
P
25/
P
O
5/
TIOCB4/
(IRQ13)
57
P
14/P
O
12/TIO
CA
1
48
VCC3
5
VCC3
116
P50/
TXD
2/IRQ
0
107
GND
136
P51/
RXD
2/I
RQ1
108
P
52/S
C
K
2
/IRQ
2
109
P
24/P
O
4/TIO
CA
4/(IRQ
12)
56
P
26/
P
O
6/
TIOCA
5/
E
D
RA
K
0
/(IRQ14)
58
P
27/
P
O
7/
TIOCB5/
E
D
RA
K
1
/(IRQ15)
59
P
7
3
/ET
END1
/(
T
E
ND1
)
40
NC
33
P
7
4
/EDACK
0
/(
DACK
0
)
41
P72/ETEND0/(TEND0)
36
P
16/
P
O
14/
T
IOCA2/
E
DRAK
2
50
P
60/TM
RI0/D
R
E
Q
0/IRQ
8
60
P62/TMCI0/TEN
D0
/IRQ10
81
P
61/TM
RI1/D
R
E
Q
1/IRQ
9
61
PD6/D1
4
73
PD
7
/D
1
5
72
P
56/
A
N
14/D
A
2/
IRQ
6
129
P
57/
A
N
15/D
A
3/
IRQ
7
130
NC
132
PF0/W
AIT
85
PF1/UC
AS/IR
Q14
86
PF2/L
CAS/I
RQ1
5
87
PF3/LWR
88
PF4/HW
R
89
PF5/R
D
90
PF6/AS
91
PG0/C
S0
101
PG1/C
S1
102
PG2/C
S2
103
PG3/C
S3
104
PH0/C
S4
105
PH1/C
S5
106
P
H
2/
CS
6/
(IRQ
6)
111
P
H
3/
CS
7/
O
E
/(IRQ
7)
112
P
G
4/
BRE
QO
113
P
G
5/
BACK
114
P
G
6/
BRE
Q
115
P
55/
A
N
13/
IRQ
5
128
IC
1
5
H
8S/
267X
-Q
FP144
VCC3
VCC3
D8
D9
D10
D11
D12
D13
D14
D15
D0
D1
D2
D3
D4
D5
D6
D7
1
2
3
4
5
10
9
8
7
6
RA12
E
X
BA
10E
103J
1
2
3
4
5
10
9
8
7
6
RA11
EXBA
10E103J
D7
D0
D1
D2
D3
D4
D5
D6
D8
D9
D10
D11
D12
D13
D14
D15
VCC3
VCC3
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
1
2
3
4
5
10
9
8
7
6
RA20
E
X
BA
10E
103J
1
2
3
4
5
10
9
8
7
6
RA19
E
X
BA
10E
103J
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
VCC3
I/O
0
11
I/O
1
12
I/O
2
13
I/O
3
15
I/O
4
16
I/O
5
17
I/O
6
18
I/O
7
19
WE
27
CS
20
OE
22
A0
21
A1
23
A2
24
A3
25
A4
26
A5
1
A6
2
A7
3
A8
4
A9
5
A10
6
A11
7
A12
8
A13
9
A14
10
VCC3
28
GND
14
IC16
CY
7C1399
D0
D1
D2
D3
D4
D5
D6
D7
I/O
0
11
I/O
1
12
I/O
2
13
I/O
3
15
I/O
4
16
I/O
5
17
I/O
6
18
I/O
7
19
WE
27
CS
20
OE
22
A0
21
A1
23
A2
24
A3
25
A4
26
A5
1
A6
2
A7
3
A8
4
A9
5
A10
6
A11
7
A12
8
A13
9
A14
10
VCC3
28
GND
14
IC13
CY
7C1399
/C
S
1
/C
S
1
/L
W
R
/R
D
/L
W
R
/H
W
R
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
D8
D9
D10
D11
D12
D13
D14
D15
/H
W
R
VCC3
VCC3
PC
2
5
CE
0.
1u
PC
2
4
CE
0.
1u
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
LED1
S
E
L
6410E
3
1
2
Q1
D
T
C114E
K
VCC
R130
220
SEL1
SEL
1
2
3
4
5
10
9
8
7
6
RA21
E
X
BA
10E
103J
VCC3
/C
S
2
LED
R100
1.
8K
Y2
8.
0M
H
z
C104
CE
18p
C102
CE
22p
CL
K
3
2
R154
220
C103
CE
0.
1u
/R
D
VCC3
/S
en
sW
O
rg
VCC3
PC
2
8
CE
0.
1u
PC
2
7
CE
0.
1u
PC
2
2
CE
0.
1u
PC
2
3
CE
0.
1u
Cm
d_S
to
M
Cm
d_M
to
S
/C
m
d
_
H
S_St
o
M
/C
m
d_H
S
_M
to
S
VCC3
1
2
3
4
5
CN12
53398-0590
VCC
10
11
IC19E
74L
V
C
14
9
8
IC19D
74L
V
C
14
R167
10K
R168
10K
R169
10K
R159
10K
VCC3
FW
E
1
2
3
JP2
Pad
FW
E
R106
NON
VCC3
R105
10K
A16
A16
Ct
rg_RX
D
Ct
rg_TXD
SEL
SEL1
SEL2
RST
A
[1.
.16]
A
[1.
.16]
D
[0.
.15]
M
st
ep2B
M
st
ep2A
M
st
ep1B
M
st
ep1A
T43
T47
M
st
ep0B
M
st
ep0A
So
l_
Rus
h
S
o
l_
H
o
ld
M
st
ep_H
o
ld
@F
an
0
@F
an
F
A
M
trI2_PB
M
trI2_PA
M
trI1_PB
1
2
3
4
5
10
9
8
7
6
RA15
E
X
BA
10E
102J
1
2
3
4
5
10
9
8
7
6
RA17
E
X
BA
10E
102J
M
trC1_P
B
M
trC1_P
A
M
trC0_P
B
M
trC0_P
A
Mt
rA
_
P
B
Mt
rA
_
P
A
VCC3
D1
2
D2
3
D3
4
D4
5
D5
6
D6
7
D7
8
D8
9
Q1
18
Q2
17
Q3
16
Q4
15
Q5
14
Q6
13
Q7
12
Q8
11
E1
1
E2
19
IC18
74L
V
C
541
/S
en
sW
O
rg
R133
10K
5
5
4
4
6
6
3
3
7
7
2
2
8
8
1
1
RA10
E
X
BV
8V
103J
Mt
rW
_
P
B
Mt
rW
_
P
A
Mt
rH
_
P
B
Mt
rH
_
P
A
M
trI3_PB
M
trI3_PA
Mt
rADc
y
@S
ol
_
M
trI1_PA
M
trI0_PB
M
trI0_PA
Se
ri
al
_
L
OAD
D1
2
D2
3
D3
4
D4
5
D5
6
D6
7
D7
8
D8
9
Q1
18
Q2
17
Q3
16
Q4
15
Q5
14
Q6
13
Q7
12
Q8
11
E1
1
E2
19
IC14
74V
H
C
T541
/S
en
sC
VOrg
/S
en
sC
1
1
2
3
4
5
10
9
8
7
6
RA22
E
X
BA
10E
103J
VCC
/S
en
sC
0
/S
en
sHOrg
Monitor
/H
8S
_RE
S
E
T
/S
erialS
tart
+A
_I0
-A
_I0
+B_I0
-B_I0
+A
_I1
-A
_I1
+B_I1
-B_I1
+A
_C0
-A
_C0
+B_C0
-B_C0
+A
_I2
-A
_I2
+B_I2
-B_I2
+A
_I3
-A
_I3
+B_I3
-B_I3
+A
_C1
-A
_C1
+B_C1
-B_C1
+A
_H
-A
_H
+B_H
-B_H
+A
_W
-A
_W
+B_W
-B_W
VCC
VCC
C7
CE
470p
C6
CE
470p
@/
S
en
sC
0
@/
S
en
sW
O
rg
@/
S
en
sC
0
@/
S
en
sW
O
rg
C5
CE
470p
C8
CE
470p
C9
CE
470p
@
/Se
n
sCVOr
g
@/
S
en
sC
1
@
/Se
n
sHOr
g
@
/Se
n
sCVOr
g
@/
S
en
sC
1
@
/Se
n
sHOr
g
T58
R152
10K
R132
10K
5
5
4
4
6
6
3
3
7
7
2
2
8
8
1
1
RA16
E
X
BV
8V
102J
5
5
4
4
6
6
3
3
7
7
2
2
8
8
1
1
RA18
E
X
BV
8V
103J
+FAN
-F
A
N
R160
1
0
K
(NON)
VCC3
PC
1
4
CE
0.
1u
VCC3
PC
1
1
CE
0.
1u
VCC
To MOTSENS JUNCTION BOARD
To MOTSENS JUNCTION BOARD
/S
en
sC
o
v
FANP
W
M
1
FANP
W
M
2
@
FANP
W
M
1
@
FANP
W
M
2
Se
ri
al
_
C
LK
Se
ri
al
_
L
OAD
Se
ri
al
_
OUT
Se
ri
al
_
IN
1
2
3
4
5
10
9
8
7
6
RA23
E
X
BA
10E
103J
VCC3
T66
T72
T65
T71
T64
T70
/S
tep
D
rv
E
nable1
/S
tep
D
rv
E
nable2
/S
tep
D
rv
E
nable
/S
tep
D
rv
E
nable
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
CN1
52808-2691
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
CN2
52808-2691
R12
100
R11
100
R9
100
R10
100
R13
100
@/
S
en
sR
0
@/
S
en
sR
1
R95
10K
TP38
TP37
TP36
TP34
TP29
TP26
TP23
TP18
TP27
TP30
TP19
TP17
TP8
TP1
TP2
So
l_
+
So
l_
-
TP
154
T17
TP
155
TP
147
TP
157
TP
159
TP
156
TP
158
5
6
IC19C
74L
V
C
14
12
13
IC19F
74L
V
C
14
R153
33
R109
10K
R108
10K
Se
ri
al
_ST
O
RE
R107
0
C
P
U
I
D
:0010
TP58
TP76
TP74
TP73
TP68
TP64
TP57
TP53
TP40
TP39
Therm
R166
12K 0.
1%
C106
CE
1.
0u
T14
T18
T4
T11
SERVO BOARD_Circuit Diagram 1/4