2-27
2
Y1
8.
0M
H
z
5
5
4
4
6
6
3
3
7
7
2
2
8
8
1
1
RA24
E
X
BV
8V
470J
C111
CE1000p
C112
CE1000p
C68
CE22p
R90
10K
C110
CE1000p
C113
CE1000p
3
1
2
Q2
D
T
C114E
K
VCC
C69
CE18p
R123
100K
0.
1%
C96
CE0.022u
R215
100K 0.
1%
R156
1.
0K
XP
W
M
-
XP
W
M
+
10
9
8
+
-
IC26C
3403A
VCC
R144
470
VCC
R211
12K 0.
1%
R131
220
LED2
S
E
L
6410E
R210
12K 0.
1%
R216
4.7K
0.1%
R209
4.7K
0.1%
R120 0.
1o
hm
/1W
VCC
1
2
3
4
5
CN9
53398-0590
C126
CE0.22u/
50V
C86 CE
0.
022u
VM
VCC
R122
100K
0.
1%
R214
100K 0.
1%
12
13
14
+
-
IC26D
3403A
VCC
R213
12K 0.
1%
R212
12K 0.
1%
R124
4.7K
0.1%
R125
4.7K
0.1%
/X
_
A
/X
_
B
/Y
_
B
/Y
_
A
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/
(IRQ
10)
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/
TIO
CB2/
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/
TIO
CC0/
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/
(IRQ
13)
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
1
6/
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/LC
AS/IRQ1
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
12
H
8S
/267X
-Q
F
P
144
R136
220
VM
VCC3
VCC3
PC
2
1
CE
0.
1u
C94
CE1.0u
C99
CE0.022u
R157
1.
0K
R147
470
C95
CE0.022u
R145
47K
R143
470
C98
CE0.022u
R146
2.2K
R158
1.
0K
VCC3
T32
T31
R102
1.
0K
VFW
E
1
2
3
4
5
10
9
8
7
6
RA3 E
X
BA
10E
103J
1
2
3
4
5
10
9
8
7
6
RA9 E
X
BA
10E
103J
1
2
3
4
5
10
9
8
7
6
RA2
E
X
BA
10E
103J
1
2
3
4
5
10
9
8
7
6
RA8
EXBA10E103J
T35
T34
T36
T37
T29
T30
PC
9
CE
0.
1u
PC
1
0
CE
0.
1u
PC
2
0
CE
0.
1u
T19
VCC3
Cm
d_S
to
M
Cm
d_M
to
S
/C
m
d
_HS_St
o
M
IN
T
DDA
DDA_
Mt
o
S
DDA_CLK
VCC3
5
5
4
4
6
6
3
3
7
7
2
2
8
8
1
1
RA25
E
X
BV
8V
102J
FL3
8
E
X
CM
L
20A
390
FL2
0
E
X
CM
L
20A
390
FL1
9
E
X
CM
L
20A
390
FL2
1
E
X
CM
L
20A
390
/C
m
d_H
S
_M
to
S
/R
ESET
To FEED MOTOR
To SCAN MOTOR
C72
CE1000p
C74
CE1000p
C76
CE1000p
C77
CE1000p
R93
10K
+
C91
100u/
63V
R83
1.8K
C127
CE0.22u/
50V
V
A
[0.
.15]
C97
CE
0.
1u
VCC3
VA14
VA13
VA12
VA11
VA10
VA9
VA8
VA7
VA6
VA5
VA4
VA3
VA2
VA1
/VRD
/VHWR
/VCS1
I/O0
11
I/O1
12
I/O2
13
I/O3
15
I/O4
16
I/O5
17
I/O6
18
I/O7
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
IC11
CY
7C1399
VD0
VD1
VD2
VD3
VD4
VD5
VD6
VD7
VA0
/V
R
D
/VCS1
/VHW
R
V
D
[0.
.15]
VCC3
1
2
3
4
5
10
9
8
7
6
RA14
E
X
BA
10E
103J
VCC3
1
2
3
4
5
10
9
8
7
6
RA13
E
X
BA
10E
103J
VA14
VA13
VA12
VA11
VA10
VA9
VA8
VA7
VA6
VA5
VA4
VA3
VA2
VA1
VA0
VA15
VA14
VA13
VA12
VA11
VA10
VA9
VA8
VA7
VA6
VA5
VA4
VA3
VA2
VA1
VA0
V
A
[0.
.15]
VA15
V
D
[0.
.15]
T46
T42
T39
T45
T41
T38
T44
T40
R138
10K
R137
1
0
K
(NON)
DDA_St
o
M
R84
2.
2K
VD8
VD9
VD10
VD11
VD12
VD13
VD14
VD15
VD8
VD9
VD10
VD11
VD12
VD13
VD14
VD15
VD8
VD9
VD10
VD11
VD12
VD13
VD14
VD15
1
2
3
4
5
10
9
8
7
6
RA5
EXBA10E103J
SCLK
R92
1.
0K
R91
2.
2K
R141
33
VCC3
1
2
3
4
5
10
9
8
7
6
RA1
EXBA
10E103J
VCC3
R140
10K
R139
10K
VCC3
Monitor
Test0
Test1
Test2
Test3
Test4
Test5
Test6
Test7
GND
1
NC
2
NC
3
OUT
2
4
VS
5
OUT
1
6
BOOT
1
7
IN
1
8
NC
9
GND
10
GND
11
NC
12
IN
2
13
BOOT
2
14
Vr
ef
15
SENSE
16
ENABLE
17
NC
18
NC
19
GND
20
IC24
L
6201P
S
C128
CE
0.
022u
PW
M
_
E
N
C118
CE
0.
22u
1
2
3
4
5
6
7
8
CN15
53398-0890
VCC
C136
CE
0.
1u
Ph
A
+
Ph
B
+
VCC3
1
2
3
4
5
10
9
8
7
6
RA7
EXBA
10E103J
T23
T24
T28
/PW
M
_
E
N
in
VCC
VDD
11
HI
N
12
LI
N
14
SD
13
VSS
15
N.
C
4
N.
C
10
N.
C
16
VB
7
HO
8
VS
6
VCC
3
LO
1
COM
2
N.
C
5
N.
C
9
IC31
IR2112S
R197
10
C125
CE0.1u
C116
CE
0.
1u
C109
CE0.1u
R205
22
Q10
FS30
A
SJ
-2
Q7
FS30
A
SJ
-2
R191
22
C135
CE0.22u/
50V
VM
+15
VCC
VDD
11
HI
N
12
LI
N
14
SD
13
VSS
15
N.
C
4
N.
C
10
N.
C
16
VB
7
HO
8
VS
6
VCC
3
LO
1
COM
2
N.
C
5
N.
C
9
IC30
IR2112S
R195
10
C124
CE0.1u
C115
CE
0.
1u
C107
CE0.1u
R204
22
Q9
FS30
A
SJ
-2
C132
CE0.22u/
50V
VM
+15
R173
10K
VCC3
TDI_1
TMS
TCK
PC
1
2
CE
1.
0u
PC
2
6
CE
1.
0u
I/O
11
I/O
1
I/O
2
I/O
3
TDI
4
CLK
0/I
0
5
GND
7
TCK
8
NC
6
I/O
9
I/O
10
I/O
12
I/O
13
I/O
14
I/O
15
VCC3
17
GND
19
I/O
16
NC
18
I/O
20
I/O
21
I/O
22
I/O
44
NC
42
I/O
40
I/O
39
I/O
38
GND
43
VCC3
41
I/O
37
I/O
36
I/O
35
I/O
34
I/O
33
NC
30
I/O
27
I/O
26
TDO
32
GND
31
CLK
1/I
1
29
TMS
28
I/O
25
I/O
24
I/O
23
I/O
45
I/O
46
I/O
47
I/O
48
IC
1
7
M
4
A
3
-64/32-TQ
F
P
48
TDO
12
13
IC22F
74L
V
C
14
5
6
IC22C
74L
V
C
14
10
11
IC22E
74L
V
C
14
8
9
IC22D
74L
V
C
14
/X
M
_
A
/X
M
_
B
/Y
_
B
/Y
_
A
3
4
IC22B
74L
V
C
14
1
2
IC22A
74L
V
C
14
/XG_A
/XG_B
C130
CE1000p
C133
CE1000p
R202
470
R206
470
R203
1.0K
R207
1.0K
To GRIT ENCODER BOARD
SOL
_CURNT
Y_CURNT
X_CURNT
X_CURNT
Y_CURNT
SolPh
So
lP
W
M
SolDecay
/SOL_EN
/H
8S
_RE
S
E
T
/PWM_EN
YP_PW
M
YP_DI
R
YM_PWM
YP
_P
W
M
YM_DIR
YP
_DI
R
Y_P
W
M
YM_
P
W
M
YM_
DI
R
/PW
M
_
E
N
Y_P
W
M
FANP
W
M
1
T33
Y_DI
R
XP
W
M
+
XP
W
M
-
XP
W
M
+
XP
W
M
-
/X
_
A
/X
_
B
/X
_
A
/X
_
B
/X
M
_
A
/X
M
_
B
/XG_A
/XG_B
/H
8S
_RE
S
E
T
Mt
rP
o
w
er
/PWM_ENin
Y_DI
R
/M
TR
E
R
R
/LESSTHANF
/LESSTHANS
DDA_
Mt
o
S
DDA_St
o
M
/Cm
d_H
S_M
to
S
/C
m
d
_HS_St
o
M
Cm
d_M
to
S
Cm
d_S
to
M
DDA_CLK
T26
T27
/S
RVBRD_RE
SE
T
/Y
_
A
/Y
_
B
Se
lPWMMode
SCLK
R161
33
Se
lP
W
MMo
d
e
/S
erialS
tart
R193
100
R183
100
R184
100
R175
22
R174
22
R172
22
R171
22
R170
22
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
IC20
74V
H
C
T541
C134
CE0.22u/
50V
C131
CE0.22u/
50V
FANP
W
M
2
R88
10K
R87
10K
R208 0.
1o
hm
/1W
R121 0.
1o
hm
/1W
Q6
FS30
A
SJ
-2
R190
22
R103
2.
2K
F0out
F0in
1
2
3
JP1
Pad
R80
NON
VCC3
R81
10K
VFW
E
VFW
E
C108
CE1000p
C
P
U
I
D
:0001
R79
0
T56
T57
T54
T49
T48
T51
T50
T53
T52
T55
VCC
PC
1
3
CE
0.
1u
G_CCW
G_CW
G_CCW
G_CW
VCC3
PC
3
1
CE
0.
1u
1
2
3
4
5
6
7
8
CN17
5267-08A
1
2
3
4
5
6
7
CN18
5267-07A
/E
NC_CHECK
/E
NC_CHECK
PW
M
_
E
N
PW
M
_
E
N
Mode
Mo
d
e
Y_
P
W
MMi
n
u
s
Y_
P
W
MMi
n
u
s
C122
CE
0.
22u/50V
C121
CE
0.
22u/50V
+15
R198
15K
VM
+15
R196
15K
VM
C67
CE
1000p
C71
CE
1000p
C78
CE
1000p
C79
CE
1000p
D75
UD
ZS16B
D76
UD
ZS16B
C93
CE
0.
1u
1
3
2
D80
D
A
N
202K
1
3
2
D79
D
A
N
202K
R217
47
R218
47
SERVO BOARD_Circuit Diagram 4/4