L S3 Schematic V2591
User Manual: parallax -
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S3 Robot Electrical Schematics 3V3 3V3 Subversion Rev: 2591 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 Right_Enc_Dig Left_Enc_Dig 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 TP1 U21 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 P28-SCL P29-SDA TP2 R33 R35 10K 10K Program & User EEPROM Mounting Holes U6 35 SCL 6 36 SDA 5 SCL SDA A2 A1 A0 WP 3 2 1 7 512 Kb P30-TX P31-RX BOE RES XI 37 Serial_Prop_Tx 38 Serial_Prop_Rx 6 X2 X5 X6 X4 TP20 7 Prop_Reset 28 Y1 Associate & Hacker Over Current LED TP35 D13 5.00MHz XO X1 Associate R8 29 330 R57 5V0 BA BC RA RC Hacker_OC 765-BLU-RED-CFA Blue / Red 330 928-P8X32A-Q44 XBEE Wi-Fi Add-On Socket 3V3 TP39 TP12 J1 1 3V3 2 DIO13/TX 3 DIO14/RX 4 DIO12 5 RESET 6 DIO10 7 DIO11 8 NC 9 DIO8/DTR 10 GND 3V3 C58 10pF 3V3 Serial_XBEE_Tx Serial_XBEE_Rx 3V3 TP18 TP40 R30 R46 10K 100K Serial Port Data Mux USB_Host_Detect U3 USB_Host_Detect Y1 A Y0 Serial_Prop_Tx S Serial_XBEE_Rx Serial_USB_Rx 10707-1G18 3V3 10869A Commissioning Switch J2 SW1 DIO0/CB DIO1 DIO2 DIO3 DIO6/RTS DIO5/ASSOC NC DIO9 DIO7/CTS DIO4 Designer: Ben Wirz Element Products, Inc. http://www.elementinc.com/ 20 19 18 17 16 15 14 13 12 11 R54 CB 100K U4 XBEE_DIO2 USB_Host_Detect 736-9P5MM-160GF Serial_XBEE_Tx Serial_USB_Tx Associate TP38 S I1 I0 C54 Prop_Reset R56 R9 DNI 100K Y 10707-1G157 10nF Q1 10869B Copyright(c) 2015 Element Products, Inc. & Parallax, Inc. This schematic is released under the Creative Commons Attribution License. (www.creativecommons.org) R55 10K SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 1 PROJECT 7 Scribbler3 Serial_Prop_Rx R32 330 Back Board Connector 3V3 VSYS 5V0 3V3 3V3 3V3 R7 R12 R13 R53 22K 22K 22K 22K P6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 TP22 TP33 TP34 TP5 Idler_Rx_Ang TP13 Serial_USB_Tx Serial_USB_Rx Right_Enc_Ang USB_Host_Detect Left_Enc_Ang LED_Data Push Prop_Reset Idler_Tx LED_Clk TP14 Encoder Schmitt Trigger Buffer U20 Right_Enc_Dig R11 330 TP9 U20 TP15 Left_Enc_Dig R10 330 SCL SDA Mic_Ang 608-24 3V3 Back Board Ribbon Cable Connector C85 C76 C72 C71 C70 C69 C77 C75 1nF 1nF 1nF 1nF 1nF DNI 1nF TP16 1nF Microphone Sigma Delta ADC C22 Mic_ADC_In 100nF C86 Mic_ADC_Out R24 100K 1nF SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 2 PROJECT 7 Scribbler3 Motor Driver Bridge 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 TP37 17 16 U19 Mot_Right_PWM 15 Prop_Reset 19 BIN1 BIN2 BO11 BO12 PWMB BO21 BO22 TP3 1 2 5 6 R21 C30 DNI DNI 9V0 1 2 R36 7 8 P5 C32 DNI 1 2 DNI 9V0 Left Motor 623-2M 11 12 9V0 P7 C44 C14 10uF 10uF + C46 C2 C27 470uF 1uF 1uF Right Motor 623-2M STBY 10705 3 4 9 10 3V3 3V3 TP6 TP7 U7 U7 Motor Current Measurement Amp 8 R50 47K R29 C4 3 + 2 - 4 R28 220K R31 10K Motor Driver Boost Switching Regulator Vout = 9.0V @ 900mA (max) L2 10uH 313-100 9V0 U12 8 Prop_Reset 3 R51 1 VIN EN SW2 SW1 7 6 D12 R40 1 9 C6 VSYS VSYS VSYS 71.5K COMP CLRES FB 2 VSYS 470nF 10 SS R41 C42 C13 10uF 10uF 11.5K C34 C35 C63 C67 1nF 10uF 10uF 10uF + C21 C41 C10 470uF 10uF 1uF R44 C33 14K R39 C9 10868 71.5K 10pF 6 - 10439-SON 1uF VSYS + Mot_I_Ang 1 10439-SON 0.1 5 10nF SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 3 PROJECT 7 Scribbler3 8 7 4 Speaker Amplifer C38 5V0 1nF 5V0 R38 22K Speaker U2 C39 4 3 R5 100nF 22K 1 2 ININ+ VO1 SD BYPASS VO2 P1 C36 1 2 5 10uF 623-2M 8 10708-SSOP C92 10uF 3V3 Obstacle IR Emitters Obstacle IR Detector R42 3V3 100 Obs_Tx_Left D3 R19 Obstacle Emitter Left R47 182 R20 U15 Obstacle Emitter Right 1uF 182 TP24 DNI VCC Obs_Tx_Right C49 D4 Obs_Rx R61 OUT 1K 38kHz 3V3 3V3 3V3 3V3 3V3 3V3 3V3 5V0 5V0 5V0 5V0 5V0 5V0 5V0 3V3 Power Supply 5V0 C68 C47 C59 C65 C50 C53 C48 C23 C28 C43 C40 C64 C52 1uF 1uF 10nF 10nF 10nF 10nF 10nF 1uF 1uF 1uF 1uF 10nF 10nF 3V3 U5 Vout Gnd Vin C17 C16 10uF 1uF 10808-3V3 3.3V LDO Linear Regulator 3V3 C1 C24 1uF 10uF 3V3 3V3 3V3 3V3 3V3 3V3 C80 C81 C82 C83 C84 C57 C51 1nF 1nF 1nF 1nF 1nF 1nF 1nF 3V3 + 3V3 C8 C37 100uF 10uF Vout: 3.3 Vdc @ 500mA Max SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 4 PROJECT 7 Scribbler3 + C29 100uF 16 Channel Sigma Delta ADC 16:1 Analog Mux Mux3 TP25 Top PCB Light Sensors TP26 TP27 3V3 U9 U18 6 9 S2 10 S1 11 S0 Line_Left_Ang Line_Right_Ang Light_Left_Ang 4 2 5 1 12 15 14 13 Ang0 Light_Center_Ang Light_Right_Ang Ang1 P2 1 2 3 4 E Mux2 Mux1 Mux0 Mux[3:0] = 0b1XXX Y7 Y6 Y5 Y4 Y3 Y2 Y1 Y0 Z 3 10706-SON-HCT 623-4M 3V3 R77 C45 R78 22K C55 R79 22K C56 C25 1uF 1nF Sigma Delta ADC 22K 1uF 1uF Mux_ADC_In R6 270K Mux_ADC_Out R25 100K 5V0 5V0 3V3 R45 R43 R49 3.3K 3.3K 3.3K VSYS 3.3K 9 S2 10 S1 11 S0 TP28 TP8 Idler_Rx_Ang BAT_V_Ang Mot_I_Ang R16 C7 3.3K R15 C20 3.3K 100nF R18 C90 C66 C87 100nF 100nF 100nF 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 3.3K 100nF 1nF Mux2 Mux1 Mux0 R14 10K C19 E 6 9V0 R26 U8 Mux3 U18 SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 5 PROJECT 7 Scribbler3 Line Follow Sensor Interface Photo Diode Amp C60 R22 3V3 110K 10nF TP30 5V0 P4 U11 TP29 8 1 2 3 4 Left Line Follow Sensor 3 + 2 - Line_Left_Ang 1 4 10439-SON 623-4M R17 110K C26 100pF P3 TP31 1 2 3 4 Right Line Follow Sensor C61 623-4M R23 3V3 110K 10nF TP32 U11 8 5 + 6 - R52 51.1 Line_Right_Ang 7 4 10439-SON R27 110K Enabled Mux[3:0] = 0b111X C31 100pF Mux2 Mux3 Mux1 U22 Q6 R48 1K 10707-1G11 SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 6 PROJECT 7 Scribbler3 Hacker Port Interface Hacker Port 5V OC Protection & Power Switch 5V0 U10 Prop_Reset C18 Hacker_5V0 308-R400-I402 Hacker_OC C3 C5 C62 1uF 1uF 1nF 10893 P4 R34 P3 R4 330 330 P2 R3 P1 R2 P0 R1 P3 A1 B1 C1 A2 B2 C2 A3 B3 C3 A4 B4 C4 A5 B5 C5 A6 B6 C6 A7 B7 C7 A8 B8 C8 330 330 330 330 Ang1 Ang0 P4 P2 5V0 R37 P1 P0 Analog P5 P5 GND Hacker Port P8 A1 A0 3V3 470uF Digitial IO + L1 Vin Vout EN FLG 6007-03-08-850 D1 D2 D5 D6 D7 D8 D10 D11 3.0V 3.0V 3.0V 3.0V 3.0V 3.0V 4.7V 4.7V 3V3 L3 120mA Hacker_3V3 308-R400-I402 C15 C12 C11 10uF 1nF 1nF SIZE DWG A DRAWN BY B. WIRZ 10858B_Front_PCB SHEET OF 7 PROJECT 7 Scribbler3 Back PCB C19 10nF D2 User Push Button Switch TP5 Bi-Color & Blue User LED Driver SW2 R3 (Propeller Controlled) 470 Push TP11 TP12 730-R-BLU LED_Clk LED_Data 1 2 CLK SDA SDB TP1 VBATT SW1 Prop_Reset 9 PWR_SW GC RC RA U1 8 Soft Power Push Button Switch GA CLR Q7 Q6 Q5 Q4 Q3 Q2 Q1 Q0 Center User LED 765-GRN-RED-CFA Green/Red C20 13 12 11 10 6 5 4 3 10nF D1 R6 470 GA GC RC RA Right User LED 765-GRN-RED-CFA Green/Red 10746-SON-HCT 730-R-RED R23 C18 C31 47K 10nF 100nF D3 R4 470 GA GC RC RA Left User LED 765-GRN-RED-CFA Green/Red R14 680 C6 D4 10nF 702-BLUA Blue Clear Lens Main Board Ribbon Cable Power On & Low Battery Indicator LED Height 0.55mm (max) 5V0 VSYS P1 Idler_Rx_Ang Serial_USB_Tx Serial_USB_Rx Right_Enc_Ang USB_Host_Detect Left_Enc_Ang LED_Data Push Prop_Reset Idler_Tx LED_Clk SCL SDA Mic_Ang 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Power & Charge Status LED's (Hardware Controlled) TP19 VSYS 5V0 D5 BA BC RA RC 5V0 765-BLU-RED-CFA Blue / Red R24 R28 5V0 5V0 2.2K 2.2K TP21 TP18 47K D7 C5 C34 4.7uF 10nF R34 STAT Charging Active - Solid Red Charge Fault - Alternate Blue / Red Power On / Charging Inactive - Solid Blue Power Off - Both LED's Off SIZE X1 X2 X3 X4 DWG A DRAWN BY B. WIRZ 10861B_Back_PCB SHEET OF 1 PROJECT 4 Scribbler3 Q3 TP22 USB Protection, Data Switch & Serial Converter Micro USB Connector P5 U8 L3 VBUS DD+ ID GND USB_CON_DM USB_CON_DP USB ESD Protection TP17 VBUS 5 3 1 308-R400-I402 VCC D1A D0A D1B D0B 4 6 USB_ESD_DM USB_ESD_DP 10866 10876 C25 C22 C15 10nF 100nF 4.7uF L1 308-R400-I402 AC Short USB Shield to Digital Gnd VBUS TP9 TP10 VBUS TP4 USB UART USB Data Swtich U7 U5 9 R9 15 VCC TXD RXD 20 4 12 USBDM RTS CTS DTR DSR DCD RI 2 9 1 7 8 5 VBUS Serial_USB_Tx Serial_USB_Rx 2.2 USB_ESD_DM 8 R10 DM_CON DM_HOST 2 TP7 USB_SW_DM R15 2.2 USB_ESD_DP 18 7 R11 2.2 VBUS DP_CON DP_HOST 5 R17 3 USB_SW_DP R31 11 USBDP 18 TP6 SW_OPEN CHG_AL CHG_DET GOOD_BAT 1 4 10 USB_Host_Detect NC NC C27 C28 33pF 33pF 3 13 VCCIO 3V3OUT 14 RESET 470K R35 10864 DNI C29 100nF VBUS VBUS CBUS3 CBUS2 CBUS1 CBUS0 10865 NC TP8 DTR NC VBUS NC Prop_Reset C30 NC 10nF 19 10 17 18 D6 NC TX_LED RX_LED NC GC GA YC YA Q1 R32 270 R25 R30 270 765-GRN-YLW-CFA Green/Yellow 10K USB Rx & Tx LED's VBUS C9 C32 C26 100nF 100nF 4.7uF SIZE Place @ U5 Pin #9 NC Place 2x @ U7 Pin #1 DWG A DRAWN BY B. WIRZ 10861B_Back_PCB SHEET OF 2 PROJECT 4 Scribbler3 Microphone Pre-Amp 5V0 R20 1.0K R21 5V0 C1 2.2K 4.7uF U4 C16 8 100nF M1 5 + 6 - Mic_Ang Motor Break Beam Encoders 7 4 10439-SON M 5V0 10747 R33 TP2 22K R16 Right_Enc_Ang 100 5V0 TP3 R13 Left_Enc_Ang 100K C14 R7 U2 220pF U3 100K R18 R19 22K 2.2K 5V0 C4 R12 C7 C8 4.7uF 100K 4.7uF 4.7uF 5V0 5V0 C11 C38 C39 4.7uF 10nF 10nF Idler Wheel Break Beam Sensor C3 5V0 R2 1MEG 10nF Photo Diode Amp TP25 5V0 P4 1 2 3 4 TP26 U4 TP28 Idler_Tx_Drv R29 TP27 Idler LED Driver P3 TP20 130 8 3 + 2 - Idler_Rx_Ang Idler_Tx 1 Q2 R66 1K 4 10439-SON R26 10K R1 1MEG C2 33pF SIZE DWG A DRAWN BY B. WIRZ 10861B_Back_PCB SHEET OF 3 PROJECT 4 Scribbler3 1 2 3 4 Battery Charger & Power Path Battery Connection P2 VBUS VSYS R27 24 1 TP24 10K PWR_SW Battery Charger & USB Power Path IC U6 23 VBUS1 PMID P7 VBUS VBUS0 8 OTG 12 QON BAT1 BAT0 14 13 REGN 22 VBATT 4 STAT USB_CON_DM USB_CON_DP 3 2 DD+ SCL SDA 5 6 SCL SDA 7 INT 5V0 5V0 C35 C45 C46 C47 1uF 10uF 10uF 10uF TP13 C13 Place @ U6 Pin #1 4.7uF R5 STAT 5V0 5V0 Place 3x @ U6 Pin #23 TP14 5.49K TS TS 11 BTST 21 SW1 SW0 20 19 TP23 C21 47nF R22 R36 NTC Thermistor 31.6K 10K Place Bottom Side R 5%, B 1% TP15 NC 10 9 VBATT L2 2.2uH ILIM SYS1 SYS0 CE 16 15 R8 VBATT VBATT TP16 VSYS C12 C36 C37 10uF 1nF 100nF 10855 154 C43 C44 10uF 10uF Place @ U6 Pin #13 Place 2x @ Batt Connector Place 2x @ Pin #15 USB_Host_Detect PWR_DIS Q5 R37 Soft Power Switch Controller 4.7K VSYS VSYS VSYS VSYS U9 5 VDD C10 C23 100nF 10nF VSYS GP3/MCLR 6 4 GP2 3 GP1 1 GP0 R40 R41 DNI DNI VSYS P6 Prop_Reset 1 2 3 4 5 6 PWR_SW PWR_DIS SCL SDA Q4 R38 4.7K R39 47K DNI SIZE DWG A DRAWN BY B. WIRZ 10861B_Back_PCB SHEET OF 4 PROJECT 4 Scribbler3 Top Light Sensor PCB Light Sensors P1 1 2 3 4 3V3 Right Center Left Right Center Left 631-4M X1 X2 U3 U2 U1 10766 10766 10766 SIZE DWG A DRAWN BY B. WIRZ 10719C_Top_PCB SHEET OF 1 PROJECT 1 Scribbler3 Idler Wheel Stall Detector P1 D1 1 2 3 4 IR LED 705-940IR18V 6007-01-04-850 P2 D2 1 2 3 4 IR Photo Diode 732-940IR20V 6007-01-04-850 SIZE DWG A DRAWN BY B. WIRZ 10754B_Idler_PCB SHEET OF 1 PROJECT 1 Scribbler3 S3 Cabling Diagram Top PCB Assembly 10720x 1 2 3 4 1 2 3 4 P1 Top to Front Wire Assembly 10721x Right Line Sensor Assembly 10247x P3 Right Motor Assembly 10268x P5 P2 1 2 1 3 2 4 Front PCB Assembly 10859x Left Motor Assembly 10268x P7 1 2 Left Line Sensor Assembly 10247x P4 1 2 3 4 Back to Front PCB Ribbon Cable 10877x Back PCB Assembly 10862x P6 P1 Speaker Assembly 10248x P1 Idler PCB Assembly 10755x + - 1 P8 2 Hacker Port S3 Top View Front Left Side Right Side SIZE DWG A Back DRAWN BY B. WIRZ S3_Cabling_Diagram SHEET OF 1 PROJECT 1 Scribbler3 Battery Wire Diagram P2 J1 P7 22AWG Wire 1 2 Red Black Solder Wires to Bottom Side Back Board 10895 SIZE DWG A DRAWN BY B. WIRZ 10863A_Battery_Wire SHEET OF 1 PROJECT 1 Scribbler3 Line Sensor Wire Diagram D1 625-4 Pin Out 4 3 2 1 IR LED 940nm +/- 30 deg 700-940IR30L J1 1 2 3 4 Red Green White Black D2 880nm +/- 20 deg 733-880IR20F 625-4M IR Photo Diode 28AWG Wire SIZE DWG A DRAWN BY B. WIRZ 10247G_Line_Sensor_Wire SHEET OF 1 PROJECT 1 Scribbler3 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 Scribbler3 Motor Wire Diagram C2 625-2 Pin Out 0.1uF J1 2 1 1 2 625-2M M1 + Red Black M - C1 C3 0.1uF 0.1uF CASE 24AWG Wire SIZE DWG A DRAWN BY B. WIRZ 10268E_Motor_Wire SHEET OF 1 PROJECT 1 Scribbler3 Top PCB (10719) to Front PCB (10858) 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 Scribbler3 Front PCB to Back PCB Ribbon Cable Assembly P1 26 AWG 1.27mm Pitch Flat Ribbon Cable, No Twist P2 A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 648-24B Connect Front Board @ P6 A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 650-24 Solder Back Board @ P1 SIZE DWG A DRAWN BY B. WIRZ 10877B_Ribbon_Cable SHEET OF 1 PROJECT 1 Scribbler3
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