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Dc servo motor driver schematic

5

4

3

2

1

VCC

Y1
7.3728
C1
22P

COM9
VCC

1


C7

C2
22P

1uF

6
16

2
1

C+

4
C5
1uF
3

5
U4

U2RXD
U2TXD

V-

R1IN
R2IN

7
14

R1OUT
R2OUT

T2OUT
T1OUT


USART2

MAX232
Phan giao tiep noi tiep UART.
Ho tro 2 dang phan cung, giao tiep giua cac vi dieu khien
voi nhau va giao tiep giua vi dieu khien voi may tinh

T2IN
T1IN

U1RXD

12
9

1
2

1
3
5
7
9

1
2
LOA

ERRO

BUZZ

U1TXD

R20 10K B
Q5
C1815

Phan ngo ra bao loi va qua dong dong co

VCC

Phan driver de kich dan Mosfet
J10
PWM1H

24VDC

24V
J17
1
24V

1

1

OUT

1
D1

5
COMVCC

Lamp+
Lam15
16

3
12VDC

C15 C16
8 4.7uF 104
7
6
4

R9
470

2
2
C10
C11
1000uF 104
1

R10
470

R11
470

R12
470

D2

D3

D4

D5

5V

RUN

ERRO OVER CURRENT

VCC

24V

Nguon cung cap cho board, ngo vao 24V DC.
Su dung nguon Switching cho vi dieu khien de dam bao do on dinh.

J26

J28

1

1

HOLE
J27

HOLE
J29

1

1

HOLE

HOLE

+

3

1

-

2

U10A
LM358

CURRENT

7

J12
1

2

JUMPER J9

R8
10K

6

CURRENT

1
2

U6

2

VCC

Q4
IRF540N/TO

R16 100

B

VCC

VCC
RUN
ERRO
OVER

Q3
IRF540N/TO

R14 100

VIOUT
FILTER
ACS712

C8
1n

IP- IP+
IP- IP+

VB
HO
VS
LO

VCC
GND

8

VCC

5

4
3

1N5819

1

SD

2

MOTOR

D7

5

IN

Q2
IRF540N/TO

R15 100

1
1

IR2184

VCC

2

PWM3

1
2

L1 100uH

Q1
IRF540N/TO
J6

U9

1
QEB

J21 VCC

4

1N5822

24V
J19
12VDC

FB
GND

ON/OFF
5

1

VIN

J24
QEB

OVERCURRENT 2

5V

3

1

LM2576/TO

C14
104
R13 100

1

2

C17 C18
1000uF
104
1

C13
4.7uF

8
7
6
4

1
J11
PWM2H

QEA

U16C

Phan doc tin hieu encoder.

VB
HO
VS
LO

3

2

SD
IR2184

1N5819

1

VCC
6

2

J23
QEA

74HC14

5

IN

COMVCC

3

E_INDX
E_QEA
E_QEB

4

1

3

GND

VOUT

INDX

74HC14

1
2
12V

24VDC

C12
2200uF
J18

C

24VDC

8

12VDC
U15 LM7812/TO

1
2
24VDC
J16

E_INDX
E_QEA
E_QEB

Phan cong suat dieu khien dong co DC Servo su
dung 4 Mosfet kenh N ( IRF540 )

D6

1

U16B

3

PWM1

J22
INDX

74HC14

R17 R18 R19
10K 10K 10K

ENCODER

12VDC

2

7 14

3

J20

U7

VCC
CONBD
CONAC
OUTA
OUTB
OUTC
OUTD
GND

12VDC

U8

U16A

1
2
3
4
5

Phan ngo vao cac nut nhan va bien tro

J5

INAINA+
INBINB+
INCINC+
INDIND+

Phan Buzzer

Phan nap cho dsPic30f4011

7 14

AN0
J13

VIN

2
4
6
8
10

+
+
+
+
+

16
12
4
3
13
5
11
8

Phan doc tin hieu encoder voi khoang cach xa
1
2
3
4
5

1
2

1

+
+
+
+
+

SN75175

J25
MCRL

R7
10K

B

U14
1
2
15
14
7
6
9
10

ENCODER
10
11

VCC

SW3
INT2

DB0
DB1
DB2
DB3
DB4
DB5
DB6
DB7

VCC
VCC
J14

ICSP

INT2

SW2
INT1

10K
VCC

7

INT1

D

3
R3

U13

FAULT
OVERCURRENT

VCC

R6
10K

R2
330

Phan hien thi Lcd1602

VCC

1
2
3
4

1

R5
10K

1

VCC

14

VCC

VCC

VCC

R21 R22
10K 10K

PGD
PGC
VCC

1
PWM2L

CAN_RX
CAN_TX
U2RXD
U2TXD
U1RXD PGC
U1TXD PGD
OVER
INT1
DB7

Phan phan hoi dong tu motor va phan mach khuyech dai

4

C

VCC

1
PWM1L
J8

Vi dieu khien su dung dsPic30f4011 voi 6 kenh PWM
va moduel QEI cho phep doc gia tri encoder mot cach de dang

J15

6

C2-

13
8

PWM3
RUN
ERRO

1

1
2
3
4

VCC
VCC

1uF C4

C2+

C6
1uF
5

1uF

2

C1-

4

VCC

J3

C3
V+

GND

9

PWM1

15

8

MCP1541 J7

dsPIC30F4011

VCC

U5

3

C

7

3

40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21

DB4
DB5
DB6
DB7

Phan giao tiep Can de truyen du lieu trong mang.
Thay doi cac thong so khi dang hoat dong.
Protocal cua giao tiep Can se duoc dinh nghia trong firmware.

AVDD
AVSS
PWM1L/RE0
PWM1H/RE1
PWM2L/RE2
PWM2H/RE3
PWM3L/RE4
PWM3H/RE5
VDD
VSS
C1RX/RF0
C1TX/RF1
U2RX/RF4
U2TX/RF5
PGC/SDA/RF2
PGD/SCL/RF3
SCK1/RF6
INT1/RD0
RD2
VDD

7
8
9
10
11
12
13
14

CAN_RX

MCRL
AN0/RB0
AN1/RB1
AN2/RB2
AN3/RB3/INDX
AN4/RB4/QEA
AN5/RB5/QEB
AN6/RB6
AN7/RB7
AN8/RB8
VDD
VSS
OSC1/CLKI
OSC2/RC15
U1ATX/RC13
U1ARX/RC14
INT0/RE8
INT2/RD1
RD3
VSS

RS
R/W
E

4

SW1
RESET

4
5
6

CAN_TX

RS
RW
E

RXD

1

GND
VCC
Vee

MCRL
1
AN0
2
CURRENT 3
BUZZ
4
INDX
5
QEA
6
QEB
7
RS
8
RW
9
E
10
11
VCC
12
13
14
DB4
15
DB5
16
FAULT
17
INT2
18
DB6
19
20

3
TXD

U2

VCC

1
2

1
2
3

CAN BUS

GNDVCC

1
2

RS
CAN-H
CAN-L
Vref
MCP2551

2

8
7
6
5

C9
104

U1

2

R1
10K

E

2
1

U3

J1

D

LCD

J4
VCC

J2
JUMPER

R4
120

Phan Leds hien thi

A

A
Title

Size
A3
Date:

5

4

3

2

Document Number
3T Robotics Group
Tuesday, March 22, 2011

Rev
<1001>
Sheet

1

1

of

1



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