A control system and power electronic for an electric powertrain implemented on a go-kartMaster of Science Thesis in the Programme Integrated Electronic System

Design

Fredrik LönnbladAndreas Öhlund

Chalmers University of TechnologyUniversity of GothenburgDepartment of Computer Science and EngineeringGöteborg, Sweden, December 2012

The Author grants to Chalmers University of Technology and University of Gothenburg the non-exclusive right to publish the Work electronically and in a non-commercial purpose make it accessible on the Internet. The Author warrants that he/she is the author to the Work, and warrants that the Work does not contain text, pictures or other material that violates copyright law.

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A control system and power electronic for an electric powertrain implemented on a go-kart

Fredrik LönnbladAndreas Öhlund

© Fredrik Lönnblad, December 2012.© Andreas Öhlund, December 2012.

Examiner: Lars Svensson

Chalmers University of TechnologyUniversity of GothenburgDepartment of Computer Science and EngineeringSE-412 96 GöteborgSwedenTelephone + 46 (0)31-772 1000

Department of Computer Science and EngineeringGöteborg, Sweden December 2012

Acknowledgements

Thanks QRTECH AB for having us and all the help with thisproject.

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Abstract

This report describes the master thesis project where a 3-phase AC-inverter is designed with software to space vector modulate the outputcurrents. The report outlines a brief background to the project andthen goes on to describe the demands that the inverter must fulfill. Thecontrolling software is described both in general and the applicationspecifics are treated. The hardware solution is described and majorcomponent choices are discussed. The complete working inverter wassuccessfully implemented on a go-kart, and the testing verifies thatthe functionality of the inverter is according to the specifications. Theinverter was not fully tested to the upper limits of 72V and 300Vpeak current due to lack of testing equipment, though the results arepromising for the inverter to be able to handle this.

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Contents

1 Introduction 11.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.2 Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.3 Specification of Requirements . . . . . . . . . . . . . . . . . . 11.4 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.5 Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.6 Course of action . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Electric Powertrain 42.1 Power Electronic Converters . . . . . . . . . . . . . . . . . . . 4

2.1.1 Space Vector Modulation . . . . . . . . . . . . . . . . 52.2 Permanent Magnet Synchronous Motor (PMSM) . . . . . . . 6

3 System fault-tolerance and robustness 83.1 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83.2 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 System overview 11

5 Electronic Control Unit ”ECU” 125.1 Torque Control Loop . . . . . . . . . . . . . . . . . . . . . . . 12

5.1.1 Current Measurement . . . . . . . . . . . . . . . . . . 125.1.2 Electrical Angle . . . . . . . . . . . . . . . . . . . . . . 135.1.3 Mechanical RPM . . . . . . . . . . . . . . . . . . . . . 135.1.4 Clarke transformation . . . . . . . . . . . . . . . . . . 135.1.5 Park’s transformation . . . . . . . . . . . . . . . . . . 145.1.6 d- and q-torque regulators . . . . . . . . . . . . . . . . 155.1.7 PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.1.8 Sector Calculations . . . . . . . . . . . . . . . . . . . . 18

5.2 Fan Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6 DSP and software specific to this project 206.1 DSP - TMS320F28335 . . . . . . . . . . . . . . . . . . . . . . 206.2 Electric Angle from pulsetrain . . . . . . . . . . . . . . . . . . 216.3 Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.3.1 Potentiometer . . . . . . . . . . . . . . . . . . . . . . . 216.4 Temperature measurement . . . . . . . . . . . . . . . . . . . . 22

7 Hardware 247.1 Hardware overview . . . . . . . . . . . . . . . . . . . . . . . . 247.2 Description of the system blocks . . . . . . . . . . . . . . . . 25

7.2.1 CAN & peripherals . . . . . . . . . . . . . . . . . . . . 257.2.2 Current sensors, resolver and miscellaneous sensors . . 25

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7.2.3 Gate drivers . . . . . . . . . . . . . . . . . . . . . . . . 267.2.4 Isolated power . . . . . . . . . . . . . . . . . . . . . . 277.2.5 Half brigdes . . . . . . . . . . . . . . . . . . . . . . . . 27

7.3 Component choices . . . . . . . . . . . . . . . . . . . . . . . . 287.3.1 Traco power modules . . . . . . . . . . . . . . . . . . . 287.3.2 MOSFET transistors . . . . . . . . . . . . . . . . . . . 287.3.3 Reverse recovery capacitors . . . . . . . . . . . . . . . 307.3.4 Snubber circuit . . . . . . . . . . . . . . . . . . . . . . 31

7.4 PCB Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327.4.1 Power PCB . . . . . . . . . . . . . . . . . . . . . . . . 327.4.2 Controller PCB . . . . . . . . . . . . . . . . . . . . . . 33

8 Building and intregrating a powertrain on a Go-Kart 368.1 Cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

8.1.1 Heat sink . . . . . . . . . . . . . . . . . . . . . . . . . 378.1.2 Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.2 Encasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398.3 Batteries / Charging . . . . . . . . . . . . . . . . . . . . . . . 398.4 Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

8.4.1 Resolver-to-Digital Converter . . . . . . . . . . . . . . 418.4.2 Resolver Mount . . . . . . . . . . . . . . . . . . . . . . 41

8.5 Drive line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438.6 Engine mount . . . . . . . . . . . . . . . . . . . . . . . . . . . 448.7 Inverter mount . . . . . . . . . . . . . . . . . . . . . . . . . . 448.8 Front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9 Verification and testing 479.1 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

9.1.1 Verification of Current Measurement Calibration . . . 479.1.2 Verification of Current Measurement . . . . . . . . . . 479.1.3 Verification of Accelerator reference . . . . . . . . . . 479.1.4 Verification of Fan control and temp measurement . . 489.1.5 Verification of interrupt duty cycle . . . . . . . . . . . 489.1.6 Verification of switching ADC-channels . . . . . . . . 489.1.7 Verification of the Driver Disable . . . . . . . . . . . . 489.1.8 Verification of the Speed Measurement . . . . . . . . . 49

9.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

10 Result 52

11 Discussion 53

12 Conclusion 57

References 58

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A Control PCB schematics I

B Power PCB schematics XVII

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List of Abbreviations

AC Alternating Current

ADC Analog to Digital Converter

ATO Angle Tracing Observer

BEV Battery Electric Vehicle

CAN Controller Area Network

DC Direct current

DSP Digital Signal Processor

ECU Electric Control Unit

EMC Electro Magnetic Compatibility

EMI Electro Magnetic Interference

ESD Electro Static Discharge

EV Electric Vehicle

GND Ground

GPIO General Purpose Input Output

HEV Hybrid Electric Vehicle

IC Integrated Circuit

IGBT Isolated Gate Bipolar Transistor

IR Infra Red

JTAG Joint Test Action Group

LED Light Emitting Diode

LUT Look-Up Table

Mbps Mega bit per second

MOSFET Metal Oxide Semiconductor Field Effect Transistor

MSPS Mega Samples per Second

NTC Negative Temperature Coefficient

PCB Printed Circuit Board

PHEV Plug-in Hybrid Electric Vehicle

PMSM Permanent Magnet Synchronous Machine

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PTC Positive Temperature Coefficient

PWM Pulse Width Modulation

QEP Quadrature Encoder Pulse

R/D Resolver to Digital

RMS Root Mean Square

RPM Revolutions Per Minutes

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1 Introduction

This report describes a proposed design and its implementation for an in-verter and its control system in an electric powertrain. The report will alsoinclude sections on how this inverter was integrated in a real powertrain ona go-kart.

This introduction describes the motivations behind the project and how itwas carried out.

1.1 Background

Presently, roughly every sixth human on earth has a car in general, sum-ming up to a total of around a billion cars[1]. Looking at Sweden, aroundevery second citizen own a passenger car[2], if this would have been the caseglobally, the total number of cars in the world would be roughly 4 billion in2025[3]. However projections say that the number will be around 2 billion,largely a consequence of China’s and India’s growth, this is still a double tothe current amount. Given that greenhouse gases are already causing prob-lems with our climate, air-pollution is a major concern in our cities and thatconflicts in unstable oil-rich nations is a current reality, realistic solutionsneed to be found[1].

With this in mind QRTECH seeks to expand its current product portfo-lio within power electronics and develops DC/DC-converters, inverters, on-board chargers and battery systems for the automotive industry.

1.2 Goal

The primary goal of this project is to redesign an existing inverter to fit achanged set of demands. Analysis and implementation of safety mechanismsis also a central part to guarantee robustness and fault-tolerance. Second tothis is that the inverter is to be implemented with a complete drive line onan electric go-kart and make it drivable.

1.3 Specification of Requirements

This section describes a set of requirements that were developed out of dis-cussions between the project group and QRTECH.

Supply VoltageThe system shall be designed for a DC supply voltage between 40-70volts.

1

3 phase currentThe system shall be designed for a 3 phase AC and be able to handlepeaks up to 300A.

Torque controlThe system shall utilize a closed feedback-loop with a pair of torque-setpoints, current-measurement as feedback together with the rotor-angle of the PMSM.

CoolingThe system shall have both an active (fan) and a passive (heat sink)cooling system to prevent the inverter from overheating and possiblysustaining damage.

MechanicalThe system shall be implemented on a go-kart and therefore mechan-ical parts shall be designed and manufactured to enable this.

CANThe system shall have support for CAN-communication[4] to enablefuture development of communication and interactions with the in-verter.

Safety aspectsThe system shall be designed with safety aspects in terms fault-toleranceand robustness in mind.

Angle measurementThe system shall utilize resolver type sensor and a R/D (Resolverto Digital) Converter IC, prechoosen by QRTECH, for the the anglefeedback from the motor to the control loop.

1.4 Restrictions

This section presents some parts that are outside the scope of this projectand/or already a part of an older version of this system.

MotorThe motor is a part of the old system and is therefore predetermined.

Regenerative breakingSoftware implementation of regenerative breaking is outside the scopeof this project.

ChassiThe go-kart chassis is a part of the old project and is therefore prede-termined.

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BatteryThe batteries are a part of the old project and are therefore predeter-mined.

DSPSince the DSP is prechoosen by QRTECH, analysis will not be carriedout.

CANSoftware implementation of CAN is outside the scope of this project.

1.5 Resources

In this section, a brief listing of the resources available for the project ispresented.

1600 man-hoursA total of 1600 man-hours over 20 weeks, divided on a 2 man groupare available.

QRTECH ABQRTECH AB offered a lot of the resources to make this project possi-ble. Among them are Supervisor and help from co-workers, lab equip-ment, software and budget.

ChalmersExaminer

E-sektionens Teletekniska AvdelningMechanical workshop and other tools and equipment.

1.6 Course of action

Here a coarse description of the planned course of action in this project ispresented.

• Prestudy of the inverters developed by QRTECH.

• Analysis of the safety and reliability needs

• Adaptation of the current hardware and software to this project

• Mechanical integration of the inverter

• Verification of the implementation

• Documentation

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2 Electric Powertrain

In the automotive industry, the term powertrain refers to the system thatgenerates propulsion. This includes the whole chain of components thatgenerate power and delivers it to the road surface. In more detail, thismeans the engine, transmission, drive shafts, differentials and the wheels.

An electric vehicle (EV) is a vehicle that is powered, at least in part, byelectricity. EV configurations include battery electric vehicles (BEVs) whichare powered by 100% electric energy, various hybrid-electric vehicles (HEVs),and plug-in hybrid electric vehicles (PHEVs) [5].

An electric powertrain for a BEV may include everything of a traditionalpowertrain with the exception that a battery and some power electronicneeds to be added instead of the liquid fuel tank, see figure 1 for an exam-ple. One advantage when using electric motors is that the need of usingan external gear box is reduced since the torque and speed can directly becontrolled by software, thus some kind of static transmission is often usedto scale the max speed and torque between the engine and the drive shaft.

Battery

----------Power

Electronic

Motor

Tran

smis

sion

Figure 1: A simple example of an electric powertrain in a battery electricvehicle

2.1 Power Electronic Converters

Power electronic converters are used to process electrical energy. This meansthat when there is a need to modify one or many characteristics of the electri-cal energy like its voltage, current or frequency, these types of converters areused. In contrast to ”classical” electronics like a radio or computer where thecurrent and voltage are used to carry information, power electronics carryand process power, therefore the main metric becomes the efficiency.

4

The power conversion systems can be classified according to the type of theinput and output power

• AC to DC (rectifier)

• DC to AC (inverter)

• DC to DC (DC to DC converter)

• AC to AC (AC to AC converter)

2.1.1 Space Vector Modulation

SVM is an algorithm for controlling PWM signals, and it is widely usedfor controlling switching power converters. A common application is thecontrol of an inverter together with a 3-phase AC-motor. Figure 2 shows a3-phase inverter that is supplied by a DC-source and loaded by a 3-phaseAC-system. The SVM-algorithm outputs two PWM signals for each phasethat controls the high and the low side of the halfbridge connected to thatspecific phase in the inverter. An important property of the algorithm isthat it makes sure that at no time, both the high and the low side in thesame half bridge are turned on. If both half’s of a bridge were turned on atthe same time, the DC supply would be shorted (ie. in 2, switch 1 may notbe turned on when switch 4 is on). Therefore a dead-time is used betweenswitching which side is on, to eliminate the risk of this.

Two important properties of SVM is that it transforms the rotating AC-quantity to a static DC-quantity, and gives the possibility to analyze andcontrol the multi-phase system as a whole instead of looking at each phaseseparately. Both of these features simplify the control-loop. A three-phasesystem like the inverter described above where every phase is either turnedon or off, leads to eight possible switching vectors. Six active switchingvectors (V1 – V6) as seen in figure 3, and two zero vectors (V0, V7). Thezero vectors describe the two states where all phases either are on or allphases are off). In the example when using an AC-motor, switching V1through V6 would create a rotating magnetic-field as a cause of the currentrunning through the windings in the motor, which would cause the shaft torevolve [6].

5

DC

1 2 3

4 65

Figure 2: 3-phase inverter, with three half bridges connected to a load.

V-100

V-110

V-010

V-011

V-001

V-101

Figure 3: Space vector modulation vectors

2.2 Permanent Magnet Synchronous Motor (PMSM)

A synchronous electric motor is an AC motor that commonly consists oftwo basic parts, an outside stationary stator having coils supplied with analternating current to produce a rotating magnetic field and an inside rotorwith permanent magnets. The rotor is attached to the output shaft that isgiven a torque by the rotating field.

Synchronous motors can be contrasted with induction motors, which must

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slip in order to produce torque. A PMSM operates synchronously with theAC frequency and the mechanical speed is determined by the number ofpairs of poles and the frequency.

Most synchronous motors are used where precise constant speed is required.It is a highly efficient mean of converting AC energy to mechanical workand a PMSM can also be used as an alternator to regain energy when anexternal torque is applied to the motor.

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3 System fault-tolerance and robustness

This section will describe the safety factors that the inverter will need tohandle and how they are taken care of.

3.1 Analysis

Current shoot-throughThe inverter must be built to ensure that no shoot-through currentscan occur in any of the inverters half bridges.

HeatThe inverter must be able to handle the heat that the power compo-nents develop and have some protection in place to ensure that thehardware will not overheat and possibly sustain damage.

Electrical InterferenceThe inverter must be able to handle the interference itself and themotor produce during operation. However the inverter is not requiredto have EMC compliance with specifications such as those for CE-marking, since it is not required in this project.

Torque capThe inverter must have a torque cap implemented so that the systemwill not provide more current than the inverter is built for, to ensurethat the inverter itself or the motor it is driving will not sustain damagefrom over-current.

Voltage dropThe inverter must be able to handle voltage drops on the input power,since if the input voltage drops too much, control of the switchingmight fail due to some circuits not functioning properly.

3.2 Solutions

Current shoot-throughThere are several safety features to deal with this demand. Softwarefeatures ensure that both MOSFETs in any of the half bridges shouldnot be turned on at the same time. As well as the gate drivers whichhave a hardware solution that ensures a minimum dead band in theswitching and also never permits both transistors to be turned onsimultaneously.

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HeatThis is an important consideration, since if the system is overheating,the circuitry might sustain damage and therefore multiple solutionshas been implemented.

• Two types of sensors for measuring the temperature have beenintegrated

– PTC resistors placed close to the half bridges on the powerPCB, that at a max allowed temperature trigger an interruptin the software that also automatically shuts down the gatedriver hardware. This puts the PWM signals that controlthe inverter to a low state.

– NTC resistor that is constantly sampled in the DSP to pro-duce a temperature reading of the power PCB.

• A heat sink that is mounted directly to the power-board.

• A fan to cool of the sink. This is controlled by a linearly regulatedPWM signal.

• A routine to reduce the torque if the heat sink and the fan is notenough to prevent the inverter from overheating.

Electrical InterferenceThe whole inverter has been designed with this in mind. Most of thecircuitry put in place to handle overshoots and oscillations are a partof the solutions to cope with this requirement. The layouts of bothPCBs have many considerations in an effort to minimize noise andsensitivity to noise. These considerations and the component choicesare described in much more detail in section 7.

Torque capA torque cap has been implemented in software to ensure that thesystem will not provide more current than the inverter is built for.

Driver DisableWhenever the system or the user decides that the system should bedisabled, the gate drivers that control the power PCB are switchedoff. This has two main positive effects; first, it will save energy sincethe drivers and the power PCB will stop switching; second is that ifsomething is malfunctioning, some part might be damaged if continuedswitching is allowed.

Voltage dropThis is taken care of by measuring the input DC-voltage from the bat-tery. A minimum voltage is defined as a constant that is larger than

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the minimum required voltage for proper functionality of the electri-cal components. If the measured voltage drops below this constant,the system will start to regulate against zero torque. There is alsoa constant lower than this which is the limit for when the controllerwill disable the drivers and stop switching. If the latter happens, asoftware interrupt occurs and the inverter is disabled, and will need tobe reset for further operation.

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4 System overview

In this section, a brief overview of the complete system is presented. Thecomplete system designed in this project consists of a number of major partswhich can be categorized as:

• Software.

• Electronic hardware.

• Mechanical hardware.

In figure 4 a block representation of the system electronics and softwareparts are presented to give a rough idea of how the system is designed.

Current Measurement

TemperatureFan speed Regulator

AngleSpeed

Torque Regulators

Fan

Inverter

Peripheral units

SoftwareElectronic hardware

Angular Signal

ConverterResolver

Power PCBControl PCB

PMSMThrottle reference

Figure 4: Block representation of the system electronics and software

The software contains the control loop and is running on a DSP. Inputs areread from the different sensors and the control loop generates the signalsthat controls the half bridges in the inverter. The software and its differentparts are described in detail in sections 5 and 6.

The electronic hardware consists of two separate PCBs. One card for the ac-tual power electronics such as the large power transistors in the half bridges.The other card houses the DSP, sensors and driver circuits that controlthe power electronics. The hardware solutions along with some componentchoices are described in detail in section 7.

The mechanical parts are the mounting solutions designed to enable thesystem to be implemented on QRTECH’s go-kart together with for examplecooling solutions for the inverter electronics. The mechanical parts designedin this project are described in detail in section 8.

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5 Electronic Control Unit ”ECU”

This chapter will describe a general theory behind an ECU for motor controland its sub blocks. It consists of routines for collecting and processing datafrom the inverter and peripheral units as well as controlling them, it handlessecurity and log data.

This section will not describe how the ECU interfaces to other units nor givea detailed description of the software implementation since that is specificto this project. Those parts is discussed in section 6.

5.1 Torque Control Loop

The torque control loop is the most central part of a motor control system,this is the part that controls the PMSM through switching the inverterboard. Its main purpose is to regulate the input to the PMSM so that thetorque increase and decrease will feel smooth, be safe and at the same timebe as fast as possible without overshoots.

An overview block diagram of the complete loop is shown in figure 5.

Software

q-Torque Regulator

d-Torque Regulator Inverse Park

and Clarke Transformation

Space Vector Generation Inverter

Angular Signal

Converter

PMSM

Resolver

Throttle (q) reference

Rotor flux linkage (d) reference

Electric angle

Clarke and Park

transformation

Current Measurement

Mechanical Angular Speed

Electronic Hardware

ConstantPeripheral units

Figure 5: An overview of the torque control loop

5.1.1 Current Measurement

The current measurement uses two equations, one for calculating the actualcurrent and one for calibration. The calibration calculates an offset thatrepresents zero current. This is done using equation 1 for all 3 phases,where x is an arbitrary picked number and IMEAS is the measured current.

Ioffset =1

x×

x∑i=1

IMEAS (i) (1)

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Equation 2 calculates the actual current, this is done for all 3 phases.

I = (IMEAS − Ioffset) (2)

5.1.2 Electrical Angle

The electrical angle is used as a feedback to know where the motor-shaft ispositioned. This information is used to calculate speed and as an input tothe space vector modulation. There is a number of ways to calculate theangle and the one used in the project is described in section 6.2.

5.1.3 Mechanical RPM

The mechanical RPM is calculated using equation 3 on the electrical angle(θ) described in section 5.1.2. The difference between mechanical and elec-trical RPM is the number of pole pairs in the motor, the electrical RPMdescribes how fast the magnetic field in the motor is rotating in contrast tomechanical RPM which describes the speed of the motor shaft. The sampletime (t) is in seconds which is why the ∆θ is multiplied by 60 and PolePairsrefers to the amount of pole pairs in the PMSM.

(∆θ) = θ0 − θ−1

vmech =60× (∆θ)

t× PolePairs× 2π(3)

5.1.4 Clarke transformation

The αβ transformation, or the Clarke transformation, is used to simplifythe analysis of three-phase system using equation 4. Figure 6 shows how αand β corresponds to the three phases.

[7] [8]

sα = sa

sβ = sb−sc√3

(4)

13

α-axis

Sc

Sb

β-axis

Sa

Figure 6: Shows Sabc in relation to Sαβ

With a symmetric load, equation 5 is true and therefore equation 4 can bereduced to equation 6.

0 = sa + sb + sc (5)

sα = sa

sβ = sa+2×sb√3

(6)

Clarke’s inverse transformation is shown in equation 7.

sa = sα

sb =−sα+

√3×sβ

2

sc =−sα−

√3×sβ

2

(7)

5.1.5 Park’s transformation

The dq transformation, or Park’s transformation, converts the two AC quan-tities (α and β) to two DC quantities (direct and quadrature). This sim-

14

plifies the use of these quantities as feedback input to the regulators. Thed and q representation is achieved using equation 8 where θ is the electricalangle described in section 5.1.2 [7] [8].

sd = sα × cos(θ) + sβ × sin(θ)

sq = −sα × sin(θ) + sβ × cos(θ)(8)

Park’s inverse transformation is shown in equation 9.

sα = sd × cos(θ)− sq × sin(θ)sβ = sd × sin(θ) + sq × cos(θ)

(9)

5.1.6 d- and q-torque regulators

In the torque control loop the system regulates two DC quantities (d and q).There is one independent regulator for each quantity. The measured currentis transformed as described earlier and used as feedback. The d quantity isused to control the rotor flux linkage while the q quantity is used to controlthe torque. This project is only focused on controlling the motor torqueand therefore this system uses a static 0 reference for the d quantity. The qquantity however gets its reference from the throttle, for further details, seesection 6.3.

In the regulator for the q quantity there are also two built-in safety parts:

• Decrease torque reference if the measured mechanical speed has reachedan upper allowed limit.

• Decrease torque reference if the measured temperature of the powerPCB has reached an upper allowed limit.

An overview block diagram of the q-torque regulator can be seen in figure7.

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Decrease Torque

Reference

Max Speed

Measured Speed

Torque Reference

Decrease Torque

Reference

PID

Measured Torque

Max Temp

Measured Temp

>=

YES

YES

>=

Figure 7: An overview of the q-torque regulator

5.1.7 PID

A Proportional Integral Derivative controller (PID controller) calculates an”error” value as the difference between a measured process variable and adesired setpoint. The controller attempts to minimize the error by adjustingthe process control inputs.

A general implementation of a PID-controller can be seen in figure 8.

Figure 8: A simple block-diagram of a continuous PID-controller[9]

Ziegler-Nichols methodThe Ziegler-Nichols method is a method used to optimize a PID-controller.This method is especially good and simple to use when the process responseis unknown. The downside is that it can render a rather unstable controller[10].

The method is carried out as follows:

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• Turn of the I- and D-parts, ie. set Ti =∞ and Td = 0.

• Set K0 to 0.

• Then increase K0 iteratively until the system begins to oscillate.

• Measure the period time T0 as in figure 9.

• Adjust the parameters according to table 1.

T0

Figure 9: Ziegler-Nichols

TypeParametersK Ti Td

P-type 0.5K0 − −PI-type 0.45K0 0.85T0 −PID-type 0.6K0 0.5T0 0.125T0

Table 1: Ziegler-Nichols

However Karl Johan Astrom and Tore Hagglund have shown that whenusing the same method, the parameters chosen in table 2 normally leads toa better stability [10]. Therefore the PID controllers were configured usingthis method.

TypeParametersK Ti Td

PID-type 0.35K0 0.77T0 0.19T0

Table 2: Astrom - Hagglund

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5.1.8 Sector Calculations

This section describes the part that calculates the duty cycle t that is usedto generate PWM signals to control the halfbridges in the inverter. The firstthing is to convert the DC quantity (d and q) back to a 3-phase AC quantityusing the inverse Park-transformation, see equation 9 and the inverse Clarke-transformation, see equation 7.

Table 8 is then used to find the equation to calculate the correct duty cyclesfor the three phases in the inverter. This table is used to simplify thecalculations that would otherwise be needed. A degree interval for everysector can be seen in the table, except for sector 0 and 7 which representsthe case when the output power from the inverter is zero.

Sector 0: Sector 1:90 - 150 degrees

ta = 0.5 ta = (1.0− Ua − Ub)/2.0tb = 0.5 tb = (1.0− Ua + Ub)/2.0tc = 0.5 tc = (1.0 + Ua + Ub)/2.0

Sector 2: Sector 3:150 - 210 degrees 210 - 270 degreesta = (1.0− Ub + Uc)/2.0 ta = (1.0 + Ua + Uc)/2.0tb = (1.0 + Ub + Uc)/2.0 tb = (1.0− Ua − Uc)/2.0tc = (1.0− Ub − Uc)/2.0 tc = (1.0 + Ua − Uc)/2.0Sector 4: Sector 5:270 - 330 degrees -30 - 30 degreesta = (1.0− Ua − Ub)/2.0 ta = (1.0− Ub + Uc)/2.0tb = (1.0− Ua + Ub)/2.0 tb = (1.0 + Ub + Uc)/2.0tc = (1.0 + Ua + Ub)/2.0 tc = (1.0− Ub − Uc)/2.0Sector 6: Sector 7:30 - 90 degreesta = (1.0 + Ua + Uc)/2.0 ta = 0.5tb = (1.0− Ua − Uc)/2.0 tb = 0.5tc = (1.0 + Ua − Uc)/2.0 tc = 0.5

Table 3: Sector calculations

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0,00%

20,00%

40,00%

60,00%

80,00%

100,00%

0,00 30,00 60,00 90,00 120,00 150,00 180,00 210,00 240,00 270,00 300,00 330,00 360,00 390,00

Ta

Tb

Tc

Figure 10: Output from the space vector generation during different angleswhen the torque reference is 80%

5.2 Fan Controller

This ECU uses both passive and active cooling in terms of a heat sink (morein section 8.1) and a fan. Table 4 describes how the the fan is controlled. Tosave energy an ”on” temperature was defined to when the fan should beginrotating, it is also set as the target temperature. For the algorithm a ”max”temperature was defined to when the fan should rotate at maximum speed.

TFeedback ω

> TMAX ωMAX

< TON OFF

> TON ω = ωON + (ωMAX−ωON )×(TFeedback−TON )TMAX−TON

Table 4: Table showing how the speed of the fan is controlled depending onthe measured temperature. ω∗ and T∗ are constants.

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6 DSP and software specific to this project

This section describes the DSP used in this project and what applicationspecific software that has been constructed for this micro controller and thecustom PCB.

6.1 DSP - TMS320F28335

The DSP is a part of the Texas Instruments C2000 family and was providedby QRTECH. It has been chosen as a generic development platform becauseof its floating point acceleration and large range of integrated peripheralmodules (CAN, ADC, PWM etc.). The modules used in this project aredescribed in this section, but this DSP has a larger range of peripheralmodules built-in that can be used in different applications. This sectiongives a short description of the DSP that was used, further reading for moredetailed descriptions can be found in the datasheet [11].

ADC-moduleThis DSP has a built-in 12-bit ADC-core which can sample up to 12.5MSPS. It has 2 Sample/Hold circuits and 16 dedicated ADC channelswhere 8 channels can be multiplexed per Sample/Hold. It has an autosequencing capability that provides up to 16 ”auto-conversions” in asingle session. Each conversion can be programmed to select any ofthe 16 input channels. A session can either be triggered by softwareor the PWM-module.

CAN-moduleThe CAN module is fully compliant with CAN protocol, version 2.0Band supports data rates up to 1 Mbps. It also has 32 mailboxes withup to 8 bytes of data each.

GPIO-moduleThe device supports 88 GPIO pins, but all pins are multipurpose in thesense that they can support one or more peripheral modules as well.Two examples are that GPIO-0 also can be used as PWM channel 1-Aand GPIO-12 can also can be used as either Trip Zone-1 or CAN-Btransmit.

PWM-moduleThe PWM-module has 12 channels divided on 6 pairs, the system has 6dedicated Trip-zone signals to alert the module of external fault condi-tion. What happens when different trips occur can be configured indi-vidually for every pair of PWM-channels. The PWM-module can alsobe used to start internal interrupt sequences and ADC-conversions.

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QEP-moduleThe quadrature encoder pulse (QEP) module is used for direct in-terface with a linear or rotary incremental encoder to get position,direction, and speed information from a rotating machine. In thisproject it takes two pulse trains (A and B) where every pulse repre-sent a fraction of the revolution, it combines this with a third pulsetrain (I) that ticks once every full revelation.

Real-Time JTAG and AnalysisThe device implements the standard IEEE 1149.1 JTAG interface

and supports real-time analysis whereby the contents of memory, pe-ripheral and register locations can be modified while the processor isrunning and executing code and servicing interrupts. The user can alsosingle step through non-time critical code while enabling time-criticalinterrupts to be serviced without interference. Additionally, it allowssetting of hardware breakpoint or data/address watch-points.

6.2 Electric Angle from pulsetrain

The signals from the IC-circuit described in section 7 is fed to the QEPmodule and then equation 10 is used where POSCNT is the current partiallength of an electric revolution in the PMSM, CPM is the total length of anelectric revolution, 2.0×π is to transform it into radian and calibratedAngleis the static phase shift between the PMSM and the Resolver. The QEP-module can be used in a number of ways to calculate the position count, inthis application the flanks of the A-pulse train triggers an up-count of thePOSCNT and the I-pulse train resets it to zero.

θ =2.0π × POSCNT

CPM+ calibratedAngle (10)

6.3 Torque Reference

This project uses a potentiometer for determining the torque reference andthis chapter will discuss the implementation of this. The ECU also hasbuilt-in functionality to be able to receive a torque reference from a Masterthrough CAN.

6.3.1 Potentiometer

To get a torque reference (τREF ) from the driver, two potentiometers areused, one for acceleration (AccRef) and one for the brakes (BrakeRef). To

21

ensure that the motor will not output a too high torque when the mechanicalbrake is applied, equation 11 is used to reduce the accelerator’s impact. Thereason for this is that one might otherwise burn power unnecessarily or burnthe windings in the motor. One aim here is that the brakes should have littleor no impact on the motor when a low force is applied and have an impactgrowth that is polynomiall, where the brakes will cut off the acceleratorwhen they are applied by 50%. AccRef and BrakeRef are normalizedvalues between 0.0 to 1.0.

τREF = (AccRef − 32×BrakeRef4)× τMAX (11)

6.4 Temperature measurement

The temperature measurement is done by a thermistor of a nonlinear NTC-type, the details of this can be found in the datasheet [12]. Because this isnonlinear, some kind of linearizion needed to be carried out for the DSP tobe able to convert the ADC-readout (x) to an approximated temperature.Two methods were considered, lookup-table and multiple equations for shortintervals. Look-up tables (LUT) lost because recalculating the ADC-readoutto an address that could be used with a LUT would be more complex thanto use the hardware acceleration for floating point multiplications in theDSP. And this renders it faster to use multiple equations with a switch andcase statement which is important since the calculation is executed duringthe interrupt-loop which has a given time frame. This resulted in 6 firstorder equations, see equation 12 and their results can be seen in table 5.The reason for multiplying with 4095 in equation 12 is that this equation iswritten so that it can easily be modified from taking normalized input from0.0 - 1.0 to the real ADC-readout where 1.0 is represented by 4095.

In table 5, the deviation from the real temperature to the calculated oneis always less then 1C, these equations were auto generated and the effortto produce these 6 equations were therefore negligible. These precise valuesare not of a great importance when controlling the fan, but the values aresupposed to be presented to the driver and used for future development andoptimizations, and thus the seemingly unnecessary precision.

t =

−0.0256× 4095× x+ 103.82, 1.000 >= x > 0.828−0.0213× 4095× x+ 90.263, 0.828 >= x > 0.493−0.0253× 4095× x+ 98.389, 0.493 >= x > 0.308−0.0377× 4095× x+ 114.83, 0.308 >= x > 0.211−0.0627× 4095× x+ 135.11, 0.211 >= x > 0.128−0.1083× 4095× x+ 157.63, 0.128 >= x >= 0.000

(12)

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real (C) aprox. (C) real (C) aprox. (C)

10,00 9,66 70,00 70,3115,00 14,42 75,00 75,5520,00 20,27 80,00 80,2225,00 25,00 85,00 84,3930,00 29,94 90,00 90,4035,00 34,99 95,00 95,6740,00 40,04 100,00 100,3145,00 44,58 105,00 104,3550,00 50,14 110,00 110,4155,00 55,35 115,00 115,6160,00 60,16 120,00 120,2765,00 64,54 125,00 124,27

Table 5: Real values and their respective approximated values from themodel used.

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7 Hardware

In this section the inverter hardware and its components will be discussed.At first a brief overview of the system will be presented and then the functionwill be described. The most relevant and active component choices made inthis project will be discussed and motivated here and the physical solutionwith layout will be discussed. Throughout this chapter it is valuable to havethe schematics for the two parts of the system at hand. The schematics,together with drawings of the layouts, can be found in appendix A and B.

7.1 Hardware overview

The complete system has two major parts, the control PCB and the powerPCB. The power PCB contains the half bridges and the actual inverter assuch. The control PCB contains all the parts necessary to ensure the func-tionality of the power PCB. That is, the DSP, sensors, the gate driving forthe half bridges and some miscellaneous devices for communication. There-fore the main focus here will be on describing the control PCB, since thepower PCB mostly contains the half bridges for the inverter. In figure 11a block scheme of the control PCB can be found. Below the description ofthe parts and their functionality is presented.

Figure 11: Block schematic of the hardware in the control system

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7.2 Description of the system blocks

Here a more in-depth description of the system blocks can be found. Thegeneral function is described for each of the blocks and the design is dis-cussed. For reference see the schematics in appendix A and B.

7.2.1 CAN & peripherals

In this block the CAN controller and some outputs for peripheral indicatorLEDs are found. CAN is implemented with a basic CAN transceiver andsome ESD protection on the bus terminals. The CAN transceiver is thendirectly connected to the on-board CAN controller in the DSP. The outputsfor the indicator LEDs are driven by small MOSFETs in series with a currentlimiting resistor. The outputs are connected to the cathode of standardLEDs.

7.2.2 Current sensors, resolver and miscellaneous sensors

On the control PCB some different sensors are implemented. The mostprominent ones on the PCB are the three current sensors that measure thecurrent output to each of the three phases. These are operation criticaland are hall-effect type current sensors from LEM that can measure upto 300A. The sensors outputs a voltage directly proportional to the currentflowing though the sensor. Since the sensors are supplied with 5V the outputranges from 0 to +5V. The DSP can only handle +3.3V on the ADC inputsthough, this is sorted by a simple resistive voltage divider. This could havebeen solved with a op-amp instead, which would have been a much moreproper solution, however this would have required too much time to develop.Therefore the simple solution was preferred. The sensors also have simpleRC-low pass filters on the outputs to reduce the high frequency noise on thesignal to the DSP.

The other operation crucial sensor is the angle sensor mounted on the mo-tor. This sensor is a resolver type sensor, and the sensor itself is describedin detail in section 8.4. This sensor measures the angle of the motor driveshaft in electrical RPM. This means that the output angle from the sensor isdirectly coupled to the current flowing through the motors windings. Boththe motor and the resolver sensor thus have four electrical revolutions permechanical revolution. The resolver requires a driving and conversion cir-cuit, which drives the primary side of the resolver and converts the outputsfrom the resolver sensor to either a 12bit binary number or to two pulsetrains and an index pulse, equivalent to the outputs of an encoder. In thisproject the encoder equivalent outputs were chosen since the DSP has an

25

integrated module to decode such an input to an angle. This also reducesthe number of I/O lines required on the DSP. The R/D converter IC alsooutputs the sine and cosine waveforms and these are also connected to theADC unit in the DSP via a resistive voltage divider. This was done to enablethe future development of a software R/D converter, however this is not inthe scope of this project.

On the power PCB there are two types of temperature sensors. Firstlythere is an NTC resistor to measure the actual temperature of the powerPCB and the heat sink. Secondly, there is also a series of PTC-resistors, withone resistor for each half bridge. These are used to disable the inverter viahardware shutdown functions to prevent damage due to overheating. Thechain of PTC-resistors is connected to an op-amp based comparator witha small window of hysteresis. The output of the comparator is connectedto the hardware shutdown on all of the gate drivers and to a GPIO on theDSP to indicate normal operating temperature. The same signal is also, viaa small transistor, connected to the DPS’s shutdown signal, to enable thesoftware to utilize the hardware shutdown on the drivers.

7.2.3 Gate drivers

Each phase has a set of gate drivers which drive the gates of the MOS-FETs in the bridge. Since this inverter needs to be able to handle largeamounts of current, there is a demand for low resistive losses and abilityfor fast switching of the transistors. This set of demands makes P-channelMOSFETs undesirable since they have much lower charge carrier mobilityand thus need to be a lot bigger to compensate this and meet the currentrequirement. This in turn leads to an equal increase in gate capacitance.However, the N-channel device needs a positive gate-source voltage to beturned on, and this is the reason for the use of galvanically isolated gatedrivers.

The gate drivers used for this design are the Infineon 1ed020i12-f isolateddrivers. These gate drivers were prechosen to this project by QRTECH.Each gate driver drives one side (upper or lower side) of each phase, thusthere are are two drivers per phase and six drivers in total in the design.Input to the drivers are isolated power, and control signals. Among thecontrols signals there are two PWM signals, one for the upper half and onefor the lower half of the phase, i.e. the two drivers in each phase receive thePWM signals for both the upper and the lower half of the phase that theyare driving. This is done because built in to the drivers is a safety featurethat by the use of both PWM signals ensures that both half’s of a bridgeis never in on state at the same time and thus preventing shoot throughcurrents. A shutdown or reset input is also available which turns off the

26

driver output. This is used either by the software or by the temperatureprotection to shut down all the gate drivers if needed.

On the output side of the drivers there are small driving bridges, that con-sists of a pair of npn/pnp bipolar transistors, two for each half bridge (seeschematics in appendix A for details). By this design the gate drivers onlyhave to drive a signal to the final small bridges that do the actual drivingof the MOSFETs gates. Although the drivers are specified to drive 2A railto rail[13], these small final bridges were implemented. When this is donethe driver only needs to drive the output to signal strength, and the actualdrive current to the gates are delivered by the final small npn/pnp bridges.This design offers very high noise immunity since the drivers can drive theiroutput very hard. The final small bridges also have a small filtering of thepower supplied to the bipolar transistors with a 100Ω resistor and a 1µFcapacitor. Since the gates are more or less a capacitor that is charged toturn the MOSFET on, the large capacitor and the resistor smooths out thecurrent spikes that otherwise would appear on the supply lines to the smallbridges. This is desirable since it reduces noise emissions.

7.2.4 Isolated power

The gate drivers need a galvanically isolated power supply to drive the MOS-FETs. The power is supplied by Traco isolated power modules that outputgalvanically isolated 24V. This is then divided with zener diodes to give a+15V, -8V and a GND reference. By dividing the isolated voltage the gatesof the MOSFETs can be driven to voltages that ensure safe and reliableoperation. By driving the gates to -8V in off state, the possibility of thetransistor being turned on from over heard noise to the gate, or by parasiticcapacitances is greatly reduced.

7.2.5 Half brigdes

The half bridges are the main part of the inverter it self, see schematicsin appendix B. They mainly consist of a pair of MOSFETs connected inseries between the poles of the battery supply. The output phase voltage isconnected in between the two transistors. Parallel to each of the transistorssnubber circuits are connected. The snubber is a RC-circuit used to dampenovershoots that occur from the parasitic inductance in the tracks on thepower PCB. The snubber is further discussed in section 7.3.4. In parallelwith both the transistors is the reverse recovery capacitor connected, this isalso discussed in detail in section 7.3.3. To the gate of each MOSFET thereis a protection diode connected to protect the transistor from a too highgate voltage. There is also a small transistor connected between the gate

27

and the source on the large MOS devices. This transistor is there to ensurethat the gate of the large MOSFET is kept low when the device is turnedoff and does not get turned on by parasitic capacitances or other noise. Thesignals to control this are connected to the control PCB via a 6 way pinheader.

7.3 Component choices

In this section the major important component choices are discussed in de-tail. Many of all the components used in the whole design are not discussedhere since many are considered self explanatory, such as pull up/down re-sistors and decoupling capacitors. Those components of interest are moreof a crucial nature to the design and have been changed from the originaldesign to fit the new specification. Note that the whole design is mostlycarried over from a previous similar project with another set of demands onvoltages and currents and thus most of the design choices were not made inthis project.

7.3.1 Traco power modules

To supply the isolated gate drivers with galvanically isolated power, Tracopower modules were chosen. In the original design, this isolated power wassupplied via switch transformers controlled by the DSP. This solution neededsome rework to handle the increase in power demand when redesigning fromIGBTs to MOSFETs used in this project, since the IGBTs from previousdesign has a much lower gate charge than the MOSFETs and there werefewer of them. Thus the demand for current is increased. However due totime constraints and a desire to simply avoid problems arising from thesepower supplies a complete off the shelf solution was chosen. The modulestake an input voltage of 36-72V and outputs an galvanically isolated 24V,125mA.

7.3.2 MOSFET transistors

The MOSFET transistors chosen for the inverter are from the OptiMOS 3power transistor series from Infineon. The specific transistors chosen havethe following general specifications:

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Description: value:

VDS 100V

RDS(on),max 2.5mΩ

ID 180A

Table 6: Basic properties of the MOS-transistors

Infineon was prechosen as supplier of the transistors for this project byQRTECH. The choice of the specific transistor was however made in thescope of the project. According to the specifications the inverter needs tobe able to handle 300A peak current. Due to the large peak current, adecision to go with three half bridges per phase, rather than one or two,was made. When handling the large peak current, the thermal aspect ofthe design becomes very important. The maximal junction temperature thetransistors can handle is 175Celsius[14]. This temperature must not beexceeded in order to avoid damage to the transistors. In this calculation thepeak current is used rather than the RMS current. This is done becauseof two main reasons. This ensures a good safety margin during normaloperation which is desirable since the inverter is a prototype. It also takesin to account the case where the motor does not rotate and full throttle isapplied, in this case the transistors must be able to handle the peak currentduring a prolonged period of time. The heat transfer to the surroundingair can be calculated according to equation 13 where Rθ is the sum of theabsolute thermal resistances of the different junctions and Q is the thermalpower that flows through the system [15].

∆T = Q×Rθ (13)

Where ∆T can be written as:

∆T = Tjunction − (TAmbient + THeatsink) (14)

And Q is the the thermal power generated by one of the transistors, calcu-lated as:

Q = Rch × I2DS (15)

The inverter is specified for a peak current of 300A, to be able to handlethis current with a reasonable amount of resistive losses on the MOSFETs, a

29

decision was made to go with three half bridges/phase and thus IDS = 100Afor each half bridge. Thus the current though each half bridge is reduced toa third, which will reduce the resistive losses to 1/9. The thermal resistancescombined in the term Rθ are all the different layers and junctions betweenthe transistor itself and the surrounding air. The different absolute thermalresistances are found in table 7. Note that a compensation has been assumedto account for the junction between the heat sink and the aluminum PCBwhere the power components are mounted.

Description: value [C/W]:

Rjunction 0.5

RAl−PCB 0.45

RHeatsink 0.34

Rcomp 0.3

Sum 1.59

Table 7: The different absolute thermal resistances connected to the MOS-FETs in the inverter

In this case the ambient temperature was assumed to be 30C and the heatsink was assumed to be kept at no more than 30C above the the ambienttemperature. Combining equations 13, 14 and 15 and then solve for Rch :

Rch ≤175− (30 + 30)

(0.5 + 0.45 + 0.34 + 0.3)× 1002' 7.2mΩ (16)

The allowable channel resistance of the MOSFET is then less or equal to7.2mΩ. This requirement must be fulfilled even when the junction tem-perature has risen to near the allowable temperature (175C). The chosentransistor has a Rch ' 5.4mΩ when Tj = 175C. It is important that thechannel resistance is within allowable limits even in the worst case when thejunction temperature in the transistor is high.

7.3.3 Reverse recovery capacitors

When the body-source diode in a MOSFET has been forward biased and thetransistor is shut off, the diode will be backwards biased. For a short whilethe body source diode will suffer from what is known as reverse recoverythough. When this occurs, charge from the pn junction must be removedto form the depletion region in the diode. This appears as if the diode isconducting for a short while. In this case the reverse recovery charge is232nC[14]. A capacitor is placed between the VDD and VSS of each half

30

bridge, as close as possible to the transistors, to handle this charge. Thecapacitor must be a ceramic or plastic, since the the course of the reverserecovery is in the order of 10th of nano seconds. The chosen capacitor is ofX7R-type dielectric. The accepted voltage ripple over this capacitor whenthis charge flows in and out of the capacitor was set to 0.05V. The requiredcapacitance to achieve this is then:

C =Q

V=

232nC

0.05V' 4.7µF (17)

In the inverter two of these capacitors have been stacked for double thecapacitance. This was done to further decrease the amplitude of the rippleon the VSS and VDD rails to the half bridges.

7.3.4 Snubber circuit

The ”snubber” is a RC-link placed parallel to each MOS-transistor in all thehalf bridges. The snubber circuit is there to handle the voltage overshootthat occurs when the MOS-transistors are turned off. This overshoot occursdue to the stray inductance, that comes from the cables and the tracks onthe power PCB and such, which tries to continue driving the current thoughthe transistor when it is quickly turned off.

As a rule of thumb, a RC-snubber for a MOSFET can be designed with a ca-pacitance twice the output capacitance of the transistor. The resistor valueis determined by measuring the frequency of the oscillations on the over-shoot, and then fitting the cutoff frequency of the RC-link to the frequencyof the oscillations. In this design however, the capacitance was chosen tobe able to handle as much energy as possible to minimize the peak voltageof the overshoot, and was therefore chosen to 22nF, since these capacitorswere already available.

To decide the resistor value in the RC-link, the max current though the tran-sistor was considered. When driving the max allowed 100A, and abruptlyshutting off the transistor, the current will continue flowing for a short while.This current will flow through to the capacitor, and since the capacitor isconducting like this, basically the whole voltage drop will end up over theresistors. This voltage is simply derived from ohm’s model in equation 18.

U = R× I (18)

The voltage over the resistor needs to be sufficiently low to not break theresistor. The accepted voltage over the resistor was decided to be less than

31

100V but the resistor can not be too small since this would cause unneces-sarily large amounts of energy being wasted as heat. Therefore after somediscussions the resistance was chosen to 0.68Ω. This will give a voltage of68V when 100A flows through the snubber, which was deemed as acceptable.

7.4 PCB Layout

In this section the configuration of the PCBs and layout of both of the PCBswill be discussed. Some special considerations and component placement willbe discussed. The section is divided into one chapter per PCB. The inverterPCBs are divided in to a power PCB where the half bridges are mountedand a control PCB where the DSP and the gate drivers are mounted.

7.4.1 Power PCB

The power PCB is a aluminum substrate type PCB. This is necessary sincethe chosen transistors are surface mounted and they require cooling to notoverheat. This type of PCB only permits one copper layer to route thedesign. The layout of the power PCB is basically shaped like a ring. Thisdesign was chosen rather than a design with each of the phases in a straightline. This straight line design had been tested in a previous design for an

inverter for the go-kart, though the results were not optimal. Over all, thehalf bridges are arranged in a circular pattern, where the battery connectionsare placed outwards and the output or the phase connections are placedinwards. Since there are three half bridges per phase, there are a total ofnine half bridges in the design, and they are arranged alternating betweenthe three phases. That is, they are ordered as phase: A-B-C-A-B-C-A-B-Cfollowing the circle around.

Outside the half bridges two 3mm thick copper rings are placed to carry theinput power from the battery to each of the half bridges. It was clear fromthe linear design that first of all the reverse recovery capacitor needed tobe placed very close to the transistors in each half bridge due to the hugecurrent spikes that these capacitors need to handle. Thus the inductanceof the copper trace (or the wire) to these capacitors must be kept to anabsolute minimum.

In the design chosen for this project the transistor pair for each half bridgeare placed next to each other and the reverse recovery capacitor is placed di-rectly between the connections between the transistors and the input powerrails. The trace length between the gate on each MOSFET and the con-nector to the control PCB, including trace length for the small transistorconnected between the gate and source on the large transistors, also needed

32

special care. These traces need to be as short as possible to have as lowimpedance as possible and to avoid picking up too much noise, which couldlead to potentially driving a transistor to a faulty state.

The old linear design also had a large input capacitor for some currentbuffering, though it had become apparent that the trace length from thehalf bridges out to the large capacitor was too great. With this in mind alarge number of smaller aluminum electrolytic capacitors were placed on thecopper rings. This enabled the capacitance to still be quite large and yet bedistributed over all the half bridges, and thus the trace length to the bridgesis minimized.

A picture of the finished power PCB, fully populated can be seen in figure12.

Figure 12: The finished power PCB mounted on the heat sink

This PCB was the first to be routed since it has most of the componentswith routing requirements that is to be considered critical. One of the halfbridges was initially routed and then the routing was copied over to the other8 half bridges. All the bridges were then arranged in the circular patternand finally the temperature and overheating sensors were placed and routed.

7.4.2 Controller PCB

Before any component placement or routing was made, the PCB stack-upwas decided as follows:

33

• 6 layers should be used. This was preferred to save time spent routingcompared to a 4 layer board

• All components must be placed on the top layer, with exception to theconnectors connecting the control and power PCB together

• The outer top and bottom layers should only have local signal routing,especially the bottom layer, to ensure good noise immunity

• Internal layers will be 3 signal layers and one layer reserved for powerplanes

Since the power PCB was routed prior to the any routing being done on thecontrol PCB, the pin headers connecting the two cards together could beplaced on the bottom side and locked in position first on the control PCB.The remaining routing was done with these headers as a first premise.

The small pnp/npn drivers stages were placed and routed directly on the topside of the pin headers connecting to the power PCB. Special care was takento minimize the trace length from the pnp/npn transistors to the pin headeron the bottom side of the PCB. After this initial placement and routing wasdone, the DSP and the power regulators were placed along side one of theedges of the board. The current sensors were placed as tightly as possibletogether in the middle of the PCB. The component placement can be seenin figure 13.

Figure 13: The finished populated controller PCB

When the signals connecting the small pnp/npn driver stages to the gatedrivers were routed, a first try to implement so called X-Y routing was made.

34

X-Y routing means that designated layers are used for routing strictly in Xor Y direction of the PCB only, and is used to minimize EMI problems.

However, it became apparent due to the layout of the pin headers, i.e. thering-shape and the order of the phases as described earlier, made this routingstyle very inconvenient. Therefore a solution based on the ring shape usedon the power PCB was used where open rings with all the 6 signals/isolatedpower lines were routed in parallel and the different phases were stacked onindividual layers in the PCB. These rings can clearly be seen in the compositedrawing of the control PCB in appendix A. The rings were orientated to leavethe opening facing the DSP and the level shifter so the signal traces fromthe current sensors could be routed.

The gate driver circuits were placed on the opposite side of the circle openingto equalize the trace lenght to the small driver stages. The Traco powermodules were placed last and were merely placed along side the edges ofthe PCB that were closest to the gate drivers. A composite drawing of therouting on the different layers can be found in appendix A.

35

8 Building and intregrating a powertrain on a Go-Kart

This section will present all the mechanical parts.

Figure 14: Picture showing the complete driveline with the inverter

8.1 Cooling

The estimated amount of power that is generated by the inverter in form ofheat is calculated according to equation 19. In this fairly rough calculationthe switching losses are neglected, since they are small by comparison, anda worst case with 300A flowing out of one phase and 150A in to the twoother phases. It is also assumed that the transistors are operating at 175Cand thus have a Rch = 5.4mΩ.

Presistive = 3× (5.4× 10−3 × 1002) + 6× (5.4× 10−3 × 502) ' 250W (19)

Since this is a prototype there was no need for cost optimizations and such,so it was decided to take a safe route and go with an assumption that thecooling solution needed to be able to handle roughly 1kW.To achieve thisand not have the inverter overheat the system is cooled by a heat sink andfor additional cooling a fan is used.

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8.1.1 Heat sink

Since the PCBs are 200x200mm, the heat sink needed to be at least of thesame size. The height was determined by efficiency, a taller heat sink wouldbe better to dissipate more heat.

height: efficiency:

25mm 0.65C/W40mm 0.34C/W

Table 8: 200x200mm Heat Sinks from Farnell AB

Figure 15: SolidWorks model of a 200x200x40mm heat sink

8.1.2 Fan

Because of the data in table above and the estimated power dissipation fromthe inverter, the 40mm heat sink would be around 340C higher than thesurrounding air. This would require for a fan to be used.

The fan that was supposed to be selected, needed to work in a robust en-vironment where it would be exposed to dirt and rain. With these needsin mind a selection process to find a suitable candidate took place and theconclusion to use a fan for cars was tested, but it was hard to find one thatsize requirements. However a fan for ATVs was found and purchased and apicture of it can be seen in figure 16.

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Figure 16: A picture of the fan.

A mount to fit the fan to the heat sink was required, so one was designedand fabricated. See fingure 17.

Figure 17: A 3d model of the fan mount

The fan mounted on the heat-sink can be seen in figure 18.

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Figure 18: A 3D model of the fan mounted on the heat sink.

8.2 Encasing

The PCBs are supposed to be mounted directly on the heat sink, so the en-casing would work as a surrounding shell with cut through holes for externalconnections.

8.3 Batteries / Charging

Since this project is a remake of an old project the battery-system from theprevious project is kept and is presented below.

BatteriesBattery pack of 4x 12volt lead batteries of 18Ah each

ChargingThe system is charged by a DC Power Supply

8.4 Resolver

A brushless resolver is a type of rotary electrical transformer used for mea-suring degrees of rotation. It is considered an analog device, and has adigital counterpart, the pulse encoder. The resolver can be compared to anelectric motor since it has three windings, a stator and a rotor. Though itis configured a bit differently with one primary exciter winding Rx and two

39

secondary windings Sx, see figure 19. These windings are all located in thestator and the rotor is the core of the transformer. The secondary windingsare configured at a 90 angle to each other.

Figure 19: Basic drawing of a resolver and its input/output signal relations[16][17].

The primary winding is driven by a 10kHz sinusoidal current, and this in-duces currents in the secondary windings via the core. When the rotor isturned the magnetic coupling between the primary and the two secondarywindings is changed, and this gives rise to varying amplitudes in the signalsread from the secondary windings. This together with the 90 angle betweenthe secondary windings generates output signals in the form of amplitudemodulated sine and cosine waves, see figure 19. The specific resolver usedfor this project has four poles just like the motor used. This means thatfor every full mechanical revolution the rotor makes, the output signals willcontain four periods of the amplitude modulation. It also means that theoutput signals from the resolver will correspond to the electrical revolutionsrather than the mechanical ones.

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8.4.1 Resolver-to-Digital Converter

Different techniques is used to get a digital representation of the analog datafrom the resolver, the basic theory of a Resolver-to-Digital Converter is asfollows:

• Sample the sine and cosine signal with an ADC.

• Take the arctan function of the sampled sine and cosine signal.

However this is often not good enough due to electric interference, as asolution, a filter is commonly added before the arctan function[18]. AnAngle Tracking Observer is one solution, but it is not used in this project.The solution used in this project can be found in section 6.2.

Figure 20: Use of the Angle Tracking Observer for Extracting the Angle andSpeed [19]

8.4.2 Resolver Mount

To be able to mount the resolver to the motor a custom resolver mount werefabricated.

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Figure 21: SolidWorks model of the resolver mount

Resolver Shield For the resolver to be protected from stone chips and dirta shield was fabricated.

Figure 22: SolidWorks model of the resolver shield

Resolver Rotor The rotor bought to the resolver needs an adapter to fitaround the motors drive shaft. This was fabricated and it also needed somespacers so that the rotor could be fixed between two washers.

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Figure 23: SolidWorks model of the resolver rotor adapter

8.5 Drive line

Since this project is remake of an old project the drive line is kept and ispresented below, see figure 24 for a picture of the complete drive line on thego-kart.

Figure 24: Picture of the driveline

Drive sprocket

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The engine axle is not of a go-kart-standard an adapter is used to drivea drive sprocket. The drive-sprocket used has 13 teeth.

Driven sprocketThe driven sprocket is of a standard go-kart size and has 70 teeth.

Roller chainThe roller chain is a go-kart chain

8.6 Engine mount

The old version of the go-kart that this project is upgrading had an existingengine mount. The problem with the old one is that it there were not reallyany space to fit the resolver. This resulted in that a new engine mount wasdesigned and fabricated, together with the resolver mount.

Figure 25: SolidWorks model of the engine mount

8.7 Inverter mount

To be able to mount the inverter with the heat sink and the fan on thego-kart, a custom mount was fabricated. The idea is to mount it at the backof the go-kart, behind the rear axle. The mount is attached to the go-kartchassis at 3 points, 2 are to the left and right just behind the axle and 1point between the axle and the seat. An extra requirement is that it shouldbe easy to remove or attach the assembled inverter, this lead to a solutionwhere the assembled inverter is attached over the chassis, the drawback of

44

this is that the assembled inverter would have an unnecessarily big spaceunder it. The mount can be seen in figure 26.

Figure 26: SolidWorks model of the inverter mount

8.8 Front panel

The front panel is where the driver can interact with the control system andturn on/off power to the complete system. It consists of a pre-charge switchto charge the capacitors, an on/off power switch, 2 flip switches with 1 blueLED respectively to see on/off and also 1 red and 1 green LED. The panelcan be seen in figure 27.

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Figure 27: Picture taken of the front panel

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9 Verification and testing

9.1 Software

Since the DSP (TMS320F2833x) offers real-time analysis, more on this insection 6.1, software verification can be carried out live on the DSP, this hasbeen done both on a evaluation board and on the custom designed controlboard for this project. Details on the software verification will follow in thesections below.

A lot of the software verification was done in multiple steps on differentcircuit boards to be able to verify in parallel with the design of the projectsown circuit board and finally on that board. All tests that were carried outon the old inverter were also done on the new inverter built in the projectand the verification produced positive test results in all cases.

9.1.1 Verification of Current Measurement Calibration

The calibration was done just by starting up the system and checking sothat the offset calibrated would represent 1.5 volt on all systems.

9.1.2 Verification of Current Measurement

Development boardThe current measurement have been verified using a potentiometer inthe range 0.0 to 3.0 volt connected to the current measurement pins.The measured value in the DSP was then compared with a multimeter.

First step with an old inverterIn a first try to verify the current measurement, 3 wires were putthrough a LEM-sensor and was short circuited so that they would run3.0A each. The software reading ranged between 8.5 to 9.0A. The 0.5Awere considered an acceptable margin when discussed with QRTECH.

9.1.3 Verification of Accelerator reference

Development boardThe acceleration reference have been verified using a potentiometer inthe range 0.0 to 3.0 volt connected to the current measurement pins.The measured value in the DSP was then compared with a multimeter.

First step with an old inverterIn a first try to verify the measurement of accelerator reference, two

47

potentiometers in the range 0.0 to 3.0 volt were connected to the con-troller PCB extension port. Then the result in the DSP was comparedwith a multimeter.

9.1.4 Verification of Fan control and temp measurement

Development boardThe fan control have been verified using a potentiometer in the range0.0 to 3.0 volt connected to the temperature measurement pin. Themeasured value in the DSP was then compared with table 5.

First step with an old inverterThe same tests as above were carried out on the development-board.

With a motor and the project’s inverterThe same tests as above were carried out on the old-inverter but thefan was also attached.

9.1.5 Verification of interrupt duty cycle

The time the DSP needs to execute an interrupt is not allowed to exceed theperiod time that interrupt. The interrupt in question is the 40kHz interruptthat controls the SVM generation algorithm. The length in time of theinterrupt was measured by setting a pin high when the interrupt startedand pulling it low when it ended and then the time was measured with anoscilloscope to see if it was under 100% of the period time of the interrupt.The test showed that the marginal is around 30% when running interruptsat 40kHz.

9.1.6 Verification of switching ADC-channels

Since the system is changing which ADC-channels to sample during runtime,it was verified so that the right channels were sampled at the right time andwould not interfere with each other. This was done by using different inputon the different ADC-channels that might interfere with each other andlooking at the sampled data during runtime to see if there were fluctuationsthat shouldn’t be there.

9.1.7 Verification of the Driver Disable

The driver disable was verified with the hardware produced in this project,the testing were done so that the pin was toggled during a run of the system

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and then the drivers output were looked at through an oscilloscope.

9.1.8 Verification of the Speed Measurement

The verification of the software was done so that during a run with theinverter and a spinning motor, a fixed revolving speed was used to create anangular velocity and then using the primitive function to get the angle asan input to the speed calculations made in the software. The results werealso compared with the data provided by the resolver and the QEP-moduleto see so that they wouldn’t deviate too much from each other.

9.2 Hardware

This section will describe and discuss the testing process of the hardware.Measurements done on the hardware will be discussed and the proceduresfor testing the hardware will also be discussed.

As the hardware was assembled and ready for the first test runs, some firstpower up tests were done. At first the power was just connected to thecontrol PCB and the different voltages on the card were measured. Atthis stage a first problem was encountered, one of the Traco-modules didnot output the correct voltage. An inspection with an IR-camera was thendone to look for malfunctioning components. An OP-amp in the voltagefeedback from the isolated power connected to the Traco-module in questionproved to develop a lot of heat. Since this feedback was from the originaldesign where the isolated power was controlled by the DSP, the OP-ampwas simply removed and the problem thus solved. After the initial powerup test connectivity to the DSP via the JTAG interface was established.

At the first test run in the lab with the motor, a decision was made to dothe test run without the capacitors on the power rings on the power PCB.This was done to enable a comparison between the measurements with andwithout the capacitors. The snubbers on the MOSFETs were not mountedat this stage either. A current limit of about 10A was used on the powersupply to limit the current in case of breakdown. However, this combinationproved catastrophic. As the motor made a few first turns, the lack of inputcapacitance made power supply hit the current limit and then a kind ofoscillation between the inverter and the power supply occurred. This leadto large voltage spikes that eventually lead to a catastrophic failure of the5V regulator and the DSP on the controller PCB.

After this first failure the first version of the snubbers were mounted to sup-press the overshoot and the ringing. The noise created by these oscillationswere picked up by the control card and caused a lot of problems. In picture

49

28 the induced oscillations on the 5V supply are clearly visible, at the timeof the measurement, the switching of the half bridges were on but no currentwas output. With larger currents, the ringings became larger in amplitude.

Figure 28: Induced oscillations on 5V supply. Ch1: Source-Drain on upperMOSFET, Ch4: Source-Drain on lower MOSFET and CH3: 5V supply line.

This noise seen on the 5V was also present on the 3.3V supply, since it isderived from the 5V supply, although it were somewhat suppressed.

The resolver with surrounding circuitry showed some severe impact of thisnoise as well, though when measured it didn’t seem as it came from the con-troller PCB, so it was assumed that it was picked up in the cable connectingthe resolver to the PCB. More importantly, it caused a lot of problems onthe feedback signals from the resolver. At every flank of the switching aspike was induced on the signals from the resolver. To suppress this a shieldwas added to the cable and a lot of tuning of the filter on the resolver signalswere done. The noise caused the encoder output of the R/D converter ICto jitter quite badly, and this in turn lead to the angle tracking circuitryin the DSP to count a step backwards every now and then. The filter wasnever really able to suppress the noise to a satisfying level though. Therewere additional problems caused by these ringings where the JTAG deviceused to communicate with the DSP and the DSP itself sustained damage.

As the snubbers and the reverse recovery capacitors were replaced, the os-cillations were suppressed to more acceptable levels, and tests in a rig wherea DC-motor and an electronic load was used to load the motor driven by

50

the inverter. This enabled tests with higher currents. During these tests afinal adjusting of the snubbers was done, to the final values described in sec-tion 7.3.4. From these tests it became apparent that the noise found on thecontrol PCB were strongly coupled to the galvanic contact with the powerPCB through the shared input power from the same power supply. Whenthis was separated almost all of the problems were gone.

These tests in the rig also served to investigate how the input capacitanceon the power PCB is most suitable. Tests were done without the capacitorsmounted on the power PCB, and with external capacitors. Combinationswith a 10mF aluminum capacitor and and 4.7nF plastic film capacitorswere conducted. These capacitors were connected with short cables to theinput terminals on the power PCB. In a test where only the aluminumcapacitor was used, ripple currents were measured to exceed 200A to/fromthe external capacitor. The tests clearly showed that the best choice is tohave the capacitance as close to the half bridges as possible, and thus thesolution with the capacitors mounted on the copper rings deemed to be thebest.

As the input capacitance, snubbers and the reverse recovery capacitors wereadjusted to their final values, almost all of the noise picked up by the con-troller PCB were gone. A presumed problem with the current sensing wasalso discovered during these test, were the DSP reported very large out-put currents (in excess 200A) when the input current were measured in therage of 5 − 30A. This was just assumed to be of lesser importance and nothardware related, so not much attention was given to it at this point.

As the test in the rig were finished, the system was mounted on the actual go-kart and the tests and measurements done in the rig were repeated with thebattery supply. In this case the problem with shared input power from thesame source could not be solved with actual galvanic separation. Thoughthe problem was solved through the use of long separate cables from thebattery to supply the control PCB with input power. As everything seemedto work well, a first test drive was performed. The test drive resulted in another catastrophic failure, where one of the MOSFETs actually exploded. Itwas concluded that an avalanche breakthrough had occurred. After repairs,measurements were taken via a small RC-filter on one of the output phasessimultaneously as the current was measured. This revealed why the outputcurrents was measured as high as they were. The angle tracking offset waswrong and this lead to the inverter driving the motor as a pure inductance,leading to a phase shift between voltage and current of almost 90. Thiswas adjusted in the software and everything worked as intended.

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10 Result

This section presents the result of the project, a summary of how the goalswere fulfilled and that the set of demands were satisfied.

The primal goal of this project was to redesign an existing inverter to fit achanged set of demands.

Second to this is that the inverter is to be implemented with a completedriveline on an electric go-kart and the go-kart should be drivable.

Supply VoltageThe system can work in a DC supply voltage between 36-72 volt, sincethis is the range of which certain components do work in.

3 phase Alternating CurrentAs can be seen in the choice of transistors, the system should in theorybe able to manage 3x 180A per phase during short intervals which iswell over the 300 that it was specified for. However this has not beentested with currents over 150A flowing out of the inverter.

Torque controlUtilize a closed feedback-loop with a pair of torque-setpoints, current-measurement as feedback together with the rotor-angle of the PMSM.

CoolingAs seen in section 8.1 the system have both an active (fan) and a pas-sive (heat sink) cooling system to prevent the inverter from overheatingand possibly sustaining damage.

MechanicalAs can be seen in section 8 all mechanical parts needed to fit thesystem on the go-kart have been designed and manufactured.

CANHardware support for CAN-communication is implemented to enablefuture development of communication and interactions with the in-verter.

Safety aspectsIn section 3, safety aspects in terms of fault-tolerance and robust-ness have been analyzed and those have also been implemented in theproject.

Angle measurementThe angle feedback from the motor to the control loop should be doneby implementation of a resolver and a R/D (Resolver to Digital) Con-verter IC, prechoosen by QRTECH.

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11 Discussion

In this section ideas for improvements and other solutions that need moreinvestigation are discussed.

New batteriesThe batteries used were normal lead-acid batteries which has the ben-efit that they are really easy to recharge and they have a long surviv-ability. However they can’t produce the same amount of current whilekeeping the power steady as lithium-ion batteries as an example. Another benefit of Lithium-ion batteries is the high energy density com-pared to lead batteries, i.e. for a given capacity the Li-ion batteries aremuch lighter then traditional lead acid batteries. Therefore it wouldhave been an improvement to get new batteries. However, a draw backto the lithium-ion batteries is the cost, they are quite expensive.

JTAGConsidering that 4 JTAG-devices were killed during the project, itbecame apparent that these did not have any safety features built in.Therefore it could be wise to implement some safety features on theJTAG interface. To be on the safe side, the best solution here mightbe to galvanically isolate this interface with optocouplers or somethingequivalent. This would ensure that voltage spikes, both positive andnegative, would not reach the JTAG-programmer and thus not burnit.

CAN-connectorIn a future revision of the hardware, the CAN interface should maybehave a separate connector. Since in this design, it is sharing the con-nector with all the other interfaces and even the power supply to thecontrol PCB. This made the connector very crowded with all sorts ofwiring and for development/prototyping separate connectors for com-munication would have been preferable.

Galvanically separated supplyAs outlined in chapter 9.2 there should maybe have been a solution inplace to galvanically separate the entire controller PCB from the powersupply of the power PCB. This was briefly discussed during the project,though because of the Traco modules this was not feasible. They needat least 36V to work and the routing on the control PCB would notpermit a separation between the 5V regulator which supplies the logicwith power and the 6 Traco modules. And to supply the Traco modulesas well would mean a quite high demand of power. This means that a”off the shelf”-solution would be too expensive, and to design an ownsolution would take too long time. So this is indeed a point to take to

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the next revision of the hardware.

PCB designA major item to reconsider in the design choices for the control PCBis the plane connects to the component footprints. In the inverter allcopper plane/polygon connects were made without so called thermalreliefs, this made replacing components a nightmare since the copperplanes removed all the heat from the solder joints. A small but nicefeature to have could have been some indicator LEDs. Maybe a fewconnected to the DSP and a LED for each supply voltage.

The layer stack-up of the control PCB might need some rethinkingas well, since most of the signals routed on the PCB were routed onstacked internal signal layers. In this stack-up there was only onededicated ground layer, and it was placed in the middle of the stack-up. It has come to our attention that good practice for noise immunityand low radiated noise signals should be routed on a signal layer witha solid ground plane on an adjacent layer. Although the bottom layerwere more or less used as a ground shield, with no routing allowedexcept the absolutely necessary routing to the connectors mountedon the bottom layer. This could maybe have been replaced with anactual metal shield mounted over the power PCB only with holes forthe connections to the PCB.

TRACOIn the original design there was a solution for generating the isolatedpower to the gate drivers and the MOSFETs, by an isolation trans-former and some driving transistors controlled by the DSP. This solu-tion could be reworked and suited for the new set of demands. Thisshould be done first and foremost to lower the component cost of theinverter, since the Traco power modules are not cheap. The PCB arearequired for the isolated power might also be reduced with discretecomponents rather then the complete modules. However, there is sig-nificant work to be done to make a new solution work well, and performas good as the complete modules. One must also consider that a newswitching solution to be controlled by the DSP will naturally demandmore of the software and the DSP.

The isolated side of this power supply might also need some rework.Since the isolated power was divided in to +15V, 0V and -8V with asimple series of zener diodes. This was energy vise a very inefficientsolution, the IR-camera actually showed that the working temperatureof these diodes reached about 70C. The best solution, but also themost advanced and time consuming, would be a switched transformerwith multiple outputs and control circuitry that regulates directly onthese outputs.

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Change battery positionAs of now, all the batteries are placed on one side which makes theweight very unbalanced, this could be fixed by a change in batteryposition.

R/D (Resolver to Digital) Converter ICThe current system have a dedicated IC that is used together withthe resolver both for excitation and interpretation. To reduce cost,alternative solutions to this IC is discussed in the following topics:”Resolver excitation” and ”Angle Tracking Observer (ATO)”

Resolver excitationThe resolver is excited by a 10kHz signal that instead of havingthe IC constructing it, could be constructed by a PWM from theDSP.

Angle Tracking Observer (ATO)An alternative basic method for interpreting the signals from

the resolver in the DSP is to use the inverse tangent method onthe sampled sine and cosine modulated output from the resolver,however this is an approach that gives an unfiltered rotor angleand is therefore sensitive to noise [19].

In the Angle Tracking Observer method, a closed-loop state sys-tem (state observer) replaces the simple inverse tangent functionin order to compute the shaft angle and speed. This is an ap-proach that estimates the rotor angle and having the advantageof rendering a smoother and more accurate rotor angle [19].

An integrator and a PI regulator are connected in series andclosed by a feedback loop. A block-diagram of this can be seenin figure 29.

Figure 29: Block Diagram of the Angle Tracking Observer in the DigitalDomain [20]

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The error is computed as a sine of the difference of the resolverangle α and the computed angle β as shown in equation 20.

sin(α− β) = sinα× cosβ − cosα× sinβ (20)

For implementation purpose, the sampled resolver outputs arescaled to the range of -1 to 1. After performing this, the AngleTracking Observer can be implemented as equation 21.

ek = RESsin × cos(Θk)−REScos × sin(Θk)

Ωk = Ωk−1 + ek ×K1

Acck = Acck−1 + Ωk−1

Θk+1 = (K2 × Ωk +Acck)× π

K1 =T 2s × ω2

n

π

K2 =2× ζωn × Ts

(21)

Regenerative BrakingThe hardware is prepared to use regenerative braking but was not im-plemented in software because it was outside the scope of the project.It would be a good solution to maximize the utilisation of the battery-power since energy would not be wasted as heat during breaking.

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12 Conclusion

The primary goal of the project was, as outlined in section 1.2, to redesignan existing inverter to fit a new set of demands on voltage and current.Although the inverter were not fully tested for the upper limits of the voltageand current demands, the redesign was successful. Thus it must also beconcluded that it is not certain that the functionality can be guaranteed atmax specified voltage and current. This is simply because testing equipmentto test under these conditions were not available. The secondary goal, toimplement the inverter in a drive train on a go-kart, was also achieved [21].The finished inverter is a prototype and there is a lot of optimization ofthe hardware design, and as stated before, there is still some testing tobe done. It can also be said that the lead-batteries were probably not intoo good condition, and the go-kart would have more power if they werechanged to lithium based batteries. Concerning the project itself, it can beconcluded that more time could have been spent on project management,but in hindsight, there seemed to be no time for much more. A very clearconclusion is that more then one prototype should have been built, sincemuch of the testing had to wait for the hardware to be repaired after sustaindamage from previous tests.

After the project was finished at QRTECH, we as a group had worked around200 hours over the budget and we still had around 200 hours left to makethe report and presentations done as well. Because of this we feel that sincethis project were fairly large it would have been good to have an extra setof hands with good knowledge in especially electrical design but also goodprogramming knowledge.

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References

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[2] European Environment Agency. (2011) Size of the vehiclefleet (term 032). [Online]. Available: http://www.eea.europa.eu/data-and-maps/indicators/size-of-the-vehicle-fleet/ds resolveuid/284a9269b0b8e08ac5f5ac29f7886460

[3] United Nations. (2010) World population prospects. [Online]. Available:http://esa.un.org/wpp/unpp/p2k0data.asp

[4] Wikipedia. Can bus. [Online]. Available: http://en.wikipedia.org/wiki/Controller area network

[5] MIT Electric Vehicle Team. (2008) Electric powertrains. [Online].Available: http://web.mit.edu/evt/summary powertrains.pdf

[6] D. O. Neacsu. (2001) Space vector modulation, an in-troduction. [Online]. Available: http://et.upt.ro/admin/tmpfile/fileM1224954797file490353adde0d4.pdf

[7] M. Alakula, Power Electronic Control. KFS, 2003.

[8] IEA, Lund Institute of Technology, Power Electronic Control. KFS,2003.

[9] A. Urquizo. (2011) Pid controller overview. [Online]. Available:http://upload.wikimedia.org/wikipedia/commons/4/43/PID en.svg

[10] B. Thomas, Modern Reglerteknik. Liber, 2008.

[11] Texas Instruments. (2011) Tms320f28335 datasheetl. [Online]. Avail-able: http://www.ti.com/lit/ds/sprs439m/sprs439m.pdf

[12] EPCOS. (2012) Ntc thermistors for temperature measurement.[Online]. Available: http://www.epcos.com/inf/50/db/ntcsmd 11/SMD NTCs NiBarrier Automotive 0603.pdf

[13] Infineon technologies. 1ed020i12f, gate driver ic datasheet. [Online].Available: http://www.infineon.com/dgdl/Datasheet1ED020I12-FV2.1.pdf?folderId=db3a3043132679fb0113346c911c05a4&fileId=db3a30431689f4420116d3baa8120c6c

[14] Infineon technologies. Ipb025n10n3 g, mosfet transistor datasheet. [On-line]. Available: http://www.infineon.com/dgdl/IPB025N10N3+GRe2.03.pdf?folderId=db3a304313b8b5a60113cee8763b02d7&fileId=db3a30431ce5fb52011d1ab1d9d51349&location=en.Products.Discretes Standard Products.MOSFETs.Power MOSFETs.

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N-Channel MOSFETs 20...250 .DATASHEET.IPB025N10N3%20G Re2.03.pdf

[15] Wikipedia. Thermal resistance. [Online]. Available: http://en.wikipedia.org/wiki/Thermal resistance

[16] H. Seehagel. (2004) Concept of rotor excited resolver. [On-line]. Available: http://upload.wikimedia.org/wikipedia/commons/6/6d/ResolverPrinzip.png

[17] Menner. (2012) Characteristic of a resolver. [Online].Available: http://upload.wikimedia.org/wikipedia/commons/9/91/Resolver-Uebertragungsverhalten.svg

[18] Admotec Inc., “Tech talk 2: Understanding resolvers and r/dconversion,” 1997. [Online]. Available: http://www.admotec.com/TT02.pdf

[19] Freescale Semiconductor., “56f80x resolver driver and hardwareinterface,” 2005. [Online]. Available: http://cache.freescale.com/files/product/doc/AN1942.pdf

[20] Freescale Semiconductor, “Using the resolver interface etpu func-tion,” 2009. [Online]. Available: http://cache.freescale.com/files/microcontrollers/doc/app note/AN3943.pdf

[21] F. Lonnblad, A. Ohlund and QRTECH. (2011, Nov.) Electric gokarttest dirve. [Online]. Available: http://www.youtube.com/watch?v=RFh-Bldvg6M&feature=plcp

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L_SLevel_Shifter.SchD

oc

CAN

_RX

CAN

_TX

ENC

_BEN

C_A

PTC_TEM

P_OK

DC

_BU

S

TEMP_PC

DR

IVER

_DISA

BLE

+5V

GN

D

+3V3

AG

ND

CAN

_STB

+3AV

PWM

_H_C

PWM

_L_C

PWM

_H_B

PWM

_L_B

PWM

_H_A

PWM

_L_A

LEM_A

LEM_B

LEM_C

ENC

_Z

Ext_AD

1

FanSpeed

PWM

_RD

YPW

M_FLT

Ext_AD

2

SinMN

TC

osMN

T

SpeedRef

BrakeR

ef

LED_1

LED_2

IO_IN

_L2IO

_IN_L3

DSP

DSP.SchD

oc

+5AV

AGND

LEM_A

LEM_B

LEM_C

LEMLEM

.SchDoc

CAN

_HCA

N_L

CAN

_RX

CAN

_TX

CAN

_STB

+5V

GN

D

CAN

CAN

.SchDoc

+15V

GN

DG

ND

_H-8V

+60V

TR_H

1Transform

er.SchDoc

DC

_BU

S

DC

_Link-p

+3AV

AGND

+15V_L

+3V3

GND

PTC_TEM

PD

river_Disable

PTC_TEM

P_OK

PWM

_RESET

GN

D_L

V_SEN

SOR

DC

Link sensor.SchDoc

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_H2

Gate_driver.SchD

oc

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_L1G

ate_driver.SchDoc

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_H1

Gate_driver.SchD

oc+5V

GN

D

+5V

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_L2G

ate_driver.SchDoc

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_H3

Gate_driver.SchD

oc

PWM

_faultR

ST

IN+

VP

VN

+5V

GN

D

IN-

GN

D_H

RD

Y

GD

_L3G

ate_driver.SchDoc

GN

D

GN

DA

GN

D

GN

DA

GN

D

+5AV

+3AV

+5V+3V

3

GN

D

+60V

PWM

_H1o

PWM

_L1o

PWM

_H2o

PWM

_L2o

PWM

_H3o

PWM

_L3o

PWM

_RSTo

PWM

_RD

Yi

PWM

_fault

PWM

_faultPW

M_R

STo

PWM

_RSTo

PWM

_RSTo

PWM

_RSTo

PWM

_RSTo

PWM

_RSTo

PWM

_fault

PWM

_fault

PWM

_fault

PWM

_fault

PWM

_fault

PWM

_RD

Yi

PWM

_RD

Yi

PWM

_RD

Yi

PWM

_RD

Yi

PWM

_RD

Yi

PWM

_RD

Yi

PWM

_H1o

PWM

_H1o

PWM

_L1o

PWM

_L1o

PWM

_H2o

PWM

_H2o

PWM

_L2o

PWM

_L2o

PWM

_H3o

PWM

_H3o

PWM

_L3o

PWM

_L3o

GN

D

GN

D

GN

D

GN

D

GN

D

+5V

+5V

+5V

+5V

+5V

GN

D

+3V3

+5V+3V

3

AG

ND

+5AV

+3V3

+3AV

GN

D

GN

D

3 12456

J4

2x3 connector

GN

D

+5V

GND

ABZSinM

NT

CosM

NT

S1_extS2_extS3_extS4_ext

R1_ext

R2_ext

+8V

Res

Resolver.SchD

oc

GN

D

Fan_Speed

GN

D

Fan_-

+60V

F_CFan_C

onnerctor.SchDoc

GN

D

+60V

+60V

+15V

GN

DG

ND

_H-8V

+60V

TR_L1

Transformer.SchD

oc

GN

D

+60V

+15V

GN

DG

ND

_H-8V

+60V

TR_H

2Transform

er.SchDoc

GN

D

+60V

+15V

GN

DG

ND

_H-8V

+60V

TR_L2

Transformer.SchD

oc

GN

D

+60V

+15V

GN

DG

ND

_H-8V

+60V

TR_H

3Transform

er.SchDoc

GN

D

+60V

+15V

GN

DG

ND

_H-8V

+60V

TR_L3

Transformer.SchD

oc

GN

D

+60V

IO_IN

_H2

IO_IN

_H3

IO_IN

_H2

IO_IN

_H3

LED_1

LED_2

GN

D

LED_Pin1

LED_Pin2

LED_D

Indicator_LEDs.SchD

oc

GN

D

GN

D

5 4 3 2 19 8 7 6

11 10

J6D C

onnector 9

Fan_-

Fan_-

+5V+8V

+8V

C59

100nFPIC5901 PIC5902COC59

PIJ401

PIJ402

PIJ403PIJ404

PIJ405

PIJ406 COJ4

PIJ501

PIJ502

PIJ503

PIJ504

PIJ505

PIJ506

PIJ507

PIJ508

PIJ509

PIJ5010

PIJ5011

PIJ5012

PIJ5013

PIJ5014

PIJ5015

PIJ5016

PIJ5017

PIJ5018

COJ5

PIJ601

PIJ602

PIJ603

PIJ604

PIJ605

PIJ606

PIJ607

PIJ608

PIJ609

PIJ6010

PIJ6011 COJ6

PIC5902

PIJ404

PIJ509

PIJ502

PIJ503

PIJ501

PIC5901

PIJ401

PIJ504

PIJ505

PIJ506

PIJ5012

PIJ6010

PIJ6011

PIJ5015

PIJ5016

PIJ402

PIJ403

PIJ405

PIJ406

PIJ507

PIJ508

PIJ5010

PIJ5011

PIJ5013

PIJ5014

PIJ5017

PIJ5018

PIJ601

PIJ602

PIJ603

PIJ604

PIJ605

PIJ606

PIJ607

PIJ608

PIJ609

NLPWM0f\a\u\l\t

NLPWM0H1o

NLPWM0H2o

NLPWM0H3o

NLPWM0L1o

NLPWM0L2o

NLPWM0L3o

NLPWM0RDYi

NLPWM0RSTo

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Transformer.SchD

ocD

rawn B

y:

+15V

+60V

+60V

GN

D

GN

D

C86

22µF

C85

4µ7

C87

4µ7

D6

1SMB5929BT3G

GN

D_H

-8V

R116

12RR

11712R

D7

1SMB

5922BT3G

Vcc

1

+Vout

13

-Vout

12

GN

D24

GN

D23

U17

Traco THB

3-4815

GN

D

+60V

PIC8501 PIC8502COC85

PIC8601 PIC8602COC86

PIC8701 PIC8702COC87

PID601 PID602COD6

PID701 PID702COD7

PIR11601 PIR11602COR116

PIR11701 PIR11702COR117

PIU1701

PIU17012

PIU17013

PIU17023

PIU17024 COU17

PIU1701

PO060V

PIU17023

PIU17024

POGND

PIC8501

PIC8702

PID601PID702POGND0H

PIC8502PIC8602

PID602 PIR11601PIR11701

PO015V

PIC8601

PIC8701PID701

PIU17012

PO08V

PIR11602PIR11702

PIU17013

PO015V

PO060V

PO08V

POGND

POGND0H

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\LEM.SchD

ocDrawn B

y:

C49

100nFC

504n7F

AG

ND

+5AV

+5AV

AG

ND

+5AV

AG

ND

R54

1k8

R55

2k7

AG

ND

LEM_A

C51

100nFC

524n7F

AG

ND

+5AV

R56

1k8

R57

2k7

AG

ND

LEM_B

C53

100nFC

544n7F

AG

ND

+5AV

R58

1k8

R59

2k7

AG

ND

LEM_C

GN

D2

VC

C3

OU

T1

E14 E25 E36 E47

U8

HC

5F300-S

GN

D2

VC

C3

OU

T1

E14 E25 E36 E47

U9

HC

5F300-S

GN

D2

VC

C3

OU

T1

E14 E25 E36 E47

U10

HC

5F300-S

PIC4901 PIC4902COC49

PIC5001 PIC5002COC50

PIC5101 PIC5102COC51

PIC5201 PIC5202COC52

PIC5301 PIC5302COC53PIC5401 PIC5402COC54 PIR5401 PIR5402COR54

PIR5501 PIR5502COR55

PIR5601 PIR5602COR56

PIR5701 PIR5702COR57

PIR5801 PIR5802COR58

PIR5901 PIR5902COR59

PIU801

PIU802

PIU803

PIU804PIU805

PIU806PIU807

COU8

PIU901

PIU902

PIU903

PIU904PIU905

PIU906PIU907

COU9

PIU1001

PIU1002

PIU1003

PIU1004PIU1005

PIU1006PIU1007

COU10

PIC4902PIC5102PIC5302

PIU803

PIU903

PIU1003

PO05AV

PIC4901PIC5001

PIC5101PIC5201

PIC5301PIC5401

PIR5501PIR5701PIR5901

PIU802

PIU804PIU805

PIU806PIU807

PIU902

PIU904PIU905

PIU906PIU907

PIU1002

PIU1004PIU1005

PIU1006PIU1007

POAGND

PIC5002PIR5402

PIU801

PIC5202PIR5602

PIU901

PIC5402PIR5802

PIU1001

PIR5401PIR5502POLEM0A

PIR5601PIR5702POLEM0B

PIR5801PIR5902POLEM0C

PO05AV

POAGND

POLEM0A

POLEM0B

POLEM0C

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\DC

Link sensor.SchDoc

Draw

n By:

2

IN+

31

5

IN-

4

U4

OPA

237NA

IN+

31

IN-

2U

3A

OPA

2237UA

IN+

57

IN-

6

U3B

OPA

2237UA

R9

330k

R11

330k

R12

820kC

868pF

GN

D_L

R6

820k

C4

68pF

2 14 3

5 6N

C7

NC

8U

2

HC

NR

200-300EC

7100nFG

ND

_L

R7

1k5

+15V_L

C9

10pF

R10

680k

R8

150k

C5

220pF

+3AV

C6

100nF

AG

ND

DC

_BU

S

GN

D_L

DC

_Link-p

V+

8

V-

4U

3C

OPA

2237UA

C11

100nF

GN

D_L

+15V_L

+3AV

+15V_L

AG

ND

+3AV

AG

ND

853 2

674

1U

5TL061C

D

R14

22k

R18

28k

+3V3

GN

D

+3V3

GN

D

+3V3

PTC_TEM

P

Q1

2N7002

R16

5k

R13

*22k

Driver_D

isable

GN

D

R20

10k

PTC_TEM

P_OK

C12

100nF R15

10kPW

M_R

ESET

C10

100nF

GN

D

R17

10K

R19

100K

GN

D

PIC401PIC402 COC4

PIC501PIC502 COC5

PIC601PIC602 COC6

PIC701 PIC702COC7PIC801 PIC802COC8

PIC901PIC902 COC9

PIC1001PIC1002 COC10

PIC1101 PIC1102COC11

PIC1201 PIC1202COC12

PIQ101

PIQ102 PIQ103COQ1

PIR601PIR602

COR6PIR701

PIR702

COR7

PIR801PIR802

COR8

PIR901PIR902

COR9

PIR1001PIR1002

COR10

PIR1101PIR1102

COR11

PIR1201PIR1202

COR12

PIR1301PIR1302

COR13PIR1401PIR1402

COR14

PIR1501PIR1502

COR15

PIR1601PIR1602

COR16

PIR1701PIR1702

COR17

PIR1801PIR1802

COR18

PIR1901PIR1902

COR19PIR2001PIR2002

COR20

PIU201

PIU202

PIU203

PIU204

PIU205

PIU206

PIU207

PIU208 COU2

PIU301

PIU302

PIU303

COU3A

PIU305

PIU306

PIU307

COU3B

PIU304

PIU308

COU3C

PIU401

PIU402PIU403

PIU404

PIU405COU4

PIU501

PIU502

PIU503

PIU504PIU505

PIU506

PIU507PIU508

COU5

PIC601

PIU405PO03AV

PIC1001

PIR1301PIR1401

PIU507

PO03V3

PIC702

PIC1102

PIU202

PIU304

PO015V0L

PIC602

PIU205

PIU402PIU403

POAGND

PIC1002

PIC1201

PIQ102

PIR1802

PIR2002

PIU504

POGND

PIC701PIC801

PIC1101

PIR901

PIR1202

PIU204

PIU305

PIU308

POGND0L

PIC401PIR602

PIR902PIU302

PIC402

PIR601

PIR1002PIU301

PIC501

PIR802

PIU206

PIU404

PIC502

PIR801

PIU401

PODC0BUS

PIC802

PIR1102

PIR1201

PIU303

PIC901 PIR702

PIU307

PIC902

PIR1001PIU203

PIU306

PIC1202

PIR1501PIU502

PIQ101

PIR2001PODriver0Disable

PIQ103 PIR1302

PIR1601

PIR1901

POPWM0R\E\S\E\T\

PIR701PIU201

PIR1101PODC0Link0p

PIR1402

PIR1702

PIR1801

PIR1502POPTC0TEMP

PIR1602PIU506

POPTC0TEMP0OK

PIR1701

PIR1902

PIU503

PIU207

PIU208

PIU501

PIU505

PIU508

PO03AV

PO03V3

PO015V0L

POAGND

PODC0BUS

PODC0LINK0P

PODRIVER0DISABLE

POGND

POGND0L

POPTC0TEMP

POPTC0TEMP0OK

POPWM0R\E\S\E\T\

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Level_Shifter.SchDoc

Draw

n By:

R60

22K

GN

D

+5V

R79

22K

GN

D

C55

100nFC

56100nF

+5V+3V

3

R63

1K

R61

22K

C57

100nF

+5V

+5V

+3V3

GN

D

+5V+3V

3

GN

D

PWM

_H1o

PWM

_RD

Y

PWM

_H_B

PWM

_H_A

PWM

_L_C

PWM

_fault

PWM

_L_BPW

M_H

_C

PWM

_H2o

PWM

_L_APW

M_L1o

PWM

_L3oPW

M_H

3oPW

M_L2o

R68

1K

R78

22KR

7722K

R76

22KR

7522K

R74

22KR

7322K

R72

22KR

7122K

R67

1K R66

1KEN

C_IN

_AEN

C_IN

_BEN

C_IN

_IEN

C_I

ENC

_BEN

C_A

PWM

_RESET

PWM

_RST

PWM

_RD

Yi

R62

1K

C58

100nF

PWM

_FLT

GN

D

2DIR

24

1A2

46

1A7

38

2OE

25

1A3

44

1A1

47

1A6

40

1DIR

1

1A5

411A

443

1OE

48

2A2

35

2A7

27

1A8

37

2A6

29

2A8

26

2A1

36

2A3

33

2A5

302A

432

GND4

GND10

GND15

GND21

GND28

GND34

GND39

GND45

VC

C (5V

)7

VC

C (5V

)18

VC

C (3.3V

)31

VC

C (3.3V

)42

1B7

11

1B2

3

1B6

9

1B8

12

1B3

5

1B4

6

1B5

8

1B1

2

2B7

22

2B2

14

2B3

16

2B1

13

2B8

23

2A6

20

2B4

17

2B5

19

U11

SN74A

LVC

164245DG

GR

R80

22K

IO_IN

_L2IO

_IN_L3

R70

22KR

6922K

R64

1KR

651K

IO_IN

_H2

IO_IN

_H3

1

3

2

D3

GSO

T05C

PIC5501 PIC5502COC55PIC5601 PIC5602COC56PIC5701 PIC5702COC57

PIC5801 PIC5802COC58PID301

PID302

PID303

COD3

PIR6001 PIR6002COR60

PIR6101 PIR6102COR61

PIR6201PIR6202

COR62

PIR6301PIR6302

COR63

PIR6401PIR6402

COR64

PIR6501PIR6502

COR65

PIR6601PIR6602

COR66

PIR6701PIR6702

COR67

PIR6801PIR6802

COR68

PIR6901 PIR6902COR69PIR7001 PIR7002COR70

PIR7101 PIR7102COR71PIR7201 PIR7202COR72PIR7301 PIR7302COR73PIR7401 PIR7402COR74PIR7501 PIR7502COR75PIR7601 PIR7602COR76PIR7701 PIR7702COR77PIR7801 PIR7802COR78PIR7901 PIR7902COR79

PIR8001 PIR8002COR80

PIU1101

PIU1102

PIU1103

PIU1104

PIU1105

PIU1106

PIU1107

PIU1108

PIU1109

PIU11010

PIU11011

PIU11012

PIU11013

PIU11014

PIU11015

PIU11016

PIU11017

PIU11018

PIU11019

PIU11020

PIU11021

PIU11022

PIU11023

PIU11024

PIU11025

PIU11026

PIU11027

PIU11028

PIU11029

PIU11030

PIU11031

PIU11032

PIU11033

PIU11034

PIU11035

PIU11036

PIU11037

PIU11038

PIU11039

PIU11040

PIU11041

PIU11042

PIU11043

PIU11044

PIU11045

PIU11046

PIU11047

PIU11048 COU11

PIC5602

PIU11031

PIU11042

PO03V3

PIC5502

PIR6002PIR6102

PIU1107

PIU11018

PO05V

PIC5501PIC5601

PIC5701PIC5801

PID303

PIR6901PIR7001

PIR7101PIR7201

PIR7301PIR7401

PIR7501PIR7601

PIR7701PIR7801

PIR7901PIR8001

PIU1104PIU11010PIU11015PIU11021PIU11028PIU11034PIU11039PIU11045

POGND

PIC5702

PIR6302PIU11014

PIC5802

PIR6202PIU11013

PID301

PIR6502PIU11019

PID302

PIR6402PIU11017

PIR6001

PIU1101

PIR6101

PIR6201POPWM0RDYi

PIR6301POPWM0f\a\u\l\t

PIR6401POIO0IN0H2

PIR6501POIO0IN0H3

PIR6601POENC0IN0A

PIR6602PIU11020

PIR6701POENC0IN0B

PIR6702PIU11022

PIR6801POENC0IN0I

PIR6802PIU11023

PIR6902

PIU11030POIO0IN0L3

PIR7002

PIU11032POIO0IN0L2

PIR7102

PIU11038POPWM0R\E\S\E\T\

PIR7202

PIU11040POPWM0L0C

PIR7302

PIU11041POPWM0H0C

PIR7402

PIU11043POPWM0L0B

PIR7502

PIU11044POPWM0H0B

PIR7602

PIU11046POPWM0L0A

PIR7702

PIU11047POPWM0H0A

PIR7802

PIU11024

PIU11025

PIR7902

PIU11048

PIR8002

PIU11016

PIU11037

PIU1102

POPWM0H1o

PIU1103

POPWM0L1o

PIU1105

POPWM0H2o

PIU1106

POPWM0L2o

PIU1108

POPWM0H3o

PIU1109

POPWM0L3o

PIU11011POPWM0RST

PIU11012

PIU11026POENC0I

PIU11027POENC0B

PIU11029POENC0A

PIU11033

PIU11035POPWM0F\L\T\

PIU11036POPWM0RDY

PO03V3

PO05V

POENC0A

POENC0B

POENC0I

POENC0IN0A

POENC0IN0B

POENC0IN0I

POGND

POIO0IN0H2

POIO0IN0H3

POIO0IN0L2

POIO0IN0L3

POPWM0F\A\U\L\TPOPWM0F\L\T\

POPWM0H1O

POPWM0H2O

POPWM0H3O

POPWM0H0A

POPWM0H0B

POPWM0H0C

POPWM0L1O

POPWM0L2O

POPWM0L3O

POPWM0L0A

POPWM0L0B

POPWM0L0C

POPWM0R\E\S\E\T\

POPWM0RDY

POPWM0RDYI

POPWM0RST

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\CAN

.SchDocD

rawn B

y:

14

23

L1B82789S223N

2SPLIT

5

TXD

1

RX

D4

CAN

_H7

STB8

CAN

_L6

VCC 3GND2

U1

AM

IS-42665

D1A

BAV

23D

1BBA

V23

CAN

_H

CAN

_L

C2

47pFC

347pF

GN

D

D2

BZX

84C33LT1

R2

1kR4

1kR5

1k

R1

22k

+5V+5V

C1

100nF

GN

D

GN

D

CAN

_RX

CAN

_TX

CAN

_STB

+5V

GN

D

+5V

GN

D

R3

120R

PIC101PIC102 COC1

PIC201 PIC202COC2PIC301 PIC302

COC3

PID101 PID104COD1A

PID102 PID103COD1B

PID201 PID203COD2

PIL101

PIL102

PIL103

PIL104 COL1

PIR101 PIR102COR1PIR201PIR202

COR2

PIR301PIR302

COR3

PIR401PIR402

COR4

PIR501PIR502

COR5

PIU101

PIU102 PIU103PIU104

PIU105

PIU106

PIU107

PIU108

COU1

PIC101PIR102

PIU103

PO05V

PIC102

PIC201PIC301

PID201

PIU102

POGND

PIC202PID104

PIL101

PIR302

POCAN0H

PIC302PID103

PIL104

PIR301

POCAN0L

PID101PID102

PID203

PIL102

PIU107

PIL103

PIU106

PIR101

PIR501PIU108

PIR201PIU104

PIR202POCAN0RX

PIR401

PIU101

PIR402POCAN0TX

PIR502POCAN0STB

PIU105

PO05V

POCAN0H

POCAN0L

POCAN0RX

POCAN0STB

POCAN0TX

POGND

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\DSP.SchD

ocDraw

n By:

TDI

97

TDO

98

TRSTn

99

EMU

0100

5V96

GPIO

-3395

GPIO

-3194

GPIO

-2993

5V92

GPIO

-2391

5V87

GPIO

-1788

GPIO

-1989

GPIO

-2190

GPIO

-2786

GPIO

-2585

GPIO

-1484

GPIO

-1383

5V82

GPIO

-8581

5V77

GPIO

-0978

GPIO

-1179

GPIO

-4980

GPIO

-0776

GPIO

-0575

GPIO

-0374

GPIO

-0173

GPIO

-6372

AD

C-A

771

AD

C-A

567

GPIO

-5968

AD

C-A

669

GPIO

-6170

VR

EF-HI

66A

DC

-A4

65G

ND

64A

DC

-A3

63G

ND

62A

DC

-A2

61

AD

C-A

057

GN

D58

AD

C-A

159

GN

D60

GN

D-ISO

56N

C55

NC

54N

C53

TX-ISO

523v3-ISO

51

GN

D47

TCK

48

TMS

49

EMU

150

GPIO

-3446

GPIO

-3245

GPIO

-3044

GPIO

-2843

GPIO

-8742

GPIO

-2241

GN

D37

GPIO

-1638

GPIO

-1839

GPIO

-2040

GPIO

-2636

GPIO

-2435

GPIO

-1534

GPIO

-1233

GPIO

-8632

GPIO

-8431

GN

D27

GPIO

-0828

GPIO

-1029

GPIO

-4830

GPIO

-0626

GPIO

-0425

GPIO

-0224

GPIO

-0023

GPIO

-6222

AD

C-B

721

AD

C-B

517

GPIO

-5818

AD

C-B

619

GPIO

-6020

VR

EF-LO16

AD

C-B

415

GN

D14

AD

C-B

313

GN

D12

AD

C-B

211

AD

C-B

07

GN

D8

AD

C-B

19

GN

D10

GN

D-ISO

6N

C5

NC

4N

C3

RX

-ISO2

3V3-ISO

1U

6

F28335 control card

3 124

J22x2 connector

5 1376 248

13 91114 1012

J12x7 connector

3V3_ISO

TX_ISO

RX

_ISOG

ND

_ISO

3V3_ISO

RX

_ISO

GN

D_ISO

3V3_ISO

TX_ISO

GN

D_ISO

TMS

TDI

TDO

TCK

EMU

0

TRSTn

EMU

1

TMS

TCK

TDI

TDO

TRSTn

EMU

0EM

U1

GN

D

+3V3

CAN

_TXCA

N_R

X

CAN

_TXCA

N_R

X

PWM

_H_C

PWM

_L_CPW

M_H

_CPW

M_L_C

PWM

_H_B

PWM

_L_BPW

M_H

_BPW

M_L_B

PWM

_H_A

PWM

_L_APW

M_H

_APW

M_L_A

Sin_MN

T

Speed_ref

LEM-B

LEM_A

LEM-A

LEM-A

ENC

-BEN

C-Z

ENC

-A

PWM

_H_C

PWM

_H_B

PWM

_H_A

PWM

_L_CPW

M_L_B

PWM

_L_A

PTC_TEM

P_OK

PTC-TEM

P_OK

PTC-TEM

P_OK

DC

_BU

SD

C-B

US

DC

-BU

S

TEMP_PC

TEMP-PC

TEMP-PC

DR

IVER

_DISA

BLE

DR

IVER

_DISA

BLE

DR

IVER

_DISA

BLE

GN

D

AG

ND

AG

ND

+5V+3A

V

C16

100nF

C17

100nF

C18

100nF

C19

100nF

C20

100nF

C15

2µ2F

C23

100nF

+5V

+3AV

GN

D

AG

ND

TP2TP1TP3

TP5

TP4

EXT-A

D2

R21

10kC

13100nF

AG

ND

R23

1kC

2110nF

AG

ND

R24

10kC

22100nF

GN

D

R25

50RC

24*10nF

AG

ND

R26

10KC

25100nF

AG

ND

LEM_B

LEM-B

R27

50RC

26*10nF

AG

ND

R28

10KC

27100nF

AG

ND

LEM_C

LEM-C

R30

50RC

29*10nF

AG

ND

R37

10KC

34100nF

AG

ND

ENC

_AEN

C-A

R33

100R

ENC

_BEN

C-B

R31

100R

ENC

_ZEN

C-Z

R39

100R

CAN

_STB

CAN

_STB

R40

1K8

C36

10nF

GN

D

CAN

_TX

+5V

GN

D

+3AV

AG

ND

CAN

_RX

CAN

_STB

IO_IN

_L3

IO_IN

_L3

EXT-A

D2

Ext_AD

1R

29

1k

C28

10nF

GN

D

+3V3

+3V3

LEM-B

LEM-A

LEM-C

LEM-C

Cos_M

NT

Brake_ref

FanSpeed

FanSpeedFanSpeed

PWM

_OK

PWM

_FLT

PWM

_OK

PWM

_RD

Y

PWM

_FLTPW

M_FLT

5V_ref

5V_ref

EXT-A

D1

EXT-A

D1

Ext_AD

2R

32

1k

C31

10nF

GN

D

+5AVR

36

2k7R

382k7

R34

1K8

C33

10nF

GN

D

Sin_MN

T

Cos_M

NT

SinMN

T

CosM

NT

IO_IN

_L2IO

_IN_L3

IO_IN

_L2

IO_IN

_L2

Speed_refSpeedR

efR

22

10kC

14100nF

GN

D

Brake_ref

BrakeR

efR

42

10kC

37100nF

GN

D

LED_1

LED_2

LED_1

LED_2

LED_1

LED_2

R35

2K2

R41

2K2

PIC1301 PIC1302COC13PIC1401 PIC1402COC14

PIC1501 PIC1502 COC15PIC1601 PIC1602 COC16

PIC1701 PIC1702 COC17PIC1801 PIC1802 COC18

PIC1901 PIC1902 COC19PIC2001 PIC2002 COC20

PIC2101 PIC2102COC21PIC2201 PIC2202COC22

PIC2301 PIC2302 COC23

PIC2401 PIC2402COC24PIC2501 PIC2502COC25

PIC2601 PIC2602COC26PIC2701 PIC2702COC27

PIC2801 PIC2802COC28

PIC2901 PIC2902COC29

PIC3101 PIC3102COC31

PIC3301 PIC3302COC33

PIC3401 PIC3402COC34

PIC3601 PIC3602COC36

PIC3701 PIC3702COC37

PIJ101

PIJ102

PIJ103

PIJ104

PIJ105

PIJ106

PIJ107

PIJ108

PIJ109

PIJ1010

PIJ1011

PIJ1012

PIJ1013PIJ1014

COJ1

PIJ201

PIJ202

PIJ203

PIJ204 COJ2

PIR2101PIR2102

COR21PIR2201

PIR2202

COR22

PIR2301PIR2302

COR23PIR2401

PIR2402COR24

PIR2501PIR2502

COR25PIR2601

PIR2602

COR26

PIR2701PIR2702

COR27PIR2801

PIR2802

COR28

PIR2901PIR2902

COR29

PIR3001PIR3002

COR30PIR3101

PIR3102COR31

PIR3201PIR3202

COR32

PIR3301PIR3302

COR33PIR3401

PIR3402

COR34

PIR3501 PIR3502COR35

PIR3601PIR3602 COR36

PIR3701PIR3702

COR37

PIR3801PIR3802 COR38

PIR3901PIR3902

COR39PIR4001

PIR4002COR40

PIR4101 PIR4102COR41

PIR4201PIR4202

COR42

PITP101COTP1

PITP201COTP2

PITP301COTP3

PITP401COTP4

PITP501COTP5

PIU601

PIU602

PIU603

PIU604

PIU605

PIU606

PIU607

PIU608

PIU609

PIU6010

PIU6011

PIU6012

PIU6013

PIU6014

PIU6015

PIU6016

PIU6017

PIU6018

PIU6019

PIU6020

PIU6021

PIU6022

PIU6023

PIU6024

PIU6025

PIU6026

PIU6027

PIU6028

PIU6029

PIU6030

PIU6031

PIU6032

PIU6033

PIU6034

PIU6035

PIU6036

PIU6037

PIU6038

PIU6039

PIU6040

PIU6041

PIU6042

PIU6043

PIU6044

PIU6045

PIU6046

PIU6047

PIU6048

PIU6049

PIU6050

PIU6051

PIU6052

PIU6053

PIU6054

PIU6055

PIU6056

PIU6057

PIU6058

PIU6059

PIU6060

PIU6061

PIU6062

PIU6063

PIU6064

PIU6065

PIU6066

PIU6067

PIU6068

PIU6069

PIU6070

PIU6071

PIU6072

PIU6073

PIU6074

PIU6075

PIU6076

PIU6077

PIU6078

PIU6079

PIU6080

PIU6081

PIU6082

PIU6083

PIU6084

PIU6085

PIU6086

PIU6087

PIU6088

PIU6089

PIU6090

PIU6091

PIU6092

PIU6093

PIU6094

PIU6095

PIU6096

PIU6097

PIU6098

PIU6099

PIU60100

COU6

PIC2302

PIU6066

PO03AV

PIJ105

PO03V3

PIR3602

PIC1502PIC1602

PIC1702PIC1802

PIC1902PIC2002

PIU6077

PIU6082

PIU6087

PIU6092

PIU6096

PO05V

PIJ201

PIU601

PIU6051

PIR3702

PIU6063

PIC1301PIC2101PIC2301

PIC2401PIC2501

PIC2601PIC2701

PIC2901

PIC3401PIR3802

PIU608

PIU6010

PIU6012

PIU6014

PIU6016

PIU6058

PIU6060

PIU6062

PIU6064

POAGND

PIC3702PIR4201

PIU6017

PIU6044

POCAN0RX

PIU6095

POCAN0STB

PIU6094

POCAN0TX

PIC3602PIR4001

PIR4102

PIU6015

PIC1302PIR2101

PIU6071

PIU6080

PODRIVER0DISABLE

PIJ1013

PIU60100

PIJ1014

PIU6050

PIR3301PIU6040

PIR3101

PIU6090

PIR3901

PIU6091

PIC3102

PIR3202

PIU6013

PIC2802

PIR2902PIU6021

PIU6028

POFanSpeed

PIC1401PIC1501

PIC1601PIC1701

PIC1801PIC1901

PIC2001

PIC2201

PIC2801PIC3101

PIC3301PIC3601

PIC3701

PIJ104

PIJ108

PIJ1010

PIJ1012

PIR3501PIR4101

PIU6027

PIU6037

PIU6047

POGND

PIJ204

PIU606

PIU6056

PIU6036

POIO0IN0L2

PIU6086

POIO0IN0L3

PIU6031

POLED01

PIU6032

POLED02

PIC2402PIR2501

PIU6057

PIU6059

PIC2602PIR2701

PIU607

PIU6061

PIC2902PIR3001

PIU609

PIU6011

PIC3402PIR3601

PIR3701PIR3801

PIJ106

PIR2102PODC0BUS

PIR2202POSpeedRef

PIR2302POTEMP0PC

PIR2402POPTC0TEMP0OK

PIR2502POLEM0A

PIR2602POPWM0RDY

PIR2702POLEM0B

PIR2802POPWM0F\L\T\

PIR2901POExt0AD1

PIR3002POLEM0C

PIR3102POENC0B

PIR3201POExt0AD2

PIR3302POENC0A

PIR3402POSinMNT

PIR3902POENC0Z

PIR4002POCosMNT

PIR4202POBrakeRef

PITP101PIU6078

PITP201PIU6029

PITP301PIU6079

PITP401PIU6081

PITP501PIU6039

PIU603

PIU604

PIU605

PIU6018

PIU6019

PIU6020

PIU6022

PIU6026

PIU6030

PIU6034

PIU6035

PIU6038

PIU6041

PIU6042

PIU6043

PIU6045

PIU6046

PIU6053

PIU6054

PIU6055

PIU6068

PIU6070

PIU6072

PIU6076

PIU6085

PIU6088

PIU6089

PIU6093

PIC2202PIR2401

PIU6084

PIC2702PIR2801

PIU6033

PIU6023

POPWM0H0A

PIU6024

POPWM0H0B

PIU6025

POPWM0H0C

PIU6073

POPWM0L0A

PIU6074

POPWM0L0B

PIU6075

POPWM0L0C

PIC2502PIR2601

PIU6083

PIJ203

PIU602

PIC3302PIR3401

PIR3502

PIU6065

PIC1402PIR2201

PIU6067

PIJ109

PIJ1011

PIU6048

PIJ103

PIU6097

PIJ107

PIU6098

PIC2102PIR2301

PIU6069

PIJ101

PIU6049

PIJ102

PIU6099

PIJ202

PIU6052

PO03AV

PO03V3

PO05V

POAGND

POBRAKEREF

POCAN0RX

POCAN0STB

POCAN0TX

POCOSMNT

PODC0BUS

PODRIVER0DISABLE

POENC0A

POENC0B

POENC0Z

POEXT0AD1

POEXT0AD2

POFANSPEED

POGND

POIO0IN0L2

POIO0IN0L3

POLED01

POLED02

POLEM0A

POLEM0B

POLEM0C

POPTC0TEMP0OK

POPWM0F\L\T\

POPWM0H0A

POPWM0H0B

POPWM0H0C

POPWM0L0A

POPWM0L0B

POPWM0L0C POPWM0RDY

POSINMNT

POSPEEDREF

POTEMP0PC

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

DD

CC

BB

AA

Title

Num

berR

evisionSizeA

3

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Power.SchD

ocDrawn B

y:

+60V

+60V

GN

D

GN

D

+3V3

+3V3

R84

20k5C

66680pF

C64

10nFC

65100nF

C61

22µF

+60VC

60

22nF

C63

2nF

R82

20k5

R81

3k09

R83

1k

C62

22µF

D4

10MQ

060NPBF L2SR

R1280-820M

+5V

+5V

+5V

EN3

GND2

IN1

OU

T5

NR

4

U14

TPS76930DB

VT

EN3

GND2

IN1

OU

T5

NR

4

U15

TPS76933DB

VT

C71

1µFC

69100nF

C73

2µ2FC

7210nF

R85

Ferrite

R89

Ferrite

GN

D

+5V

+5V

C75

1µFC

74100nF

C77

2µ2FC

7610nF

GN

D

AG

ND

+5AV

+3AV

+3V3

+3AV

+3AV

+5AV

+5AV

AG

ND

AG

ND

SD2

SS10

SYN

C4

RAM

P8

VC

C1

VIN

3

RT

7

FB6

CO

MP

5

SW14

PRE

15

BST

16

AG

ND

9

GN

D12

IS13

OU

T11

U12

LM5575M

H

GN

D

R88

0R

SHD

N3

Vc

1

IN6

SW5

SS8

CO

MP

7

FB2

GN

D4

U13

LT1946A

C67

100µF

+5V

C70

100nF

L3B82442H

1332K000

D5

10MQ

060NPBFR

86

120kR

87

22k

GN

D

C68

22µF

+8V

+8V

+8V

PIC6001PIC6002

COC60

PIC6101 PIC6102COC61

PIC6201 PIC6202COC62

PIC6301PIC6302

COC63

PIC6401PIC6402 COC64PIC6501PIC6502 COC65

PIC6601PIC6602 COC66

PIC6701 PIC6702COC67

PIC6801 PIC6802COC68

PIC6901PIC6902 COC69PIC7001PIC7002 COC70

PIC7101 PIC7102COC71PIC7201PIC7202 COC72

PIC7301 PIC7302COC73

PIC7401PIC7402 COC74PIC7501 PIC7502COC75

PIC7601PIC7602 COC76PIC7701 PIC7702COC77

PID401PID402

COD4

PID501PID502

COD5

PIL201PIL202

COL2

PIL301PIL302

COL3

PIR8101 PIR8102COR81

PIR8201PIR8202 COR82

PIR8301 PIR8302COR83

PIR8401 PIR8402COR84

PIR8501PIR8502

COR85

PIR8601PIR8602

COR86

PIR8701PIR8702

COR87

PIR8801PIR8802 COR88

PIR8901PIR8902

COR89

PIU1201

PIU1202

PIU1203

PIU1204

PIU1205

PIU1206

PIU1207

PIU1208

PIU1209

PIU12010

PIU12011

PIU12012

PIU12013

PIU12014

PIU12015

PIU12016

COU12

PIU1301

PIU1302

PIU1303

PIU1304

PIU1305

PIU1306

PIU1307

PIU1308 COU13

PIU1401

PIU1402PIU1403

PIU1404

PIU1405

COU14

PIU1501

PIU1502PIU1503

PIU1504

PIU1505

COU15

PIC7302

PIU1405

PO03AV

PIC7702

PIU1505

PO03V3

PIC6901PIC7102

PIR8502PIU1401

PO05AV

PIC6202

PIC6702

PIL202

PIL301

PIR8102

PIR8501

PIR8901

PIU12011

PIU1303

PIU1306

PO05V

PIC6802

PID502

PIR8602

PO08V

PIC6102

PIU1203

PO060V

PIC6902PIC7101

PIC7202PIC7301

PIR8801

PIU1402PIU1403

POAGND

PIC6101PIC6201

PIC6402PIC6502

PIC6602

PIC6701PIC6801

PIC7002

PIC7402PIC7501

PIC7602PIC7701

PIR8301

PIR8401

PIR8702

PIR8802

PIU1209

PIU12012

PIU12017

PIU1304

PIU1309

PIU1502PIU1503

POGND

PIC6001

PIU12016

PIC6002

PID402

PIL201PIU12014

PIU12015

PIC6301

PIU1205

PIC6302PIR8202

PIC6401

PIU12010

PIC6501

PIU1201

PIC6601

PIU1208

PIC7001PIU1308

PIC7201PIU1404

PIC7401PIC7502

PIR8902PIU1501

PIC7601PIU1504

PID401PIU12013

PID501

PIL302PIU1305

PIR8101

PIR8201

PIR8302PIU1206

PIR8402PIU1207

PIR8601

PIR8701

PIU1302

PIU1202

PIU1204

PIU1301

PIU1307

PO03AV

PO03V3

PO05AV

PO05V

PO08V

PO060V

POAGND

POGND

1 1

2 2

3 3

4 4

DD

CC

BB

AA

QRTECH

ABM

ejerigatan 1SE-412 76G

öteborgSweden

XX

XX

- Project*

2011-12-0214:16:46

Fan_Connerctor.SchD

oc

Title

Size:N

umber:

Date:

File:

Revision:

Sheetof

Time:

A4

This document is the property of Q

RTEC

H and m

ust not be copied,show

n to or given to any third party without our w

ritten permission.

Revision H

istoryR

evisionC

hange History

Fan_Speed

GN

D

R118

4K7

+60V

+60V

GN

D

GN

D

Fan_-

+60VD8

MU

RA

160T3G

Q5

PHT6N

Q10T

PID801 PID802COD8

PIQ501

PIQ502PIQ503 PIQ504COQ5

PIR11801 PIR11802COR118

PID802

PO060V

PIQ503

PIR11801

POGND

PID801PIQ502PIQ504

POFan00

PIQ501

PIR11802

POFan0Speed

PO060V

POFAN00

POFAN0SPEED

POGND

1 1

2 2

3 3

4 4

DD

CC

BB

AA

Title

Num

berR

evisionSize

A4

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Gate_D

river_Connector.SchD

ocD

rawn By:

R53

10R

R51

20RR

52

11R

R50

120R

C47

1µFC

46100nFC

481µF

1

3 2Q4

PBSS5160T

1

32 Q3

PBSS4160T

3 12456

J32x3 connectorD

river_input

VP

VN

GN

D_H

DESA

T

Miller_

PIC4601 PIC4602COC46

PIC4701 PIC4702COC47

PIC4801 PIC4802COC48

PIJ301

PIJ302

PIJ303

PIJ304

PIJ305

PIJ306 COJ3

PIQ301

PIQ302 PIQ303COQ3

PIQ401

PIQ402PIQ403 COQ4

PIR5001PIR5002 C

OR50

PIR5101PIR5102

COR51

PIR5201PIR5202 C

OR52

PIR5301PIR5302

COR53

PIC4601PIC4701

PIC4802

PIJ301

PIJ302

POGND0H

PIC4602PIC4702

PIQ303

PIR5001

PIC4801

PIJ303

PIQ403

POVN

PIJ304

POMiller0

PIJ305

PODESAT

PIJ306

PIR5102

PIR5302

PIQ301

PIQ401

PIR5201

PIQ302

PIR5101

PIQ402PIR5301

PIR5002POVP

PIR5202PODriver0input

PODESAT

PODRIVER0INPUT

POGND0H

POMILLER0

POVN

POVP

1 1

2 2

3 3

4 4

DD

CC

BB

AA

QRTECH

ABM

ejerigatan 1SE-412 76G

öteborgSweden

XX

XX

- Project*

2011-12-0214:16:46

Indicator_LEDs.SchD

oc

Title

Size:N

umber:

Date:

File:

Revision:

Sheetof

Time:

A4

This document is the property of Q

RTEC

H and m

ust not be copied,show

n to or given to any third party without our w

ritten permission.

Revision H

istoryR

evisionC

hange History

3

1

2 Q6

TSM2N

7002CX

3

1

2 Q7

TSM2N

7002CX

LED_1

LED_2

GN

D

GN

D

GN

D

R120

120RR

119120R

LED_Pin1

LED_Pin2

R121

4k7R

1224k7

PIQ601

PIQ602 PIQ603COQ6PIQ701

PIQ702 PIQ703COQ7

PIR11901 PIR11902COR119

PIR12001 PIR12002COR120

PIR12101 PIR12102COR121

PIR12201 PIR12202COR122PIQ602

PIQ702

PIR12101PIR12201

POGND

PIQ601PIR12102

POLED02

PIQ603 PIR12001

PIQ701PIR12202

POLED01

PIQ703 PIR11901 PIR11902

POLED0Pin1

PIR12002POLED0Pin2

POGND

POLED01

POLED02

POLED0PIN1

POLED0PIN2

1 1

2 2

3 3

4 4

DD

CC

BB

AA

Title

Num

berR

evisionSize

A4

Date:

2011-12-02Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Resolver.SchD

ocD

rawn By:

LFUO

1

VELN

2

VELP

3

VC

C4

SINM

NT

5C

OSM

NT

6

AG

ND

7

S38

S19

S210

S411

RG

ND

12

R2

13

VR

R14

R1

15

BISTV

LD16

CLK

IN17

SSDT

18

SSCS

19

DA

TA20

SCSB

21

PRTY

22

SCK

23

DG

ND

24

D11

25

D10

26

D9

27

D8

28

D7

29

D6

30

D5

31

D4

32

D3

33

D2

34

D1

35

D0

36

VD

D37

INH

B38

ERR

HLD

39

ERR

STB40

ERR

41

A42

B43

Z44

CSB

45

LFLO46

LFLI47

LFUI

48

U16

AU

6803

DN

M R101

10K

R93

10K

GN

D

+5V

GN

D

+5V+5V

GN

D

ABZ

+5V

S3S1S2S4

R1

R2

S1S2 S3S4

R1

R2

R97

10KR

9610K

DN

M R100

10K

R92

10K

GN

D

R94

10K

R98

10K

R91

10K

C78

100nF

R108

22KR

10922K

C80

2.2nFC

8322nF

C82

22nF

C81

2.2nF

LFUO

LFUI

LFLI

LFLO

LFLOLFLILFU

ILFU

O

R90

10K

C79

2.5nF

R103

20K

R104

20KR

106

20K

R105

20K

R102

100K

R107

100K

+5V

GN

D

C84

2.5nF

R111

20K

R112

20KR

114

20K

R113

20K

R110

100K

R115

100K

R95

10K

SinMN

TC

osMN

T

S1_ext

S2_extS3_ext

S4_ext

R1_ext

R2_ext

R1

R2

+8V

GN

D

R1_ext

R2_ext

Res_A

mp

Resolver_A

mplifier.SchD

oc

GN

D

+8V

+8V

+8V

R99

10K

PIC7801 PIC7802COC78

PIC7901 PIC7902COC79

PIC8001 PIC8002COC80

PIC8101 PIC8102COC81

PIC8201 PIC8202COC82

PIC8301 PIC8302COC83

PIC8401 PIC8402COC84

PIR9001PIR9002 COR90 PIR9101PIR9102 COR91 PIR9201PIR9202 COR92 PIR9301PIR9302 COR93 PIR9401PIR9402 COR94PIR9501PIR9502 COR95 PIR9601PIR9602 COR96 PIR9701PIR9702 COR97

PIR9801PIR9802 COR98PIR9901PIR9902 COR99

PIR10001PIR10002 COR100 PIR10101PIR10102 COR101

PIR10201 PIR10202COR102

PIR10301PIR10302

COR103PIR10401

PIR10402

COR104

PIR10501PIR10502

COR105PIR10601

PIR10602

COR106

PIR10701 PIR10702COR107PIR10801PIR10802 COR108

PIR10901PIR10902 COR109

PIR11001 PIR11002COR110

PIR11101PIR11102

COR111PIR11201

PIR11202

COR112

PIR11301PIR11302

COR113PIR11401

PIR11402COR114

PIR11501 PIR11502COR115

PIU1601

PIU1602

PIU1603

PIU1604

PIU1605

PIU1606

PIU1607

PIU1608

PIU1609

PIU16010

PIU16011

PIU16012

PIU16013

PIU16014

PIU16015

PIU16016

PIU16017

PIU16018

PIU16019

PIU16020

PIU16021

PIU16022

PIU16023

PIU16024

PIU16025

PIU16026

PIU16027

PIU16028

PIU16029

PIU16030

PIU16031

PIU16032

PIU16033

PIU16034

PIU16035

PIU16036

PIU16037

PIU16038

PIU16039

PIU16040

PIU16041

PIU16042

PIU16043

PIU16044

PIU16045

PIU16046

PIU16047

PIU16048

COU16

PIC7802

PIR9001PIR9101

PIR9201PIR9301

PIR9401PIR9501

PIR9601PIR9701

PIR10202

PIR11002

PIU1604

PIU16014

PIU16037

PO05V

PO08V

PIC7801

PIR9802

PIR10002PIR10102

PIR10701

PIR11501

PIU1607

PIU16012

PIU16024

POGND

PIC8102

PIR10801

PIU16047

PIC8101PIC8201

PIU16046

PIC8002

PIR10901

PIU16048

PIC8001

PIC8301

PIU1601

PIC7901PIR10502

PIR10601

PIC7902PIR10302

PIR10401

PIC8202 PIR10802PIC8302 PIR10902

PIC8401PIR11302

PIR11401

PIC8402PIR11102

PIR11201

PIR9002

PIU16021

PIR9102

PIU16019

PIR9202

PIU16016

PIR9302

PIU16041

PIR9402

PIU16039

PIR9502PIR10001

PIU16044

POZ

PIR9602PIR10101

PIU16038

PIR9702

PIU16045

PIR9801

PIU16040

PIR10201PIR10301

POS10ext

PIR10501PIR10702

POS30ext

PIR11001PIR11101

POS20ext

PIR11301PIR11502

POS40ext

PIU1602

PIU1603

PIU1605

POSinMNT

PIU1606

POCosMNT

PIU16017

PIU16018

PIU16020

PIU16022

PIU16023

PIU16025

PIU16026

PIU16027

PIU16028

PIU16029

PIU16030

PIU16031

PIU16032

PIU16033

PIU16034

PIU16035

PIU16036

PIU16042

POA

PIU16043

POB

PIR9901

PIU16013

POR10ext

PIR9902

PIU16015

POR20ext

PIR10402

PIU1609

PIR11202

PIU16010

PIR10602

PIU1608

PIR11402

PIU16011

PO05V

PO08V

POA

POB

POCOSMNT

POGNDPOR10EXT

POR20EXT

POS10EXT

POS20EXT

POS30EXT

POS40EXT

POSINMNT

POZ

1 1

2 2

3 3

4 4

DD

CC

BB

AA

IN+

57

IN-

6

U18B

AD

8028AR

Z

IN+

31

IN-

2

U18A

AD

8028AR

Z

V+

8

V-

4

U18C

AD

8028AR

Z

R1

R2

R127

5K5

R126

10K

R123

10K

R124

5K5

GN

D

+8V

GN

D

GN

D

GN

D

R125

1K2

R128

1K2

GN

D

C89

50nF

C90

50nF

GN

D

GN

D

R1_ext

R2_ext

C88

100nFPIC8801 PIC8802COC88

PIC8901 PIC8902COC89

PIC9001 PIC9002COC90

PIR12301PIR12302

COR123PIR12401

PIR12402

COR124

PIR12501PIR12502

COR125

PIR12601PIR12602

COR126PIR12701

PIR12702

COR127

PIR12801PIR12802

COR128PIU1801

PIU1802

PIU1803 COU18A

PIU1805

PIU1806

PIU1807

COU18B

PIU1804

PIU1808

COU18C

PIC8801

PIC8901PIC9001

PIR12301

PIR12601

PIU1804

POGND

PIC8802PIU1808

PO08V

PIC8902PIR12502

PIU1805

PIC9002PIR12802

PIU1803

PIR12302PIR12401

PIU1806

PIR12402

PIU1807

POR10ext

PIR12501POR1

PIR12602PIR12701

PIU1802

PIR12702

PIU1801

POR20ext

PIR12801POR2

PO08V

POGND

POR1

POR10EXT

POR2

POR20EXT

PAC102PAC101

COC1

PAC202PAC201

COC2PAC302

PAC301

COC3

PAC402PAC401

COC4

PAC502PAC501

COC5PAC602

PAC601

COC6

PAC702PAC701

COC7PAC802

PAC801

COC8PAC902

PAC901

COC9

PAC1001PAC1002

COC10

PAC1102PAC1101

COC11

PAC1202PAC1201

COC12

PAC1302PAC1301

COC13

PAC1402PAC1401

COC14

PAC1501PAC1502 COC15

PAC1602PAC1601

COC16

PAC1702PAC1701

COC17

PAC1802PAC1801

COC18PAC1902PAC1901

COC19

PAC2002PAC2001

COC20

PAC2102PAC2101

COC21

PAC2202PAC2201

COC22

PAC2301PAC2302

COC23

PAC2402PAC2401

COC24

PAC2502PAC2501

COC25

PAC2602PAC2601

COC26

PAC2702PAC2701

COC27

PAC2802PAC2801

COC28

PAC2902PAC2901

COC29

PAC3002PAC3001

COC30

PAC3102PAC3101

COC31

PAC3202PAC3201

COC32

PAC3302PAC3301

COC33

PAC3402PAC3401

COC34

PAC3502PAC3501

COC35

PAC3602PAC3601

COC36PAC3702PAC3701

COC37

PAC380GD0H101 PAC380GD0H102

COC380GD0H1

PAC380GD0H202

PAC380GD0H201

COC380GD0H2

PAC380GD0H301 PAC380GD0H302

COC380GD0H3

PAC380GD0L102PAC380GD0L101

COC380GD0L1

PAC380GD0L202

PAC380GD0L201

COC380GD0L2

PAC380GD0L301 PAC380GD0L302

COC380GD0L3

PAC390GD0H101PAC390GD0H102

COC390GD0H1

PAC390GD0H202

PAC390GD0H201

COC390GD0H2

PAC390GD0H301 PAC390GD0H302

COC390GD0H3

PAC390GD0L102PAC390GD0L101

COC390GD0L1

PAC390GD0L202

PAC390GD0L201

COC390GD0L2

PAC390GD0L301 PAC390GD0L302

COC390GD0L3

PAC400GD0H101PAC400GD0H102

COC400GD0H1

PAC400GD0H202

PAC400GD0H201

COC400GD0H2

PAC400GD0H301PAC400GD0H302

COC400GD0H3

PAC400GD0L102PAC400GD0L101

COC400GD0L1

PAC400GD0L202PAC400GD0L201

COC400GD0L2

PAC400GD0L301 PAC400GD0L302

COC400GD0L3

PAC410GD0H101PAC410GD0H102

COC410GD0H1PAC410GD0H202

PAC410GD0H201

COC410GD0H2

PAC410GD0H301PAC410GD0H302

COC410GD0H3

PAC410GD0L102PAC410GD0L101

COC410GD0L1

PAC410GD0L202PAC410GD0L201

COC410GD0L2

PAC410GD0L301 PAC410GD0L302

COC410GD0L3

PAC420GD0H101 PAC420GD0H102

COC420GD0H1

PAC420GD0H202

PAC420GD0H201

COC420GD0H2

PAC420GD0H301 PAC420GD0H302

COC420GD0H3

PAC420GD0L102PAC420GD0L101

COC420GD0L1

PAC420GD0L202PAC420GD0L201

COC420GD0L2

PAC420GD0L301PAC420GD0L302

COC420GD0L3

PAC430GD0H101PAC430GD0H102

COC430GD0H1

PAC430GD0H202

PAC430GD0H201

COC430GD0H2

PAC430GD0H301PAC430GD0H302

COC430GD0H3

PAC430GD0L102PAC430GD0L101

COC430GD0L1

PAC430GD0L202PAC430GD0L201

COC430GD0L2

PAC430GD0L301PAC430GD0L302

COC430GD0L3

PAC440GD0H101PAC440GD0H102

COC440GD0H1

PAC440GD0H202PAC440GD0H201

COC440GD0H2

PAC440GD0H301PAC440GD0H302

COC440GD0H3

PAC440GD0L102 PAC440GD0L101

COC440GD0L1

PAC440GD0L202

PAC440GD0L201

COC440GD0L2

PAC440GD0L301PAC440GD0L302

COC440GD0L3

PAC450GD0H101PAC450GD0H102

COC450GD0H1

PAC450GD0H202

PAC450GD0H201

COC450GD0H2

PAC450GD0H301PAC450GD0H302

COC450GD0H3

PAC450GD0L102PAC450GD0L101

COC450GD0L1

PAC450GD0L202PAC450GD0L201

COC450GD0L2

PAC450GD0L301

PAC450GD0L302

COC450GD0L3PAC460Gdc01102PAC460Gdc01101

COC460Gdc011

PAC460Gdc01202 PAC460Gdc01201

COC460Gdc012

PAC460Gdc01302 PAC460Gdc01301

COC460Gdc013

PAC460Gdc01402PAC460Gdc01401

COC460Gdc014

PAC460Gdc01501PAC460Gdc01502

COC460Gdc015

PAC460Gdc01602PAC460Gdc01601

COC460Gdc016

PAC460Gdc02102PAC460Gdc02101

COC460Gdc021

PAC460Gdc02202PAC460Gdc02201

COC460Gdc022

PAC460Gdc02302PAC460Gdc02301

COC460Gdc023

PAC460Gdc02402PAC460Gdc02401

COC460Gdc024 PAC460Gdc02502PAC460Gdc02501

COC460Gdc025

PAC460Gdc02602PAC460Gdc02601

COC460Gdc026

PAC460Gdc03102PAC460Gdc03101

COC460Gdc031

PAC460Gdc03202

PAC460Gdc03201

COC460Gdc032

PAC460Gdc03302PAC460Gdc03301

COC460Gdc033

PAC460Gdc03402PAC460Gdc03401

COC460Gdc034

PAC460Gdc03501PAC460Gdc03502

COC460Gdc035

PAC460Gdc03602 PAC460Gdc03601

COC460Gdc036

PAC470Gdc01101PAC470Gdc01102

COC470Gdc011

PAC470Gdc01201PAC470Gdc01202

COC470Gdc012

PAC470Gdc01301

PAC470Gdc01302

COC470Gdc013

PAC470Gdc01401

PAC470Gdc01402

COC470Gdc014

PAC470Gdc01502PAC470Gdc01501

COC470Gdc015

PAC470Gdc01601PAC470Gdc01602

COC470Gdc016

PAC470Gdc02101

PAC470Gdc02102

COC470Gdc021

PAC470Gdc02201PAC470Gdc02202

COC470Gdc022

PAC470Gdc02301PAC470Gdc02302

COC470Gdc023

PAC470Gdc02401 PAC470Gdc02402COC470Gdc024 PAC470Gdc02501

PAC470Gdc02502

COC470Gdc025

PAC470Gdc02601

PAC470Gdc02602

COC470Gdc026

PAC470Gdc03101 PAC470Gdc03102COC470Gdc031

PAC470Gdc03201

PAC470Gdc03202

COC470Gdc032

PAC470Gdc03301PAC470Gdc03302

COC470Gdc033

PAC470Gdc03401PAC470Gdc03402COC470Gdc034

PAC470Gdc03502

PAC470Gdc03501

COC470Gdc035

PAC470Gdc03601PAC470Gdc03602

COC470Gdc036

PAC480Gdc01101PAC480Gdc01102COC480Gdc011

PAC480Gdc01201PAC480Gdc01202

COC480Gdc012

PAC480Gdc01301

PAC480Gdc01302

COC480Gdc013

PAC480Gdc01401

PAC480Gdc01402

COC480Gdc014

PAC480Gdc01502PAC480Gdc01501COC480Gdc015

PAC480Gdc01601PAC480Gdc01602

COC480Gdc016

PAC480Gdc02101PAC480Gdc02102

COC480Gdc021

PAC480Gdc02201PAC480Gdc02202

COC480Gdc022

PAC480Gdc02301PAC480Gdc02302

COC480Gdc023

PAC480Gdc02401 PAC480Gdc02402

COC480Gdc024

PAC480Gdc02501PAC480Gdc02502

COC480Gdc025

PAC480Gdc02601

PAC480Gdc02602

COC480Gdc026

PAC480Gdc03101 PAC480Gdc03102COC480Gdc031

PAC480Gdc03201

PAC480Gdc03202

COC480Gdc032

PAC480Gdc03301PAC480Gdc03302

COC480Gdc033

PAC480Gdc03401PAC480Gdc03402

COC480Gdc034

PAC480Gdc03502PAC480Gdc03501

COC480Gdc035

PAC480Gdc03601PAC480Gdc03602

COC480Gdc036

PAC4902

PAC4901

COC49

PAC5002

PAC5001

COC50

PAC5102PAC5101

COC51

PAC5202PAC5201

COC52

PAC5302PAC5301

COC53

PAC5402PAC5401

COC54

PAC5502PAC5501

COC55

PAC5602PAC5601

COC56

PAC5702

PAC5701

COC57

PAC5802

PAC5801

COC58

PAC5901

PAC5902

COC59

PAC6002PAC6001

COC60PAC6102

PAC6101

COC61PAC6202 PAC6201COC62

PAC6302

PAC6301

COC63PAC6402

PAC6401

COC64

PAC6502PAC6501

COC65

PAC6602

PAC6601

COC66

PAC6702 PAC6701COC67

PAC6802PAC6801COC68

PAC6902PAC6901

COC69

PAC7002

PAC7001

COC70

PAC7101

PAC7102

COC71

PAC7202PAC7201

COC72PAC7301

PAC7302

COC73PAC7402

PAC7401

COC74

PAC7501

PAC7502

COC75

PAC7602PAC7601

COC76

PAC7701PAC7702

COC77

PAC7802PAC7801

COC78

PAC7902PAC7901

COC79PAC8002PAC8001

COC80PAC8102PAC8101

COC81PAC8202

PAC8201

COC82

PAC8302PAC8301

COC83PAC8402PAC8401

COC84

PAC850TR0H101

PAC850TR0H102

COC850TR0H1

PAC850TR0H201

PAC850TR0H202

COC850TR0H2

PAC850TR0H301PAC850TR0H302

COC850TR0H3

PAC850TR0L101PAC850TR0L102

COC850TR0L1

PAC850TR0L201

PAC850TR0L202

COC850TR0L2

PAC850TR0L301PAC850TR0L302

COC850TR0L3

PAC860TR0H102 PAC860TR0H101COC860TR0H1

PAC860TR0H202PAC860TR0H201

COC860TR0H2

PAC860TR0H302PAC860TR0H301

COC860TR0H3

PAC860TR0L102PAC860TR0L101

COC860TR0L1

PAC860TR0L202 PAC860TR0L201COC860TR0L2

PAC860TR0L302PAC860TR0L301

COC860TR0L3

PAC870TR0H101

PAC870TR0H102

COC870TR0H1

PAC870TR0H201

PAC870TR0H202

COC870TR0H2

PAC870TR0H301PAC870TR0H302

COC870TR0H3

PAC870TR0L101PAC870TR0L102

COC870TR0L1

PAC870TR0L201

PAC870TR0L202

COC870TR0L2

PAC870TR0L301PAC870TR0L302

COC870TR0L3

PAC8801PAC8802

COC88 PAC8902PAC8901COC89

PAC9002PAC9001COC90

PAD104PAD103

PAD102PAD101

COD1PAD203

PAD202PAD201

COD2

PAD303PAD302

PAD301

COD3

PAD401PAD402

COD4

PAD501

PAD502COD5

PAD60TR0H102

PAD60TR0H101

COD60TR0H1

PAD60TR0H202

PAD60TR0H201

COD60TR0H2

PAD60TR0H302PAD60TR0H301COD60TR0H3

PAD60TR0L102PAD60TR0L101

COD60TR0L1

PAD60TR0L202

PAD60TR0L201COD60TR0L2

PAD60TR0L302PAD60TR0L301

COD60TR0L3

PAD70TR0H102

PAD70TR0H101

COD70TR0H1

PAD70TR0H202

PAD70TR0H201

COD70TR0H2

PAD70TR0H302PAD70TR0H301COD70TR0H3

PAD70TR0L102PAD70TR0L101

COD70TR0L1

PAD70TR0L202

PAD70TR0L201COD70TR0L2

PAD70TR0L302PAD70TR0L301

COD70TR0L3

PAD801PAD802

COD8

PAJ1013PAJ1014

PAJ1012

PAJ1010

PAJ1011

PAJ109

PAJ108

PAJ106

PAJ107

PAJ105

PAJ101

PAJ103

PAJ102

PAJ104

COJ1

PAJ201PAJ203

PAJ202PAJ204COJ2

PAJ30Gdc01104PAJ30Gdc01102PAJ30Gdc01103

PAJ30Gdc01101

PAJ30Gdc01105PAJ30Gdc01106

COJ30Gdc011PAJ30Gdc01204PAJ30Gdc01202

PAJ30Gdc01203PAJ30Gdc01201PAJ30Gdc01205

PAJ30Gdc01206

COJ30Gdc012

PAJ30Gdc01304PAJ30Gdc01302 PAJ30Gdc01303

PAJ30Gdc01301PAJ30Gdc01305

PAJ30Gdc01306

COJ30Gdc013

PAJ30Gdc01404PAJ30Gdc01402 PAJ30Gdc01403

PAJ30Gdc01401PAJ30Gdc01405

PAJ30Gdc01406

COJ30Gdc014

PAJ30Gdc01504PAJ30Gdc01502

PAJ30Gdc01503PAJ30Gdc01501 PAJ30Gdc01505PAJ30Gdc01506

COJ30Gdc015

PAJ30Gdc01604PAJ30Gdc01602

PAJ30Gdc01603PAJ30Gdc01601

PAJ30Gdc01605PAJ30Gdc01606

COJ30Gdc016

PAJ30Gdc02104PAJ30Gdc02102 PAJ30Gdc02103

PAJ30Gdc02101PAJ30Gdc02105PAJ30Gdc02106

COJ30Gdc021

PAJ30Gdc02204PAJ30Gdc02202

PAJ30Gdc02203PAJ30Gdc02201 PAJ30Gdc02205PAJ30Gdc02206

COJ30Gdc022

PAJ30Gdc02304

PAJ30Gdc02302PAJ30Gdc02303

PAJ30Gdc02301

PAJ30Gdc02305PAJ30Gdc02306

COJ30Gdc023

PAJ30Gdc02404PAJ30Gdc02402

PAJ30Gdc02403PAJ30Gdc02401

PAJ30Gdc02405 PAJ30Gdc02406COJ30Gdc024

PAJ30Gdc02504

PAJ30Gdc02502

PAJ30Gdc02503

PAJ30Gdc02501

PAJ30Gdc02505PAJ30Gdc02506

COJ30Gdc025

PAJ30Gdc02604 PAJ30Gdc02602

PAJ30Gdc02603 PAJ30Gdc02601PAJ30Gdc02605

PAJ30Gdc02606COJ30Gdc026

PAJ30Gdc03104PAJ30Gdc03102PAJ30Gdc03103PAJ30Gdc03101

PAJ30Gdc03105 PAJ30Gdc03106COJ30Gdc031

PAJ30Gdc03204PAJ30Gdc03202

PAJ30Gdc03203PAJ30Gdc03201PAJ30Gdc03205 PAJ30Gdc03206

COJ30Gdc032

PAJ30Gdc03304 PAJ30Gdc03302PAJ30Gdc03303 PAJ30Gdc03301PAJ30Gdc03305

PAJ30Gdc03306

COJ30Gdc033

PAJ30Gdc03404 PAJ30Gdc03402PAJ30Gdc03403 PAJ30Gdc03401PAJ30Gdc03405

PAJ30Gdc03406

COJ30Gdc034

PAJ30Gdc03504PAJ30Gdc03502PAJ30Gdc03503PAJ30Gdc03501

PAJ30Gdc03505 PAJ30Gdc03506COJ30Gdc035

PAJ30Gdc03604PAJ30Gdc03602

PAJ30Gdc03603PAJ30Gdc03601PAJ30Gdc03605

PAJ30Gdc03606

COJ30Gdc036

PAJ404PAJ402

PAJ403PAJ401PAJ405PAJ406 COJ4

PAJ50

PAJ508PAJ506

PAJ502PAJ503

PAJ505PAJ507

PAJ504

PAJ5014PAJ5018

PAJ5017PAJ5012

PAJ5013

PAJ501

PAJ5015PAJ5016

PAJ5011PAJ5010PAJ509

COJ5

PAJ601PAJ606 PAJ602PAJ607 PAJ603PAJ608 PAJ604PAJ609 PAJ605PAJ6010

PAJ6011

COJ6

PAL103PAL102

PAL104PAL101

COL1

PAL202

PAL201COL2

PAL301PAL302

COL3

PAQ103PAQ102PAQ101

COQ1

PAQ20GD0H101PAQ20GD0H102PAQ20GD0H103

COQ20GD0H1

PAQ20GD0H203PAQ20GD0H202PAQ20GD0H201

COQ20GD0H2

PAQ20GD0H301

PAQ20GD0H302 PAQ20GD0H303

COQ20GD0H3

PAQ20GD0L103PAQ20GD0L102PAQ20GD0L101

COQ20GD0L1

PAQ20GD0L203 PAQ20GD0L202

PAQ20GD0L201

COQ20GD0L2

PAQ20GD0L301PAQ20GD0L302

PAQ20GD0L303

COQ20GD0L3

PAQ30Gdc01103 PAQ30Gdc01102

PAQ30Gdc01101

COQ30Gdc011

PAQ30Gdc01203 PAQ30Gdc01202PAQ30Gdc01201

COQ30Gdc012

PAQ30Gdc01303

PAQ30Gdc01302PAQ30Gdc01301

COQ30Gdc013

PAQ30Gdc01403PAQ30Gdc01402

PAQ30Gdc01401

COQ30Gdc014

PAQ30Gdc01501PAQ30Gdc01502PAQ30Gdc01503

COQ30Gdc015

PAQ30Gdc01603PAQ30Gdc01602

PAQ30Gdc01601

COQ30Gdc016

PAQ30Gdc02103PAQ30Gdc02102 PAQ30Gdc02101

COQ30Gdc021

PAQ30Gdc02203PAQ30Gdc02202 PAQ30Gdc02201

COQ30Gdc022

PAQ30Gdc02303

PAQ30Gdc02302

PAQ30Gdc02301

COQ30Gdc023

PAQ30Gdc02403PAQ30Gdc02402

PAQ30Gdc02401

COQ30Gdc024

PAQ30Gdc02503

PAQ30Gdc02502

PAQ30Gdc02501

COQ30Gdc025

PAQ30Gdc02603PAQ30Gdc02602PAQ30Gdc02601

COQ30Gdc026

PAQ30Gdc03103PAQ30Gdc03102

PAQ30Gdc03101

COQ30Gdc031

PAQ30Gdc03203PAQ30Gdc03202PAQ30Gdc03201

COQ30Gdc032

PAQ30Gdc03303PAQ30Gdc03302PAQ30Gdc03301

COQ30Gdc033

PAQ30Gdc03403PAQ30Gdc03402PAQ30Gdc03401

COQ30Gdc034

PAQ30Gdc03501PAQ30Gdc03502PAQ30Gdc03503

COQ30Gdc035

PAQ30Gdc03603 PAQ30Gdc03602PAQ30Gdc03601

COQ30Gdc036

PAQ40Gdc01103 PAQ40Gdc01102

PAQ40Gdc01101

COQ40Gdc011

PAQ40Gdc01203

PAQ40Gdc01202PAQ40Gdc01201

COQ40Gdc012

PAQ40Gdc01303

PAQ40Gdc01302PAQ40Gdc01301

COQ40Gdc013

PAQ40Gdc01403

PAQ40Gdc01402PAQ40Gdc01401

COQ40Gdc014

PAQ40Gdc01501PAQ40Gdc01502PAQ40Gdc01503

COQ40Gdc015

PAQ40Gdc01603PAQ40Gdc01602

PAQ40Gdc01601

COQ40Gdc016

PAQ40Gdc02103PAQ40Gdc02102 PAQ40Gdc02101

COQ40Gdc021

PAQ40Gdc02203PAQ40Gdc02202 PAQ40Gdc02201

COQ40Gdc022

PAQ40Gdc02303

PAQ40Gdc02302

PAQ40Gdc02301

COQ40Gdc023

PAQ40Gdc02403PAQ40Gdc02402

PAQ40Gdc02401

COQ40Gdc024

PAQ40Gdc02503

PAQ40Gdc02502

PAQ40Gdc02501

COQ40Gdc025

PAQ40Gdc02603PAQ40Gdc02602PAQ40Gdc02601

COQ40Gdc026

PAQ40Gdc03103PAQ40Gdc03102

PAQ40Gdc03101

COQ40Gdc031

PAQ40Gdc03203PAQ40Gdc03202PAQ40Gdc03201

COQ40Gdc032

PAQ40Gdc03303PAQ40Gdc03302PAQ40Gdc03301

COQ40Gdc033

PAQ40Gdc03403PAQ40Gdc03402

PAQ40Gdc03401

COQ40Gdc034

PAQ40Gdc03501PAQ40Gdc03502

PAQ40Gdc03503

COQ40Gdc035

PAQ40Gdc03603 PAQ40Gdc03602PAQ40Gdc03601

COQ40Gdc036

PAQ501PAQ502

PAQ503

PAQ504COQ5

PAQ603PAQ602

PAQ601

COQ6

PAQ703PAQ702

PAQ701

COQ7PAR102

PAR101

COR1

PAR202

PAR201

COR2PAR302PAR301

COR3 PAR402

PAR401

COR4PAR502

PAR501

COR5

PAR602PAR601

COR6

PAR702

PAR701

COR7PAR802

PAR801

COR8

PAR902

PAR901

COR9PAR1002

PAR1001

COR10

PAR1102

PAR1101

COR11 PAR1202PAR1201

COR12

PAR1302

PAR1301

COR13

PAR1402

PAR1401

COR14

PAR1502PAR1501

COR15

PAR1602PAR1601

COR16

PAR1702

PAR1701

COR17

PAR1802

PAR1801

COR18

PAR1902

PAR1901

COR19

PAR2002PAR2001

COR20PAR2102PAR2101

COR21

PAR2202PAR2201

COR22PAR2302

PAR2301

COR23

PAR2402PAR2401

COR24

PAR2502PAR2501

COR25

PAR2602PAR2601

COR26

PAR2702PAR2701 COR27

PAR2802PAR2801

COR28

PAR2902PAR2901

COR29

PAR3002PAR3001

COR30

PAR3102PAR3101

COR31

PAR3202PAR3201

COR32

PAR3302PAR3301

COR33

PAR3402PAR3401

COR34PAR3502

PAR3501

COR35

PAR3602PAR3601COR36

PAR3702PAR3701

COR37

PAR3802PAR3801

COR38

PAR3902PAR3901

COR39

PAR4002PAR4001

COR40

PAR4101PAR4102

COR41PAR4202

PAR4201

COR42

PAR430GD0H102PAR430GD0H101

COR430GD0H1

PAR430GD0H202

PAR430GD0H201

COR430GD0H2

PAR430GD0H302PAR430GD0H301

COR430GD0H3

PAR430GD0L102PAR430GD0L101

COR430GD0L1

PAR430GD0L202

PAR430GD0L201

COR430GD0L2

PAR430GD0L302PAR430GD0L301

COR430GD0L3

PAR440GD0H102PAR440GD0H101

COR440GD0H1

PAR440GD0H202

PAR440GD0H201

COR440GD0H2

PAR440GD0H302PAR440GD0H301

COR440GD0H3

PAR440GD0L102PAR440GD0L101

COR440GD0L1

PAR440GD0L202

PAR440GD0L201

COR440GD0L2

PAR440GD0L302PAR440GD0L301

COR440GD0L3

PAR450GD0H102PAR450GD0H101

COR450GD0H1

PAR450GD0H202

PAR450GD0H201

COR450GD0H2

PAR450GD0H302PAR450GD0H301

COR450GD0H3

PAR450GD0L102PAR450GD0L101

COR450GD0L1

PAR450GD0L202

PAR450GD0L201

COR450GD0L2

PAR450GD0L302PAR450GD0L301

COR450GD0L3

PAR460GD0H102PAR460GD0H101

COR460GD0H1

PAR460GD0H202

PAR460GD0H201

COR460GD0H2

PAR460GD0H302PAR460GD0H301

COR460GD0H3

PAR460GD0L102PAR460GD0L101

COR460GD0L1

PAR460GD0L202PAR460GD0L201

COR460GD0L2

PAR460GD0L302

PAR460GD0L301

COR460GD0L3

PAR470GD0H102 PAR470GD0H101

COR470GD0H1

PAR470GD0H202

PAR470GD0H201

COR470GD0H2

PAR470GD0H302 PAR470GD0H301

COR470GD0H3

PAR470GD0L102PAR470GD0L101

COR470GD0L1

PAR470GD0L202PAR470GD0L201

COR470GD0L2

PAR470GD0L302

PAR470GD0L301

COR470GD0L3

PAR480GD0H102PAR480GD0H101

COR480GD0H1

PAR480GD0H202

PAR480GD0H201

COR480GD0H2

PAR480GD0H302PAR480GD0H301

COR480GD0H3

PAR480GD0L102PAR480GD0L101

COR480GD0L1

PAR480GD0L202PAR480GD0L201 COR480GD0L2

PAR480GD0L302

PAR480GD0L301

COR480GD0L3

PAR490GD0H102 PAR490GD0H101

COR490GD0H1

PAR490GD0H202

PAR490GD0H201

COR490GD0H2

PAR490GD0H302 PAR490GD0H301

COR490GD0H3

PAR490GD0L102PAR490GD0L101

COR490GD0L1

PAR490GD0L202PAR490GD0L201

COR490GD0L2

PAR490GD0L302

PAR490GD0L301

COR490GD0L3

PAR500Gdc01102PAR500Gdc01101

COR500Gdc011

PAR500Gdc01202 PAR500Gdc01201

COR500Gdc012

PAR500Gdc01302 PAR500Gdc01301

COR500Gdc013

PAR500Gdc01401

PAR500Gdc01402

COR500Gdc014

PAR500Gdc01502PAR500Gdc01501

COR500Gdc015

PAR500Gdc01602PAR500Gdc01601

COR500Gdc016

PAR500Gdc02102

PAR500Gdc02101

COR500Gdc021

PAR500Gdc02202PAR500Gdc02201

COR500Gdc022

PAR500Gdc02302PAR500Gdc02301

COR500Gdc023

PAR500Gdc02402PAR500Gdc02401

COR500Gdc024

PAR500Gdc02502PAR500Gdc02501

COR500Gdc025

PAR500Gdc02601

PAR500Gdc02602

COR500Gdc026

PAR500Gdc03102PAR500Gdc03101

COR500Gdc031

PAR500Gdc03202

PAR500Gdc03201

COR500Gdc032

PAR500Gdc03302PAR500Gdc03301

COR500Gdc033

PAR500Gdc03402PAR500Gdc03401

COR500Gdc034

PAR500Gdc03502PAR500Gdc03501

COR500Gdc035

PAR500Gdc03602 PAR500Gdc03601

COR500Gdc036

PAR510Gdc01101PAR510Gdc01102

COR510Gdc011

PAR510Gdc01201 PAR510Gdc01202COR510Gdc012

PAR510Gdc01301 PAR510Gdc01302

COR510Gdc013

PAR510Gdc01401

PAR510Gdc01402

COR510Gdc014

PAR510Gdc01502PAR510Gdc01501

COR510Gdc015

PAR510Gdc01601PAR510Gdc01602COR510Gdc016

PAR510Gdc02101PAR510Gdc02102

COR510Gdc021

PAR510Gdc02201PAR510Gdc02202

COR510Gdc022

PAR510Gdc02301PAR510Gdc02302

COR510Gdc023

PAR510Gdc02401PAR510Gdc02402

COR510Gdc024 PAR510Gdc02501

PAR510Gdc02502

COR510Gdc025

PAR510Gdc02601

PAR510Gdc02602

COR510Gdc026

PAR510Gdc03101PAR510Gdc03102

COR510Gdc031

PAR510Gdc03201

PAR510Gdc03202

COR510Gdc032

PAR510Gdc03301PAR510Gdc03302

COR510Gdc033

PAR510Gdc03401PAR510Gdc03402

COR510Gdc034

PAR510Gdc03502 PAR510Gdc03501

COR510Gdc035

PAR510Gdc03601 PAR510Gdc03602COR510Gdc036

PAR520Gdc01102

PAR520Gdc01101

COR520Gdc011

PAR520Gdc01202PAR520Gdc01201

COR520Gdc012

PAR520Gdc01302PAR520Gdc01301

COR520Gdc013

PAR520Gdc01401PAR520Gdc01402

COR520Gdc014

PAR520Gdc01502PAR520Gdc01501

COR520Gdc015

PAR520Gdc01602PAR520Gdc01601

COR520Gdc016

PAR520Gdc02102PAR520Gdc02101

COR520Gdc021

PAR520Gdc02202PAR520Gdc02201

COR520Gdc022

PAR520Gdc02302

PAR520Gdc02301

COR520Gdc023

PAR520Gdc02402

PAR520Gdc02401

COR520Gdc024

PAR520Gdc02502

PAR520Gdc02501

COR520Gdc025

PAR520Gdc02601PAR520Gdc02602

COR520Gdc026

PAR520Gdc03102PAR520Gdc03101

COR520Gdc031PAR520Gdc03202PAR520Gdc03201

COR520Gdc032

PAR520Gdc03302 PAR520Gdc03301

COR520Gdc033

PAR520Gdc03402 PAR520Gdc03401

COR520Gdc034

PAR520Gdc03502PAR520Gdc03501

COR520Gdc035

PAR520Gdc03602PAR520Gdc03601

COR520Gdc036

PAR530Gdc01101PAR530Gdc01102

COR530Gdc011

PAR530Gdc01201PAR530Gdc01202

COR530Gdc012

PAR530Gdc01301

PAR530Gdc01302

COR530Gdc013

PAR530Gdc01401

PAR530Gdc01402

COR530Gdc014

PAR530Gdc01502PAR530Gdc01501COR530Gdc015

PAR530Gdc01601PAR530Gdc01602

COR530Gdc016

PAR530Gdc02101

PAR530Gdc02102

COR530Gdc021

PAR530Gdc02201PAR530Gdc02202

COR530Gdc022

PAR530Gdc02301PAR530Gdc02302

COR530Gdc023

PAR530Gdc02401 PAR530Gdc02402COR530Gdc024

PAR530Gdc02501PAR530Gdc02502

COR530Gdc025

PAR530Gdc02601

PAR530Gdc02602

COR530Gdc026

PAR530Gdc03101 PAR530Gdc03102COR530Gdc031

PAR530Gdc03201

PAR530Gdc03202

COR530Gdc032

PAR530Gdc03301PAR530Gdc03302COR530Gdc033

PAR530Gdc03401PAR530Gdc03402

COR530Gdc034

PAR530Gdc03502PAR530Gdc03501

COR530Gdc035

PAR530Gdc03601PAR530Gdc03602

COR530Gdc036

PAR5402PAR5401

COR54PAR5502

PAR5501

COR55

PAR5602

PAR5601

COR56

PAR5702PAR5701

COR57

PAR5802

PAR5801

COR58

PAR5902PAR5901

COR59

PAR6002PAR6001

COR60

PAR6102

PAR6101

COR61

PAR6202

PAR6201

COR62

PAR6302PAR6301

COR63

PAR6402PAR6401

COR64

PAR6502PAR6501

COR65

PAR6602PAR6601

COR66

PAR6702PAR6701

COR67

PAR6802PAR6801

COR68

PAR6902PAR6901

COR69PAR7002

PAR7001

COR70

PAR7102PAR7101

COR71PAR7202

PAR7201

COR72PAR7302

PAR7301

COR73PAR7402

PAR7401

COR74PAR7502

PAR7501

COR75PAR7602

PAR7601

COR76PAR7702

PAR7701

COR77

PAR7802PAR7801

COR78

PAR7902PAR7901

COR79

PAR8002PAR8001

COR80

PAR8102

PAR8101

COR81PAR8202

PAR8201

COR82PAR8302

PAR8301

COR83PAR8402

PAR8401

COR84

PAR8502PAR8501

COR85

PAR8601PAR8602

COR86PAR8701

PAR8702

COR87

PAR8801PAR8802

COR88

PAR8902

PAR8901

COR89

PAR9002PAR9001

COR90

PAR9102PAR9101

COR91

PAR9202PAR9201

COR92PAR9302

PAR9301

COR93PAR9402

PAR9401

COR94

PAR9502PAR9501

COR95

PAR9602PAR9601

COR96

PAR9702PAR9701

COR97

PAR9802PAR9801

COR98

PAR9902PAR9901

COR99PAR10002

PAR10001

COR100PAR10102

PAR10101

COR101

PAR10202

PAR10201

COR102PAR10302

PAR10301

COR103PAR10402

PAR10401

COR104

PAR10502

PAR10501

COR105

PAR10602

PAR10601

COR106

PAR10702

PAR10701

COR107

PAR10802PAR10801

COR108

PAR10902PAR10901

COR109

PAR11002

PAR11001

COR110PAR11102

PAR11101

COR111PAR11202

PAR11201

COR112

PAR11302

PAR11301

COR113PAR11402

PAR11401

COR114

PAR11502

PAR11501

COR115

PAR1160TR0H101

PAR1160TR0H102

COR1160TR0H1

PAR1160TR0H201

PAR1160TR0H202

COR1160TR0H2

PAR1160TR0H301PAR1160TR0H302

COR1160TR0H3

PAR1160TR0L101PAR1160TR0L102

COR1160TR0L1

PAR1160TR0L201

PAR1160TR0L202

COR1160TR0L2

PAR1160TR0L301PAR1160TR0L302

COR1160TR0L3

PAR1170TR0H101

PAR1170TR0H102

COR1170TR0H1

PAR1170TR0H201

PAR1170TR0H202

COR1170TR0H2

PAR1170TR0H301PAR1170TR0H302 COR1170TR0H3

PAR1170TR0L101PAR1170TR0L102

COR1170TR0L1

PAR1170TR0L201

PAR1170TR0L202

COR1170TR0L2

PAR1170TR0L301PAR1170TR0L302

COR1170TR0L3

PAR11802PAR11801

COR118

PAR11902PAR11901

COR119PAR12002PAR12001

COR120

PAR12102PAR12101

COR121PAR12202PAR12201

COR122

PAR12301

PAR12302

COR123 PAR12401

PAR12402

COR124 PAR12501PAR12502COR125

PAR12601

PAR12602

COR126 PAR12701

PAR12702

COR127

PAR12801PAR12802COR128

PATP101

COTP1PATP201

COTP2PATP301

COTP3PATP401

COTP4

PATP501

COTP5

PAU101PAU102

PAU103PAU104

PAU108PAU107

PAU106PAU105

COU1

PAU208

PAU207

PAU206

PAU205PAU204

PAU203

PAU202PAU201

COU2

PAU301PAU302PAU303PAU304

PAU308PAU307PAU306PAU305

COU3

PAU405

PAU404PAU403PAU402

PAU401

COU4PAU501PAU502

PAU503PAU504

PAU508PAU507

PAU506PAU505

COU5

PAU603

PAU601

PAU605PAU602

PAU604

PAU6011

PAU609

PAU607

PAU606

PAU6053

PAU6051PAU6052

PAU6054

PAU6056PAU6055

PAU6013

PAU6017

PAU6015PAU608

PAU6010

PAU6012

PAU6019

PAU6021PAU6014

PAU6016

PAU6018

PAU6020

PAU6022PAU6072

PAU6070

PAU6068

PAU6066

PAU6064

PAU6071

PAU6069

PAU6062

PAU6060

PAU6058

PAU6065

PAU6067

PAU6063

PAU6057

PAU6059

PAU6061

PAU6029

PAU6033PAU6024

PAU6092

PAU6096

PAU6094

PAU6035

PAU6037

PAU6039

PAU6098

PAU60100

PAU6041

PAU6043

PAU6045

PAU6047

PAU6049 PAU6050

PAU6046

PAU6042

PAU6040

PAU6028

PAU6048

PAU6044

PAU6038

PAU6036

PAU6034

PAU6027

PAU6031

PAU6025 PAU6026

PAU6030

PAU6032

PAU6090

PAU6088

PAU6084

PAU6086

PAU6082

PAU6080

PAU6078

PAU6074

PAU6076

PAU6099

PAU6097

PAU6093

PAU6095

PAU6091

PAU6089

PAU6087

PAU6083

PAU6085

PAU6081

PAU6079

PAU6077

PAU6075

PAU6023PAU6073PAU60

COU6

PAU70GD0H101

PAU70GD0H1016

PAU70GD0H102PAU70GD0H103PAU70GD0H104PAU70GD0H105PAU70GD0H106PAU70GD0H107PAU70GD0H108

PAU70GD0H1015PAU70GD0H1014PAU70GD0H1013PAU70GD0H1012PAU70GD0H1011PAU70GD0H1010PAU70GD0H109

COU70GD0H1

PAU70GD0H209PAU70GD0H2010

PAU70GD0H2011PAU70GD0H2012

PAU70GD0H2013PAU70GD0H2014

PAU70GD0H2015

PAU70GD0H208PAU70GD0H207

PAU70GD0H206PAU70GD0H205

PAU70GD0H204PAU70GD0H203

PAU70GD0H202

PAU70GD0H2016PAU70GD0H201

COU70GD0H2

PAU70GD0H301

PAU70GD0H3016

PAU70GD0H302

PAU70GD0H303PAU70GD0H304PAU70GD0H305PAU70GD0H306PAU70GD0H307

PAU70GD0H308

PAU70GD0H3015PAU70GD0H3014

PAU70GD0H3013PAU70GD0H3012

PAU70GD0H3011PAU70GD0H3010PAU70GD0H309

COU70GD0H3

PAU70GD0L109PAU70GD0L1010

PAU70GD0L1011PAU70GD0L1012

PAU70GD0L1013PAU70GD0L1014

PAU70GD0L1015

PAU70GD0L108PAU70GD0L107

PAU70GD0L106PAU70GD0L105

PAU70GD0L104PAU70GD0L103

PAU70GD0L102

PAU70GD0L1016

PAU70GD0L101

COU70GD0L1

PAU70GD0L209PAU70GD0L2010

PAU70GD0L2011PAU70GD0L2012

PAU70GD0L2013PAU70GD0L2014

PAU70GD0L2015

PAU70GD0L208PAU70GD0L207

PAU70GD0L206PAU70GD0L205

PAU70GD0L204PAU70GD0L203

PAU70GD0L202

PAU70GD0L2016PAU70GD0L201 COU70GD0L2

PAU70GD0L301

PAU70GD0L3016

PAU70GD0L302PAU70GD0L303PAU70GD0L304PAU70GD0L305PAU70GD0L306PAU70GD0L307

PAU70GD0L308

PAU70GD0L3015PAU70GD0L3014PAU70GD0L3013

PAU70GD0L3012

PAU70GD0L3011PAU70GD0L3010PAU70GD0L309

COU70GD0L3

PAU80 PAU802PAU803 PAU801

PAU806

PAU807

PAU804

PAU805

COU8

PAU90PAU902PAU903

PAU901

PAU906

PAU907PAU904

PAU905COU9

PAU100PAU1002PAU1003PAU1001

PAU1006

PAU1007

PAU1004

PAU1005

COU10

PAU11048PAU11047PAU11046PAU11045PAU11044PAU11043PAU11042PAU11041PAU11040PAU11039PAU11038PAU11037PAU11036PAU11035PAU11034PAU11033PAU11032PAU11031PAU11030PAU11029PAU11028PAU11027PAU11026PAU11025

PAU11024

PAU11023PAU11022

PAU11021PAU11020PAU11019

PAU11018PAU11017PAU11016

PAU11015PAU11014PAU11013

PAU11012PAU11011PAU11010

PAU1109PAU1108

PAU1107PAU1106PAU1105

PAU1104PAU1103PAU1102

PAU1101

COU11

PAU1209

PAU12010PAU12011PAU12012PAU12013

PAU12014PAU12015PAU12016

PAU1208

PAU1207

PAU1206PAU1205PAU1204

PAU1203

PAU1202PAU1201PAU12017

COU12

PAU1309PAU1308PAU1307

PAU1306PAU1305

PAU1304PAU1303PAU1302PAU1301

COU13

PAU1405

PAU1404PAU1403

PAU1402PAU1401

COU14

PAU1505

PAU1504PAU1503PAU1502PAU1501

COU15

PAU1601PAU1602PAU1603PAU1604PAU1605PAU1606PAU1607PAU1608PAU1609PAU16010PAU16011PAU16012PAU16013PAU16014PAU16015PAU16016PAU16017PAU16018PAU16019PAU16020PAU16021PAU16022PAU16023PAU16024

PAU16025PAU16026

PAU16027PAU16028PAU16029PAU16030

PAU16031PAU16032PAU16033

PAU16034PAU16035PAU16036

PAU16037

PAU16038

PAU16039PAU16040

PAU16041

PAU16042PAU16043

PAU16044

PAU16045PAU16046

PAU16047

PAU16048

COU16

PAU170TR0H1023

PAU170TR0H101PAU170TR0H1011PAU170TR0H1012

PAU170TR0H1013PAU170TR0H1015

PAU170TR0H1024

COU170TR0H1

PAU170TR0H2023

PAU170TR0H201PAU170TR0H2011PAU170TR0H2012

PAU170TR0H2013PAU170TR0H2015

PAU170TR0H2024

COU170TR0H2

PAU170TR0H3023

PAU170TR0H301

PAU170TR0H3011

PAU170TR0H3012PAU170TR0H3013

PAU170TR0H3015

PAU170TR0H3024

COU170TR0H3

PAU170TR0L1023

PAU170TR0L101

PAU170TR0L1011PAU170TR0L1012

PAU170TR0L1013

PAU170TR0L1015

PAU170TR0L1024

COU170TR0L1PAU170TR0L2023

PAU170TR0L201PAU170TR0L2011

PAU170TR0L2012

PAU170TR0L2013PAU170TR0L2015

PAU170TR0L2024

COU170TR0L2

PAU170TR0L3023

PAU170TR0L301

PAU170TR0L3011

PAU170TR0L3012PAU170TR0L3013

PAU170TR0L3015

PAU170TR0L3024

COU170TR0L3

PAU1801

PAU1802

PAU1803

PAU1804

PAU1808

PAU1807

PAU1806

PAU1805

COU18

PAC601

PAC2302

PAC7302

PAU405

PAU6066

PAU1405

PAC1001

PAC5602

PAC5902

PAC7702

PAJ105

PAJ404

PAR1301

PAR1401

PAU507PAU11031

PAU11042

PAU1505

PAC4902

PAC5102

PAC5302

PAC6901PAC7102

PAR3602

PAR8502

PAU803

PAU903PAU1003

PAU1401

PAC101

PAC1502PAC1602PAC1702

PAC1802

PAC1902

PAC2002

PAC380GD0H102

PAC380GD0H202

PAC380GD0H302

PAC380GD0L102

PAC380GD0L202

PAC380GD0L302

PAC390GD0H102

PAC390GD0H202

PAC390GD0H302

PAC390GD0L102

PAC390GD0L202

PAC390GD0L302

PAC5502

PAC6202

PAC6702

PAC7802

PAJ509

PAL202

PAL301

PAR102

PAR430GD0H102

PAR430GD0H202

PAR430GD0H302

PAR430GD0L102

PAR430GD0L202

PAR430GD0L302

PAR440GD0H102

PAR440GD0H202

PAR440GD0H302

PAR440GD0L102

PAR440GD0L202

PAR440GD0L302

PAR450GD0H102

PAR450GD0H202

PAR450GD0H302

PAR450GD0L102

PAR450GD0L202

PAR450GD0L302

PAR6002

PAR6102

PAR8102

PAR8501

PAR8901

PAR9001PAR9101

PAR9201

PAR9301

PAR9401

PAR9501

PAR9601

PAR9701

PAR10202PAR11002

PAU103

PAU6077

PAU6082

PAU6087

PAU6092

PAU6096

PAU70GD0H1015

PAU70GD0H2015

PAU70GD0H3015

PAU70GD0L1015

PAU70GD0L2015

PAU70GD0L3015

PAU1107

PAU11018

PAU12011

PAU1303PAU1306

PAU1604

PAU16014

PAU16037

PAC6802

PAC8802PAD502PAR8602

PAU1808

PAC702

PAC1102

PAC430GD0L102

PAC850TR0L102

PAC860TR0L102

PAD60TR0L102

PAR500Gdc01402

PAR500Gdc02402

PAR500Gdc03402

PAR1160TR0L101PAR1170TR0L101

PAU202

PAU304

PAU70GD0L105

PAC6102

PAD802PAJ502

PAJ503

PAU1203

PAU170TR0H101PAU170TR0H201

PAU170TR0H301

PAU170TR0L101

PAU170TR0L201

PAU170TR0L301

PAJ201

PAU601PAU6051

PAR3702

PAU6063

PAC602

PAC1301

PAC2101

PAC2301

PAC2401

PAC2501

PAC2601

PAC2701

PAC2901

PAC3401

PAC4901PAC5001

PAC5101PAC5201

PAC5301

PAC5401

PAC6902

PAC7101PAC7202

PAC7301

PAR3802

PAR5501

PAR5701

PAR5901

PAR8801

PAU205

PAU402PAU403

PAU608

PAU6010

PAU6012

PAU6014

PAU6016

PAU6058

PAU6060

PAU6062

PAU6064

PAU802PAU804

PAU805

PAU806

PAU807

PAU902PAU904

PAU905PAU906

PAU907

PAU1002

PAU1004

PAU1005

PAU1006

PAU1007

PAU1402

PAU1403

PAC3702

PAR4201PAU6017

PAR202

PAU6044

PAR502

PAU6095

PAR402

PAU6094

PAC3602PAR4001

PAR4102

PAU6015

PAC1302

PAR2101

PAU6071

PAQ101PAR2001

PAU6080

PAJ1013

PAU60100

PAJ1014

PAU6050

PAC3202PAR3301

PAU6040PAC3002

PAR3101PAU6090

PAC3502PAR3901

PAU6091

PAC3102PAR3202

PAU6013

PAC2802PAR2902

PAU6021

PAD801PAJ501

PAQ502

PAQ504

PAQ501PAR11802

PAU6028

PAC102

PAC201PAC301

PAC1002PAC1201

PAC1401 PAC1501PAC1601PAC1701

PAC1801

PAC1901

PAC2001

PAC2201

PAC2801

PAC3001

PAC3101

PAC3201

PAC3301

PAC3501

PAC3601

PAC3701

PAC380GD0H101

PAC380GD0H201

PAC380GD0H301

PAC380GD0L101

PAC380GD0L201

PAC380GD0L301

PAC390GD0H101

PAC390GD0H201

PAC390GD0H301

PAC390GD0L101

PAC390GD0L201

PAC390GD0L301

PAC5501

PAC5601

PAC5701PAC5801

PAC5901

PAC6101

PAC6201PAC6402

PAC6502

PAC6602

PAC6701

PAC6801

PAC7002

PAC7402

PAC7501PAC7602

PAC7701

PAC7801

PAC8801

PAC8901PAC9001

PAD201

PAD303

PAJ104

PAJ108

PAJ1010

PAJ1012

PAJ401

PAJ504PAJ505

PAJ506

PAJ5012

PAJ6010PAJ6011

PAQ102

PAQ503

PAQ602PAQ702

PAR1802

PAR2002PAR3501

PAR4101

PAR6901

PAR7001

PAR7101

PAR7201PAR7301

PAR7401PAR7501PAR7601

PAR7701

PAR7801

PAR7901

PAR8001

PAR8301PAR8401

PAR8702

PAR8802

PAR9802

PAR10002

PAR10102

PAR10701PAR11501

PAR11801

PAR12101PAR12201

PAR12301PAR12601

PAU102

PAU504

PAU6027

PAU6037

PAU6047

PAU70GD0H109

PAU70GD0H1016

PAU70GD0H209PAU70GD0H2016

PAU70GD0H309

PAU70GD0H3016

PAU70GD0L109

PAU70GD0L1016

PAU70GD0L209PAU70GD0L2016

PAU70GD0L309

PAU70GD0L3016

PAU1104

PAU11010

PAU11015

PAU11021PAU11028

PAU11034

PAU11039

PAU11045

PAU1209

PAU12012PAU12017

PAU1304

PAU1309

PAU1502PAU1503

PAU1607PAU16012

PAU16024

PAU170TR0H1023PAU170TR0H1024

PAU170TR0H2023PAU170TR0H2024

PAU170TR0H3023

PAU170TR0H3024

PAU170TR0L1023

PAU170TR0L1024

PAU170TR0L2023PAU170TR0L2024

PAU170TR0L3023

PAU170TR0L3024

PAU1804

PAJ204

PAU606PAU6056

PAC701

PAC801 PAC1101

PAC400GD0L101PAC410GD0L101

PAC420GD0L101

PAC430GD0L101

PAC440GD0L102

PAC460Gdc01401

PAC460Gdc02401

PAC460Gdc03401

PAC470Gdc01401

PAC470Gdc02401

PAC470Gdc03401

PAC480Gdc01402

PAC480Gdc02402

PAC480Gdc03402

PAC850TR0L101

PAC870TR0L102PAD60TR0L101

PAD70TR0L102

PAJ30Gdc01401PAJ30Gdc01402

PAJ30Gdc02401 PAJ30Gdc02402

PAJ30Gdc03401PAJ30Gdc03402

PAJ403

PAQ20GD0L102

PAR901

PAR1202

PAR460GD0L101

PAR480GD0L102

PAU204

PAU305PAU308

PAU70GD0L103

PAJ5015

PAR6401PAJ5016

PAR6501

PAR7002

PAU6036

PAU11032

PAR6902PAU6086

PAU11030

PAQ701PAR12202

PAU6031

PAQ601PAR12102

PAU6032

PAC2402PAR2501

PAU6057

PAU6059

PAC2602PAR2701

PAU607

PAU6061

PAC2902PAR3001

PAU609

PAU6011

PAC8102PAR10801

PAU16047

PAC8101PAC8201

PAU16046

PAC8002PAR10901

PAU16048

PAC8001PAC8301

PAU1601PAC202

PAD104

PAJ5010

PAL101PAR302

PAC302

PAD103

PAJ5011

PAL104PAR301

PAC401PAR602PAR902

PAU302PAC402PAR601

PAR1002 PAU301

PAC501PAR802

PAU206

PAU404

PAC502PAR801

PAR2102

PAU401

PAC802

PAR1102

PAR1201

PAU303 PAC901

PAR702PAU307 PAC902

PAR1001

PAU203

PAU306PAC1202

PAR1501

PAU502

PAC3402 PAR3601PAR3701PAR3801

PAC400GD0H101PAC410GD0H101PAC420GD0H101PAC430GD0H101

PAC440GD0H102

PAC460Gdc01101

PAC460Gdc02101

PAC460Gdc03101

PAC470Gdc01101

PAC470Gdc02101

PAC470Gdc03101

PAC480Gdc01102

PAC480Gdc02102

PAC480Gdc03102

PAC850TR0H101

PAC870TR0H102

PAD60TR0H101

PAD70TR0H102

PAJ30Gdc01101PAJ30Gdc01102

PAJ30Gdc02101PAJ30Gdc02102

PAJ30Gdc03101 PAJ30Gdc03102 PAQ20GD0H102PAR460GD0H101PAR480GD0H102

PAU70GD0H103

PAC400GD0H102PAC410GD0H102

PAC480Gdc01101

PAC480Gdc02101

PAC480Gdc03101

PAC860TR0H101PAC870TR0H101PAD70TR0H101

PAJ30Gdc01103

PAJ30Gdc02103 PAJ30Gdc03103

PAQ40Gdc01103

PAQ40Gdc02103 PAQ40Gdc03103

PAU70GD0H101

PAU70GD0H108

PAU170TR0H1012

PAC400GD0H201PAC410GD0H201

PAC420GD0H201PAC430GD0H201

PAC440GD0H202

PAC460Gdc01201PAC460Gdc02201

PAC460Gdc03201

PAC470Gdc01201PAC470Gdc02201

PAC470Gdc03201

PAC480Gdc01202PAC480Gdc02202

PAC480Gdc03202

PAC850TR0H201

PAC870TR0H202

PAD60TR0H201

PAD70TR0H202

PAJ30Gdc01201PAJ30Gdc01202

PAJ30Gdc02201PAJ30Gdc02202

PAJ30Gdc03201 PAJ30Gdc03202

PAQ20GD0H202PAR460GD0H201PAR480GD0H202

PAU70GD0H203PAC400GD0H202

PAC410GD0H202

PAC480Gdc01201PAC480Gdc02201

PAC480Gdc03201

PAC860TR0H201PAC870TR0H201

PAD70TR0H201

PAJ30Gdc01203

PAJ30Gdc02203

PAJ30Gdc03203

PAQ40Gdc01203

PAQ40Gdc02203

PAQ40Gdc03203

PAU70GD0H201PAU70GD0H208

PAU170TR0H2012

PAC400GD0H301PAC410GD0H301

PAC420GD0H301

PAC430GD0H301

PAC440GD0H302

PAC460Gdc01301

PAC460Gdc02301

PAC460Gdc03301

PAC470Gdc01301

PAC470Gdc02301

PAC470Gdc03301

PAC480Gdc01302

PAC480Gdc02302

PAC480Gdc03302

PAC850TR0H301

PAC870TR0H302

PAD60TR0H301

PAD70TR0H302

PAJ30Gdc01301PAJ30Gdc01302

PAJ30Gdc02301PAJ30Gdc02302

PAJ30Gdc03301PAJ30Gdc03302

PAQ20GD0H302PAR460GD0H301PAR480GD0H302

PAU70GD0H303 PAC400GD0H302PAC410GD0H302

PAC480Gdc01301

PAC480Gdc02301

PAC480Gdc03301

PAC860TR0H301

PAC870TR0H301

PAD70TR0H301

PAJ30Gdc01303

PAJ30Gdc02303

PAJ30Gdc03303

PAQ40Gdc01303

PAQ40Gdc02303

PAQ40Gdc03303PAU70GD0H301PAU70GD0H308

PAU170TR0H3012

PAC400GD0L102PAC410GD0L102

PAC480Gdc01401

PAC480Gdc02401

PAC480Gdc03401

PAC860TR0L101

PAC870TR0L101

PAD70TR0L101

PAJ30Gdc01403

PAJ30Gdc02403

PAJ30Gdc03403PAQ40Gdc01403

PAQ40Gdc02403

PAQ40Gdc03403

PAU70GD0L101

PAU70GD0L108

PAU170TR0L1012

PAC400GD0L201PAC410GD0L201

PAC420GD0L201

PAC430GD0L201

PAC440GD0L202

PAC460Gdc01501

PAC460Gdc02501

PAC460Gdc03501

PAC470Gdc01501

PAC470Gdc02501

PAC470Gdc03501

PAC480Gdc01502

PAC480Gdc02502

PAC480Gdc03502

PAC850TR0L201

PAC870TR0L202

PAD60TR0L201

PAD70TR0L202

PAJ30Gdc01501PAJ30Gdc01502

PAJ30Gdc02501PAJ30Gdc02502

PAJ30Gdc03501 PAJ30Gdc03502

PAQ20GD0L202

PAR460GD0L201

PAR480GD0L202

PAU70GD0L203PAC400GD0L202PAC410GD0L202

PAC480Gdc01501

PAC480Gdc02501

PAC480Gdc03501

PAC860TR0L201PAC870TR0L201PAD70TR0L201

PAJ30Gdc01503

PAJ30Gdc02503

PAJ30Gdc03503

PAQ40Gdc01503

PAQ40Gdc02503

PAQ40Gdc03503

PAU70GD0L201PAU70GD0L208 PAU170TR0L2012

PAC400GD0L301PAC410GD0L301

PAC420GD0L301

PAC430GD0L301

PAC440GD0L302

PAC460Gdc01601

PAC460Gdc02601

PAC460Gdc03601

PAC470Gdc01601

PAC470Gdc02601

PAC470Gdc03601

PAC480Gdc01602

PAC480Gdc02602

PAC480Gdc03602

PAC850TR0L301

PAC870TR0L302

PAD60TR0L301

PAD70TR0L302

PAJ30Gdc01601PAJ30Gdc01602

PAJ30Gdc02601PAJ30Gdc02602

PAJ30Gdc03601PAJ30Gdc03602

PAQ20GD0L302PAR460GD0L301

PAR480GD0L302

PAU70GD0L303

PAC400GD0L302

PAC410GD0L302

PAC480Gdc01601

PAC480Gdc02601

PAC480Gdc03601

PAC860TR0L301

PAC870TR0L301PAD70TR0L301

PAJ30Gdc01603

PAJ30Gdc02603

PAJ30Gdc03603

PAQ40Gdc01603

PAQ40Gdc02603

PAQ40Gdc03603

PAU70GD0L301PAU70GD0L308

PAU170TR0L3012

PAC420GD0H102PAR460GD0H102

PAU70GD0H107PAC420GD0H202

PAR460GD0H202

PAU70GD0H207

PAC420GD0H302PAR460GD0H302

PAU70GD0H307

PAC420GD0L102 PAR460GD0L102

PAU70GD0L107

PAC420GD0L202PAR460GD0L202

PAU70GD0L207

PAC420GD0L302 PAR460GD0L302

PAU70GD0L307

PAC430GD0H102

PAC850TR0H102

PAC860TR0H102PAD60TR0H102

PAR500Gdc01102

PAR500Gdc02102

PAR500Gdc03102

PAR1160TR0H101PAR1170TR0H101

PAU70GD0H105

PAC430GD0H202

PAC850TR0H202

PAC860TR0H202PAD60TR0H202

PAR500Gdc01202PAR500Gdc02202

PAR500Gdc03202

PAR1160TR0H201PAR1170TR0H201

PAU70GD0H205

PAC430GD0H302PAC850TR0H302

PAC860TR0H302

PAD60TR0H302

PAR500Gdc01302

PAR500Gdc02302

PAR500Gdc03302

PAR1160TR0H301PAR1170TR0H301

PAU70GD0H305

PAC430GD0L202

PAC850TR0L202

PAC860TR0L202PAD60TR0L202

PAR500Gdc01502

PAR500Gdc02502

PAR500Gdc03502

PAR1160TR0L201PAR1170TR0L201PAU70GD0L205

PAC430GD0L302

PAC850TR0L302

PAC860TR0L302

PAD60TR0L302

PAR500Gdc01602

PAR500Gdc02602

PAR500Gdc03602

PAR1160TR0L301PAR1170TR0L301

PAU70GD0L305

PAC440GD0H101

PAJ30Gdc01105

PAJ30Gdc02105

PAJ30Gdc03105

PAU70GD0H102

PAC440GD0H201

PAJ30Gdc01205

PAJ30Gdc02205

PAJ30Gdc03205

PAU70GD0H202

PAC440GD0H301

PAJ30Gdc01305

PAJ30Gdc02305

PAJ30Gdc03305PAU70GD0H302

PAC440GD0L101

PAJ30Gdc01405

PAJ30Gdc02405

PAJ30Gdc03405

PAU70GD0L102

PAC440GD0L201

PAJ30Gdc01505

PAJ30Gdc02505

PAJ30Gdc03505

PAU70GD0L202

PAC440GD0L301

PAJ30Gdc01605

PAJ30Gdc02605

PAJ30Gdc03605

PAU70GD0L302

PAC450GD0H101

PAR480GD0H101

PAR490GD0H102PAC450GD0H102

PAR470GD0H101

PAC450GD0H201

PAR480GD0H201

PAR490GD0H202PAC450GD0H202

PAR470GD0H201

PAC450GD0H301

PAR480GD0H301 PAR490GD0H302

PAC450GD0H302PAR470GD0H301

PAC450GD0L101PAR480GD0L101

PAR490GD0L102

PAC450GD0L102

PAR470GD0L101

PAC450GD0L201

PAR480GD0L201PAR490GD0L202

PAC450GD0L202

PAR470GD0L201

PAC450GD0L301PAR480GD0L301

PAR490GD0L302

PAC450GD0L302PAR470GD0L301

PAC460Gdc01102PAC470Gdc01102

PAQ30Gdc01103

PAR500Gdc01101

PAC460Gdc01202

PAC470Gdc01202PAQ30Gdc01203

PAR500Gdc01201

PAC460Gdc01302PAC470Gdc01302PAQ30Gdc01303

PAR500Gdc01301

PAC460Gdc01402PAC470Gdc01402PAQ30Gdc01403

PAR500Gdc01401

PAC460Gdc01502

PAC470Gdc01502PAQ30Gdc01503

PAR500Gdc01501

PAC460Gdc01602PAC470Gdc01602

PAQ30Gdc01603

PAR500Gdc01601

PAC460Gdc02102PAC470Gdc02102PAQ30Gdc02103

PAR500Gdc02101

PAC460Gdc02202PAC470Gdc02202

PAQ30Gdc02203

PAR500Gdc02201

PAC460Gdc02302 PAC470Gdc02302

PAQ30Gdc02303

PAR500Gdc02301

PAC460Gdc02402 PAC470Gdc02402

PAQ30Gdc02403

PAR500Gdc02401

PAC460Gdc02502

PAC470Gdc02502

PAQ30Gdc02503

PAR500Gdc02501

PAC460Gdc02602

PAC470Gdc02602PAQ30Gdc02603

PAR500Gdc02601

PAC460Gdc03102

PAC470Gdc03102

PAQ30Gdc03103

PAR500Gdc03101

PAC460Gdc03202

PAC470Gdc03202PAQ30Gdc03203

PAR500Gdc03201

PAC460Gdc03302PAC470Gdc03302

PAQ30Gdc03303

PAR500Gdc03301

PAC460Gdc03402PAC470Gdc03402

PAQ30Gdc03403

PAR500Gdc03401

PAC460Gdc03502

PAC470Gdc03502

PAQ30Gdc03503

PAR500Gdc03501

PAC460Gdc03602

PAC470Gdc03602

PAQ30Gdc03603

PAR500Gdc03601

PAC5002

PAR5402

PAU801

PAC5202PAR5602

PAU901

PAC5402PAR5802

PAU1001

PAC5702

PAR6302

PAU11014PAC5802PAR6202

PAU11013

PAC6001PAU12016 PAC6002

PAD402

PAL201

PAU12014PAU12015

PAC6301 PAU1205

PAC6302

PAR8202

PAC6401 PAU12010

PAC6501PAU1201

PAC6601PAU1208

PAC7001PAU1308

PAC7201 PAU1404

PAC7401PAC7502

PAR8902 PAU1501

PAC7601PAU1504

PAC7901PAR10502

PAR10601PAC7902PAR10302

PAR10401

PAC8202PAR10802

PAC8302PAR10902

PAC8401PAR11302

PAR11401

PAC8402PAR11102

PAR11201

PAC8902PAR12502

PAU1805

PAC9002

PAR12802

PAU1803

PAD101PAD102

PAD203

PAD301

PAR6502

PAU11019

PAD302

PAR6402

PAU11017

PAD401PAU12013

PAD501

PAL302PAU1305

PAJ30Gdc01104

PAJ30Gdc02104

PAJ30Gdc03104

PAQ20GD0H103

PAJ30Gdc01106 PAR510Gdc01102PAR530Gdc01102

PAJ30Gdc01204

PAJ30Gdc02204

PAJ30Gdc03204 PAQ20GD0H203

PAJ30Gdc01206

PAR510Gdc01202 PAR530Gdc01202

PAJ30Gdc01304

PAJ30Gdc02304

PAJ30Gdc03304

PAQ20GD0H303

PAJ30Gdc01306PAR510Gdc01302

PAR530Gdc01302

PAJ30Gdc01404

PAJ30Gdc02404

PAJ30Gdc03404

PAQ20GD0L103

PAJ30Gdc01406PAR510Gdc01402

PAR530Gdc01402

PAJ30Gdc01504

PAJ30Gdc02504

PAJ30Gdc03504

PAQ20GD0L203

PAJ30Gdc01506PAR510Gdc01502

PAR530Gdc01502

PAJ30Gdc01604

PAJ30Gdc02604

PAJ30Gdc03604

PAQ20GD0L303

PAJ30Gdc01606PAR510Gdc01602

PAR530Gdc01602

PAJ30Gdc02106PAR510Gdc02102

PAR530Gdc02102

PAJ30Gdc02206PAR510Gdc02202

PAR530Gdc02202

PAJ30Gdc02306

PAR510Gdc02302PAR530Gdc02302

PAJ30Gdc02406

PAR510Gdc02402PAR530Gdc02402

PAJ30Gdc02506 PAR510Gdc02502PAR530Gdc02502

PAJ30Gdc02606PAR510Gdc02602

PAR530Gdc02602

PAJ30Gdc03106PAR510Gdc03102PAR530Gdc03102

PAJ30Gdc03206PAR510Gdc03202PAR530Gdc03202

PAJ30Gdc03306PAR510Gdc03302

PAR530Gdc03302

PAJ30Gdc03406 PAR510Gdc03402PAR530Gdc03402

PAJ30Gdc03506PAR510Gdc03502PAR530Gdc03502

PAJ30Gdc03606PAR510Gdc03602 PAR530Gdc03602

PAJ402

PAR1502

PAJ405

PAR1101

PAJ406

PAR2302

PAJ507

PAR2202

PAJ508

PAR4202

PAJ5013

PAR11902

PAJ5014

PAR12002PAJ5017

PAR2901

PAJ5018

PAR3201

PAJ601 PAR10201PAR10301

PAJ602

PAR10501PAR10702PAJ605

PAR12702PAU1801

PAJ606

PAR11001PAR11101

PAJ607

PAR11301PAR11502PAJ609

PAR12402PAU1807

PAL102

PAU107

PAL103 PAU106

PAQ103PAR1302

PAR1601

PAR1901

PAR7102

PAU11038

PAQ20GD0H101PAR490GD0H101

PAQ20GD0H201PAR490GD0H201

PAQ20GD0H301 PAR490GD0H301

PAQ20GD0L101PAR490GD0L101

PAQ20GD0L201

PAR490GD0L201

PAQ20GD0L301PAR490GD0L301

PAQ30Gdc01101PAQ40Gdc01101

PAR520Gdc01101

PAQ30Gdc01102PAR510Gdc01101

PAQ30Gdc01201

PAQ40Gdc01201PAR520Gdc01201

PAQ30Gdc01202PAR510Gdc01201

PAQ30Gdc01301

PAQ40Gdc01301

PAR520Gdc01301

PAQ30Gdc01302PAR510Gdc01301

PAQ30Gdc01401 PAQ40Gdc01401

PAR520Gdc01401

PAQ30Gdc01402PAR510Gdc01401

PAQ30Gdc01501

PAQ40Gdc01501PAR520Gdc01501

PAQ30Gdc01502PAR510Gdc01501

PAQ30Gdc01601

PAQ40Gdc01601PAR520Gdc01601

PAQ30Gdc01602

PAR510Gdc01601

PAQ30Gdc02101

PAQ40Gdc02101PAR520Gdc02101

PAQ30Gdc02102PAR510Gdc02101

PAQ30Gdc02201

PAQ40Gdc02201

PAR520Gdc02201PAQ30Gdc02202PAR510Gdc02201

PAQ30Gdc02301PAQ40Gdc02301

PAR520Gdc02301

PAQ30Gdc02302

PAR510Gdc02301

PAQ30Gdc02401

PAQ40Gdc02401PAR520Gdc02401

PAQ30Gdc02402

PAR510Gdc02401

PAQ30Gdc02501PAQ40Gdc02501

PAR520Gdc02501

PAQ30Gdc02502

PAR510Gdc02501

PAQ30Gdc02601PAQ40Gdc02601

PAR520Gdc02601 PAQ30Gdc02602 PAR510Gdc02601

PAQ30Gdc03101

PAQ40Gdc03101

PAR520Gdc03101PAQ30Gdc03102PAR510Gdc03101

PAQ30Gdc03201PAQ40Gdc03201

PAR520Gdc03201

PAQ30Gdc03202PAR510Gdc03201

PAQ30Gdc03301

PAQ40Gdc03301

PAR520Gdc03301

PAQ30Gdc03302 PAR510Gdc03301

PAQ30Gdc03401

PAQ40Gdc03401

PAR520Gdc03401

PAQ30Gdc03402 PAR510Gdc03401

PAQ30Gdc03501

PAQ40Gdc03501 PAR520Gdc03501

PAQ30Gdc03502PAR510Gdc03501

PAQ30Gdc03601

PAQ40Gdc03601

PAR520Gdc03601PAQ30Gdc03602

PAR510Gdc03601

PAQ40Gdc01102PAR530Gdc01101

PAQ40Gdc01202PAR530Gdc01201

PAQ40Gdc01302PAR530Gdc01301

PAQ40Gdc01402PAR530Gdc01401

PAQ40Gdc01502PAR530Gdc01501

PAQ40Gdc01602PAR530Gdc01601

PAQ40Gdc02102PAR530Gdc02101

PAQ40Gdc02202PAR530Gdc02201 PAQ40Gdc02302

PAR530Gdc02301

PAQ40Gdc02402

PAR530Gdc02401

PAQ40Gdc02502

PAR530Gdc02501

PAQ40Gdc02602 PAR530Gdc02601

PAQ40Gdc03102PAR530Gdc03101

PAQ40Gdc03202PAR530Gdc03201

PAQ40Gdc03302 PAR530Gdc03301

PAQ40Gdc03402 PAR530Gdc03401

PAQ40Gdc03502PAR530Gdc03501

PAQ40Gdc03602PAR530Gdc03601

PAQ603PAR12001PAQ703

PAR11901

PAR101

PAR501

PAU108

PAR201

PAU104PAR401

PAU101

PAR701

PAU201

PAR1402PAR1702

PAR1801

PAR1602

PAR2402

PAU506

PAR1701

PAR1902PAU503

PAR2502

PAR5401PAR5502

PAR2602

PAU11036

PAR2702

PAR5801 PAR5902PAR2802

PAU11035

PAR3002

PAR5601PAR5702

PAR3102

PAU11027

PAR3302

PAU11029

PAR3402

PAU1605

PAR3902

PAU11026

PAR4002

PAU1606

PAR470GD0H102

PAR520Gdc01102

PAR520Gdc02102

PAR520Gdc03102

PAU70GD0H106

PAR470GD0H202

PAR520Gdc01202

PAR520Gdc02202

PAR520Gdc03202 PAU70GD0H206

PAR470GD0H302

PAR520Gdc01302

PAR520Gdc02302

PAR520Gdc03302

PAU70GD0H306

PAR470GD0L102

PAR520Gdc01402

PAR520Gdc02402

PAR520Gdc03402

PAU70GD0L106

PAR470GD0L202

PAR520Gdc01502

PAR520Gdc02502

PAR520Gdc03502

PAU70GD0L206

PAR470GD0L302

PAR520Gdc01602

PAR520Gdc02602

PAR520Gdc03602

PAU70GD0L306

PAR6001

PAU1101PAR6601

PAU16042

PAR6602

PAU11020PAR6701

PAU16043

PAR6702

PAU11022PAR6801

PAR9502PAR10001

PAU16044

PAR6802

PAU11023

PAR7802

PAU11024PAU11025

PAR7902

PAU11048

PAR8002

PAU11016

PAU11037

PAR8101

PAR8201

PAR8302

PAU1206

PAR8402

PAU1207

PAR8601

PAR8701PAU1302

PAR9002PAU16021

PAR9102PAU16019

PAR9202PAU16016

PAR9302PAU16041

PAR9402PAU16039

PAR9602PAR10101

PAU16038

PAR9702

PAU16045

PAR9801PAU16040

PAR1160TR0H102PAR1170TR0H102

PAU170TR0H1013

PAR1160TR0H202PAR1170TR0H202

PAU170TR0H2013

PAR1160TR0H302PAR1170TR0H302 PAU170TR0H3013

PAR1160TR0L102PAR1170TR0L102

PAU170TR0L1013

PAR1160TR0L202PAR1170TR0L202

PAU170TR0L2013

PAR1160TR0L302PAR1170TR0L302

PAU170TR0L3013

PAR12302PAR12401

PAU1806PAR12602PAR12701

PAU1802

PATP101

PAU6078PATP201

PAU6029PATP301

PAU6079

PATP401PAU6081

PATP501PAU6039

PAU1301

PAU1307

PAC2202PAR2401

PAU6084

PAR440GD0H101

PAR440GD0H201

PAR440GD0H301

PAR440GD0L101

PAR440GD0L201

PAR440GD0L301

PAR6301

PAU70GD0H1013

PAU70GD0H2013

PAU70GD0H3013

PAU70GD0L1013

PAU70GD0L2013

PAU70GD0L3013

PAC2702PAR2801

PAU6033

PAU70GD0H1010

PAU70GD0L1011

PAU1102

PAU70GD0H2010PAU70GD0L2011

PAU1105

PAU70GD0H3010PAU70GD0L3011

PAU1108

PAR7702

PAU6023PAU11047

PAR7502

PAU6024PAU11044

PAR7302

PAU6025PAU11041

PAU70GD0H1011

PAU70GD0L1010

PAU1103

PAU70GD0H2011PAU70GD0L2010

PAU1106

PAU70GD0H3011PAU70GD0L3010

PAU1109

PAR7602

PAU6073PAU11046

PAR7402

PAU6074PAU11043

PAR7202

PAU6075

PAU11040

PAC2502PAR2601

PAU6083

PAR450GD0H101

PAR450GD0H201

PAR450GD0H301

PAR450GD0L101

PAR450GD0L201

PAR450GD0L301

PAR6101PAR6201

PAU70GD0H1012

PAU70GD0H2012

PAU70GD0H3012

PAU70GD0L1012

PAU70GD0L2012

PAU70GD0L3012

PAR430GD0H101

PAR430GD0H201

PAR430GD0H301

PAR430GD0L101

PAR430GD0L201

PAR430GD0L301

PAU70GD0H1014

PAU70GD0H2014

PAU70GD0H3014

PAU70GD0L1014

PAU70GD0L2014

PAU70GD0L3014

PAU11011

PAR9901PAR12501

PAU16013PAR9902PAR12801

PAU16015

PAJ203

PAU602

PAR10402

PAU1609

PAR11202

PAU16010

PAR10602

PAU1608

PAR11402

PAU16011

PAC3302

PAR3401PAR3502

PAU6065

PAC1402

PAR2201PAU6067

PAJ109

PAJ1011

PAU6048

PAJ103

PAU6097

PAJ107

PAU6098

PAC2102PAR2301

PAU6069

PAJ101

PAU6049 PAJ102

PAU6099

PAJ202

PAU6052

B Power PCB schematics

XVII

1 1

2 2

3 3

4 4

DD

CC

BB

AA

Title

Num

berR

evisionSize

A4

Date:

2011-12-22Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Half bridge.SchD

ocD

rawn By:

C2

220nFD

2

PESD15V

S1UB

R6

51RR

7100R

V_PO

S

C1

1.5nF

C4

820pF

R1

1k

D1

MU

RA160T3G

Q1

SI2306BD

S C3

5nF

C5

100nF

D4

PESD15V

S1UB

R13

51RR

14100R

V_N

EG

C6

1.5nF

C8

820pF

R8

1k

D3

MU

RA160T3G

Q2

SI2306BD

S C7

5nF

C9

100nF

1

P2Pad

1

P1Pad

3 12456

J12x3 connector hylsa

3 12456

J22x3 connector hylsa

R2

3R9

R3

3R9

R4

3R9

R5

3R9

R11

3R9

R9

3R9

R10

3R9

R12

3R9

1

43

U1

IPB025N

10N3 G

1

43

U2

IPB025N

10N3 G

1

P3Pad

PIC101 PIC102 COC1

PIC201 PIC202COC2

PIC301PIC302 C

OC3

PIC401 PIC402COC4

PIC501PIC502 C

OC5

PIC601 PIC602 COC6

PIC701PIC702 C

OC7

PIC801 PIC802COC8

PIC901PIC902 C

OC9

PID101PID102

COD1

PID201

PID202

COD2

PID301PID302

COD3

PID401

PID402

COD4

PIJ101

PIJ102

PIJ103

PIJ104

PIJ105

PIJ106

COJ1

PIJ201

PIJ202

PIJ203

PIJ204

PIJ205

PIJ206

COJ2

PIP101 COP1

PIP201 COP2

PIP301 COP3

PIQ101

PIQ102 PIQ103COQ1

PIQ201

PIQ202 PIQ203COQ2

PIR101PIR102

COR1

PIR201 PIR202COR2PIR301 PIR302COR3

PIR401 PIR402COR4PIR501 PIR502COR5

PIR601PIR602 C

OR6

PIR701PIR702 COR7

PIR801PIR802

COR8

PIR901 PIR902COR9PIR1001 PIR1002COR10

PIR1101 PIR1102COR11

PIR1201 PIR1202COR12

PIR1301PIR1302 C

OR13

PIR1401PIR1402 COR14

PIU101

PIU102PIU103 PIU104PIU105PIU106PIU107

COU1

PIU201

PIU202PIU203 PIU204PIU205PIU206PIU207

COU2

PIC101PIR202PIR302

PIC102

PIC202

PID102

PIP101

PIU104

POV0POS

PIC201

PIC701

PIC901 PID402

PIJ205

PIJ206

PIP301

PIR1101PIR1201

PIU202PIU203PIU205PIU206PIU207

POV0NEG

PIC301

PIC501

PIC602

PID202

PID302

PIJ105

PIJ106

PIP201

PIR401PIR501

PIU102PIU103PIU105PIU106PIU107PIU204

PIC302

PID201

PIJ102

PIQ103

PIU101

PIC401PIC502

PIJ103

PIQ102

PIR702

PIC402PIQ101

PIR601

PIR701

PIC601PIR902PIR1002

PIC702

PID401

PIJ202

PIQ203

PIU201

PIC801PIC902

PIJ203

PIQ202

PIR1402

PIC802

PIQ201PIR1301

PIR1401

PID101PIR102

PID301PIR802

PIJ101

PIR101

PIJ104

PIR602

PIJ201

PIR801

PIJ204

PIR1302

PIR201PIR301

PIR402PIR502

PIR901PIR1001

PIR1102PIR1202

POV0NEG

POV0POS

1 1

2 2

3 3

4 4

DD

CC

BB

AA

Title

Num

berR

evisionSize

A4

Date:

2011-12-22Sheet of

File:P:\9334 D

rivsystem ElG

okart\..\Main.SchD

ocDrawn By:

V_PO

S

V_N

EG

REPEA

T(HB

,1,9)

Half bridge.SchD

oc

t° RT7

NTC

10k

R17

87k

V_PO

S

3V3

R16

4k7

GN

D

R18

3k

V_PO

S

1

P4Pad1

P5Pad

3V3

R15

42k

t° RT2

PTC4k7

3V3t° R

T3PTC

4k7

t° RT4

PTC4k7

t° RT5

PTC4k7

t° RT1

PTC4k7

t° RT6

PTC4k7

3 12456

J32x3 connector hylsa

t° RT8

PTC4k7

t° RT9

PTC4k7

t° RT10

PTC4k7

PIJ301

PIJ302

PIJ303

PIJ304

PIJ305

PIJ306 COJ3

PIP401 COP4

PIP501 COP5

PIR1501 PIR1502COR15

PIR1601 PIR1602COR16

PIR1701 PIR1702COR17

PIR1801 PIR1802COR18

PIRT101PIRT102

CORT1

PIRT201PIRT202

CORT2

PIRT301PIRT302

CORT3

PIRT401PIRT402

CORT4

PIRT501PIRT502

CORT5

PIRT601PIRT602

CORT6PIRT701PIRT702

CORT7

PIRT801PIRT802

CORT8

PIRT901PIRT902

CORT9

PIRT1001PIRT1002

CORT10

PIJ304

PIR1502

PIR1602

PIJ305

PIRT702

PIRT1002

PIJ301

PIR1701PIR1802

PIJ302

PIR1601PIRT701

PIJ303

PIR1801

PIJ306

PIR1501PIRT101

PIP501

PIRT102PIRT201PIRT202PIRT301PIRT302PIRT401PIRT402PIRT501PIRT502PIRT601PIRT602PIRT801PIRT802PIRT901PIRT902PIRT1001

PIP401

PIR1702

PAC10HB102

PAC10HB101

COC10HB1

PAC10HB202PAC10HB201

COC10HB2

PAC10HB302PAC10HB301

COC10HB3

PAC10HB402 PAC10HB401COC10HB4

PAC10HB502 PAC10HB501

COC10HB5

PAC10HB602

PAC10HB601

COC10HB6

PAC10HB702PAC10HB701

COC10HB7

PAC10HB802PAC10HB801

COC10HB8

PAC10HB902PAC10HB901

COC10HB9

PAC20HB101

PAC20HB102

COC20HB1

PAC20HB201PAC20HB202

COC20HB2

PAC20HB301PAC20HB302COC20HB3

PAC20HB401 PAC20HB402COC20HB4

PAC20HB501PAC20HB502

COC20HB5

PAC20HB601

PAC20HB602COC20HB6

PAC20HB701PAC20HB702COC20HB7

PAC20HB802PAC20HB801

COC20HB8

PAC20HB901PAC20HB902

COC20HB9

PAC30HB101PAC30HB102

COC30HB1

PAC30HB201PAC30HB202

COC30HB2

PAC30HB301PAC30HB302

COC30HB3

PAC30HB401PAC30HB402

COC30HB4

PAC30HB501PAC30HB502

COC30HB5

PAC30HB601

PAC30HB602

COC30HB6

PAC30HB701PAC30HB702

COC30HB7

PAC30HB802PAC30HB801

COC30HB8

PAC30HB901 PAC30HB902

COC30HB9

PAC40HB101PAC40HB102

COC40HB1

PAC40HB201 PAC40HB202

COC40HB2

PAC40HB301PAC40HB302

COC40HB3PAC40HB401

PAC40HB402

COC40HB4

PAC40HB501PAC40HB502

COC40HB5

PAC40HB601PAC40HB602

COC40HB6

PAC40HB701PAC40HB702

COC40HB7

PAC40HB802

PAC40HB801

COC40HB8

PAC40HB901PAC40HB902

COC40HB9

PAC50HB101PAC50HB102

COC50HB1

PAC50HB201 PAC50HB202

COC50HB2

PAC50HB301PAC50HB302

COC50HB3PAC50HB401

PAC50HB402

COC50HB4

PAC50HB501PAC50HB502

COC50HB5

PAC50HB601PAC50HB602

COC50HB6

PAC50HB701PAC50HB702

COC50HB7

PAC50HB802

PAC50HB801

COC50HB8

PAC50HB901PAC50HB902

COC50HB9

PAC60HB102

PAC60HB101

COC60HB1

PAC60HB202PAC60HB201

COC60HB2

PAC60HB302PAC60HB301

COC60HB3

PAC60HB402PAC60HB401

COC60HB4

PAC60HB502PAC60HB501

COC60HB5

PAC60HB602

PAC60HB601

COC60HB6

PAC60HB702PAC60HB701

COC60HB7

PAC60HB802PAC60HB801

COC60HB8

PAC60HB902 PAC60HB901

COC60HB9

PAC70HB101PAC70HB102

COC70HB1

PAC70HB201PAC70HB202

COC70HB2

PAC70HB301PAC70HB302

COC70HB3

PAC70HB401 PAC70HB402

COC70HB4

PAC70HB501PAC70HB502

COC70HB5

PAC70HB601PAC70HB602

COC70HB6

PAC70HB701PAC70HB702COC70HB7

PAC70HB802PAC70HB801

COC70HB8

PAC70HB901PAC70HB902

COC70HB9

PAC80HB101

PAC80HB102

COC80HB1

PAC80HB201PAC80HB202

COC80HB2

PAC80HB301PAC80HB302

COC80HB3

PAC80HB401PAC80HB402

COC80HB4

PAC80HB501PAC80HB502

COC80HB5

PAC80HB601

PAC80HB602

COC80HB6

PAC80HB701PAC80HB702

COC80HB7

PAC80HB802PAC80HB801

COC80HB8

PAC80HB901 PAC80HB902

COC80HB9

PAC90HB101

PAC90HB102

COC90HB1

PAC90HB201PAC90HB202

COC90HB2

PAC90HB301PAC90HB302

COC90HB3

PAC90HB401PAC90HB402

COC90HB4

PAC90HB501PAC90HB502

COC90HB5

PAC90HB601PAC90HB602

COC90HB6

PAC90HB701PAC90HB702

COC90HB7

PAC90HB802PAC90HB801

COC90HB8

PAC90HB901 PAC90HB902

COC90HB9

PAD10HB102PAD10HB101

COD10HB1

PAD10HB202 PAD10HB201COD10HB2

PAD10HB302 PAD10HB301COD10HB3

PAD10HB402PAD10HB401COD10HB4

PAD10HB502PAD10HB501COD10HB5

PAD10HB602PAD10HB601

COD10HB6

PAD10HB702PAD10HB701

COD10HB7PAD10HB801

PAD10HB802

COD10HB8

PAD10HB902PAD10HB901

COD10HB9

PAD20HB102PAD20HB101

COD20HB1

PAD20HB202 PAD20HB201

COD20HB2

PAD20HB302PAD20HB301

COD20HB3PAD20HB402

PAD20HB401

COD20HB4

PAD20HB502PAD20HB501

COD20HB5

PAD20HB602PAD20HB601

COD20HB6

PAD20HB702PAD20HB701

COD20HB7

PAD20HB801PAD20HB802

COD20HB8

PAD20HB902PAD20HB901

COD20HB9

PAD30HB102

PAD30HB101COD30HB1

PAD30HB202PAD30HB201COD30HB2

PAD30HB302PAD30HB301COD30HB3

PAD30HB402PAD30HB401

COD30HB4

PAD30HB502PAD30HB501

COD30HB5

PAD30HB602

PAD30HB601

COD30HB6

PAD30HB702PAD30HB701

COD30HB7

PAD30HB801PAD30HB802

COD30HB8

PAD30HB902 PAD30HB901COD30HB9

PAD40HB102PAD40HB101

COD40HB1

PAD40HB202PAD40HB201

COD40HB2

PAD40HB302PAD40HB301

COD40HB3

PAD40HB402PAD40HB401

COD40HB4

PAD40HB502PAD40HB501

COD40HB5

PAD40HB602 PAD40HB601

COD40HB6

PAD40HB702 PAD40HB701

COD40HB7

PAD40HB801PAD40HB802

COD40HB8

PAD40HB902PAD40HB901

COD40HB9

PAJ10HB104

PAJ10HB102PAJ10HB103

PAJ10HB101

PAJ10HB105PAJ10HB106

COJ10HB1PAJ10HB204PAJ10HB202 PAJ10HB203

PAJ10HB201

PAJ10HB205PAJ10HB206

COJ10HB2

PAJ10HB304PAJ10HB302

PAJ10HB303PAJ10HB301PAJ10HB305

PAJ10HB306

COJ10HB3

PAJ10HB404 PAJ10HB402PAJ10HB403 PAJ10HB401

PAJ10HB405PAJ10HB406

COJ10HB4

PAJ10HB504PAJ10HB502

PAJ10HB503PAJ10HB501

PAJ10HB505PAJ10HB506

COJ10HB5 PAJ10HB604

PAJ10HB602

PAJ10HB603

PAJ10HB601

PAJ10HB605PAJ10HB606

COJ10HB6

PAJ10HB704PAJ10HB702

PAJ10HB703PAJ10HB701PAJ10HB705 PAJ10HB706

COJ10HB7PAJ10HB806PAJ10HB805

PAJ10HB801PAJ10HB803PAJ10HB802PAJ10HB804COJ10HB8

PAJ10HB904PAJ10HB902

PAJ10HB903PAJ10HB901 PAJ10HB905

PAJ10HB906COJ10HB9

PAJ20HB104PAJ20HB102

PAJ20HB103PAJ20HB101PAJ20HB105

PAJ20HB106 COJ20HB1

PAJ20HB204 PAJ20HB202PAJ20HB203 PAJ20HB201

PAJ20HB205PAJ20HB206

COJ20HB2

PAJ20HB304PAJ20HB302

PAJ20HB303PAJ20HB301

PAJ20HB305PAJ20HB306

COJ20HB3

PAJ20HB404PAJ20HB402

PAJ20HB403PAJ20HB401

PAJ20HB405 PAJ20HB406

COJ20HB4

PAJ20HB504PAJ20HB502

PAJ20HB503PAJ20HB501PAJ20HB505 PAJ20HB506

COJ20HB5

PAJ20HB604PAJ20HB602PAJ20HB603

PAJ20HB601PAJ20HB605

PAJ20HB606COJ20HB6

PAJ20HB704PAJ20HB702

PAJ20HB703PAJ20HB701 PAJ20HB705

PAJ20HB706COJ20HB7

PAJ20HB806PAJ20HB805

PAJ20HB801

PAJ20HB803

PAJ20HB802

PAJ20HB804

COJ20HB8

PAJ20HB904PAJ20HB902 PAJ20HB903PAJ20HB901

PAJ20HB905PAJ20HB906

COJ20HB9

PAJ306 PAJ305PAJ301PAJ303

PAJ302PAJ304

COJ3

PAP10HB101COP10HB1PAP10HB201

COP10HB2

PAP10HB301COP10HB3

PAP10HB401COP10HB4

PAP10HB501COP10HB5 PAP10HB601

COP10HB6

PAP10HB701COP10HB7

PAP10HB801

COP10HB8

PAP10HB901COP10HB9

PAP20HB101COP20HB1

PAP20HB201COP20HB2

PAP20HB301COP20HB3

PAP20HB401COP20HB4

PAP20HB501COP20HB5

PAP20HB601COP20HB6

PAP20HB701COP20HB7

PAP20HB801 COP20HB8

PAP20HB901COP20HB9

PAP30HB101COP30HB1

PAP30HB201COP30HB2

PAP30HB301COP30HB3

PAP30HB401COP30HB4

PAP30HB501COP30HB5

PAP30HB601COP30HB6

PAP30HB701COP30HB7

PAP30HB801 COP30HB8

PAP30HB901COP30HB9

PAP402PAP401

PAP403PAP404

PAP405

PAP406

PAP407PAP408

PAP409PAP4010

PAP4011

PAP4012

COP4

PAP502PAP501

PAP503PAP504

PAP505

PAP506

PAP507PAP508

PAP509PAP5010

PAP5011

PAP5012

COP5

PAQ10HB101PAQ10HB102PAQ10HB103

COQ10HB1

PAQ10HB201PAQ10HB202PAQ10HB203

COQ10HB2

PAQ10HB301

PAQ10HB302 PAQ10HB303

COQ10HB3PAQ10HB401

PAQ10HB402 PAQ10HB403

COQ10HB4

PAQ10HB501PAQ10HB502

PAQ10HB503

COQ10HB5

PAQ10HB601PAQ10HB602

PAQ10HB603

COQ10HB6

PAQ10HB701 PAQ10HB702PAQ10HB703

COQ10HB7PAQ10HB803

PAQ10HB802

PAQ10HB801

COQ10HB8

PAQ10HB901PAQ10HB902

PAQ10HB903

COQ10HB9

PAQ20HB101

PAQ20HB102 PAQ20HB103

COQ20HB1

PAQ20HB201PAQ20HB202 PAQ20HB203

COQ20HB2

PAQ20HB301PAQ20HB302

PAQ20HB303

COQ20HB3

PAQ20HB401 PAQ20HB402PAQ20HB403

COQ20HB4

PAQ20HB501 PAQ20HB502PAQ20HB503

COQ20HB5

PAQ20HB601

PAQ20HB602

PAQ20HB603

COQ20HB6

PAQ20HB701PAQ20HB702

PAQ20HB703

COQ20HB7

PAQ20HB803PAQ20HB802

PAQ20HB801

COQ20HB8

PAQ20HB901PAQ20HB902PAQ20HB903

COQ20HB9

PAR10HB101

PAR10HB102

COR10HB1

PAR10HB201PAR10HB202

COR10HB2

PAR10HB301PAR10HB302

COR10HB3

PAR10HB401 PAR10HB402

COR10HB4

PAR10HB501 PAR10HB502

COR10HB5

PAR10HB601

PAR10HB602

COR10HB6

PAR10HB701PAR10HB702

COR10HB7PAR10HB802

PAR10HB801

COR10HB8

PAR10HB901PAR10HB902

COR10HB9

PAR20HB101PAR20HB102COR20HB1

PAR20HB201PAR20HB202

COR20HB2

PAR20HB301

PAR20HB302

COR20HB3

PAR20HB401

PAR20HB402

COR20HB4

PAR20HB501PAR20HB502

COR20HB5

PAR20HB601PAR20HB602

COR20HB6

PAR20HB701 PAR20HB702COR20HB7

PAR20HB801

PAR20HB802COR20HB8

PAR20HB901PAR20HB902COR20HB9

PAR30HB101PAR30HB102COR30HB1

PAR30HB201PAR30HB202

COR30HB2

PAR30HB301

PAR30HB302

COR30HB3

PAR30HB401

PAR30HB402

COR30HB4

PAR30HB501PAR30HB502

COR30HB5

PAR30HB601PAR30HB602

COR30HB6

PAR30HB701 PAR30HB702COR30HB7

PAR30HB801

PAR30HB802COR30HB8

PAR30HB901PAR30HB902COR30HB9

PAR40HB101PAR40HB102COR40HB1

PAR40HB201PAR40HB202

COR40HB2

PAR40HB301

PAR40HB302

COR40HB3

PAR40HB401PAR40HB402

COR40HB4

PAR40HB501PAR40HB502

COR40HB5

PAR40HB601PAR40HB602

COR40HB6

PAR40HB701 PAR40HB702COR40HB7

PAR40HB801

PAR40HB802COR40HB8

PAR40HB901PAR40HB902COR40HB9

PAR50HB101PAR50HB102COR50HB1

PAR50HB201PAR50HB202

COR50HB2

PAR50HB301

PAR50HB302

COR50HB3

PAR50HB401PAR50HB402

COR50HB4

PAR50HB501PAR50HB502

COR50HB5

PAR50HB601PAR50HB602

COR50HB6

PAR50HB701 PAR50HB702COR50HB7

PAR50HB801

PAR50HB802COR50HB8

PAR50HB901PAR50HB902COR50HB9

PAR60HB101

PAR60HB102

COR60HB1

PAR60HB201PAR60HB202

COR60HB2

PAR60HB301PAR60HB302

COR60HB3

PAR60HB401 PAR60HB402

COR60HB4

PAR60HB501 PAR60HB502

COR60HB5

PAR60HB601

PAR60HB602

COR60HB6

PAR60HB701PAR60HB702

COR60HB7

PAR60HB802PAR60HB801

COR60HB8

PAR60HB901PAR60HB902

COR60HB9

PAR70HB101PAR70HB102

COR70HB1

PAR70HB201PAR70HB202

COR70HB2

PAR70HB301PAR70HB302

COR70HB3

PAR70HB401

PAR70HB402

COR70HB4

PAR70HB501PAR70HB502

COR70HB5

PAR70HB601 PAR70HB602

COR70HB6

PAR70HB701 PAR70HB702

COR70HB7

PAR70HB802

PAR70HB801

COR70HB8

PAR70HB901PAR70HB902

COR70HB9PAR80HB101PAR80HB102

COR80HB1

PAR80HB201 PAR80HB202

COR80HB2

PAR80HB301

PAR80HB302

COR80HB3

PAR80HB401PAR80HB402

COR80HB4

PAR80HB501PAR80HB502

COR80HB5

PAR80HB601PAR80HB602

COR80HB6

PAR80HB701PAR80HB702

COR80HB7

PAR80HB802

PAR80HB801

COR80HB8

PAR80HB901PAR80HB902

COR80HB9

PAR90HB101PAR90HB102

COR90HB1

PAR90HB201 PAR90HB202COR90HB2

PAR90HB301 PAR90HB302COR90HB3

PAR90HB401

PAR90HB402COR90HB4

PAR90HB501PAR90HB502COR90HB5

PAR90HB601PAR90HB602COR90HB6

PAR90HB701PAR90HB702

COR90HB7

PAR90HB801

PAR90HB802

COR90HB8

PAR90HB901PAR90HB902

COR90HB9

PAR100HB101PAR100HB102

COR100HB1

PAR100HB201 PAR100HB202COR100HB2

PAR100HB301

PAR100HB302COR100HB3

PAR100HB401

PAR100HB402COR100HB4

PAR100HB501PAR100HB502COR100HB5

PAR100HB601PAR100HB602COR100HB6

PAR100HB701PAR100HB702

COR100HB7

PAR100HB801

PAR100HB802

COR100HB8

PAR100HB901PAR100HB902

COR100HB9

PAR110HB101PAR110HB102

COR110HB1

PAR110HB201 PAR110HB202COR110HB2

PAR110HB301 PAR110HB302COR110HB3

PAR110HB401

PAR110HB402COR110HB4

PAR110HB501PAR110HB502COR110HB5

PAR110HB601PAR110HB602COR110HB6

PAR110HB701PAR110HB702

COR110HB7

PAR110HB801

PAR110HB802

COR110HB8

PAR110HB901PAR110HB902

COR110HB9

PAR120HB101PAR120HB102

COR120HB1

PAR120HB201 PAR120HB202COR120HB2

PAR120HB301 PAR120HB302COR120HB3

PAR120HB401

PAR120HB402COR120HB4

PAR120HB501PAR120HB502COR120HB5

PAR120HB601PAR120HB602COR120HB6

PAR120HB701PAR120HB702

COR120HB7

PAR120HB801

PAR120HB802

COR120HB8

PAR120HB901PAR120HB902

COR120HB9

PAR130HB101PAR130HB102

COR130HB1

PAR130HB201PAR130HB202

COR130HB2

PAR130HB301PAR130HB302

COR130HB3

PAR130HB401

PAR130HB402

COR130HB4

PAR130HB501PAR130HB502

COR130HB5

PAR130HB601 PAR130HB602

COR130HB6

PAR130HB701 PAR130HB702

COR130HB7

PAR130HB802

PAR130HB801

COR130HB8

PAR130HB901PAR130HB902

COR130HB9

PAR140HB101

PAR140HB102

COR140HB1

PAR140HB201PAR140HB202

COR140HB2

PAR140HB301PAR140HB302

COR140HB3

PAR140HB401 PAR140HB402

COR140HB4

PAR140HB501PAR140HB502

COR140HB5

PAR140HB601

PAR140HB602

COR140HB6

PAR140HB701PAR140HB702

COR140HB7

PAR140HB802PAR140HB801

COR140HB8

PAR140HB901PAR140HB902

COR140HB9

PAR1502PAR1501

COR15

PAR1602PAR1601

COR16

PAR1702PAR1701

COR17

PAR1802PAR1801

COR18

PART102PART101

CORT1

PART202

PART201

CORT2

PART302 PART301

CORT3

PART402 PART401

CORT4

PART502PART501

CORT5

PART602PART601

CORT6

PART702PART701

CORT7

PART802

PART801

CORT8

PART902PART901

CORT9PART1002

PART1001

CORT10

PAU10HB104PAU10HB107PAU10HB106PAU10HB105

PAU10HB103PAU10HB102PAU10HB101

COU10HB1PAU10HB204 PAU10HB207PAU10HB206PAU10HB205

PAU10HB203PAU10HB202PAU10HB201

COU10HB2

PAU10HB304PAU10HB307PAU10HB306PAU10HB305PAU10HB303PAU10HB302PAU10HB301

COU10HB3

PAU10HB404PAU10HB407 PAU10HB406 PAU10HB405 PAU10HB403 PAU10HB402 PAU10HB401COU10HB4

PAU10HB504PAU10HB507PAU10HB506PAU10HB505

PAU10HB503PAU10HB502PAU10HB501

COU10HB5 PAU10HB604PAU10HB607PAU10HB606PAU10HB605

PAU10HB603PAU10HB602PAU10HB601

COU10HB6

PAU10HB704PAU10HB707

PAU10HB706PAU10HB705

PAU10HB703PAU10HB702

PAU10HB701

COU10HB7PAU10HB804PAU10HB807PAU10HB806

PAU10HB805PAU10HB803PAU10HB802

PAU10HB801

COU10HB8

PAU10HB904PAU10HB907PAU10HB906

PAU10HB905PAU10HB903

PAU10HB902PAU10HB901

COU10HB9

PAU20HB104PAU20HB107PAU20HB106PAU20HB105

PAU20HB103PAU20HB102PAU20HB101

COU20HB1PAU20HB204PAU20HB207

PAU20HB206PAU20HB205

PAU20HB203PAU20HB202

PAU20HB201

COU20HB2

PAU20HB304PAU20HB307PAU20HB306

PAU20HB305PAU20HB303

PAU20HB302PAU20HB301 COU20HB3

PAU20HB404PAU20HB407PAU20HB406

PAU20HB405PAU20HB403

PAU20HB402PAU20HB401

COU20HB4

PAU20HB504PAU20HB507

PAU20HB506PAU20HB505

PAU20HB503PAU20HB502

PAU20HB501

COU20HB5 PAU20HB604PAU20HB607PAU20HB606PAU20HB605

PAU20HB603PAU20HB602PAU20HB601

COU20HB6

PAU20HB704 PAU20HB707PAU20HB706PAU20HB705PAU20HB703

PAU20HB702PAU20HB701

COU20HB7

PAU20HB801PAU20HB802PAU20HB803

PAU20HB805PAU20HB806PAU20HB807PAU20HB804

COU20HB8

PAU20HB904PAU20HB907

PAU20HB906PAU20HB905 PAU20HB903

PAU20HB902PAU20HB901

COU20HB9

PAJ304PAR1502PAR1602 PAJ305

PART702 PART1002

PAC10HB101PAR20HB102 PAR30HB102

PAC10HB201PAR20HB202PAR30HB202

PAC10HB301PAR20HB302

PAR30HB302

PAC10HB401 PAR20HB402PAR30HB402

PAC10HB501

PAR20HB502PAR30HB502 PAC10HB601

PAR20HB602PAR30HB602

PAC10HB701PAR20HB702PAR30HB702

PAC10HB801

PAR20HB802PAR30HB802

PAC10HB901

PAR20HB902 PAR30HB902

PAC20HB101PAC20HB201

PAC20HB301PAC20HB401

PAC20HB501

PAC20HB601

PAC20HB701

PAC20HB801

PAC20HB901

PAC70HB101

PAC70HB201

PAC70HB301

PAC70HB401

PAC70HB501

PAC70HB601

PAC70HB701

PAC70HB801

PAC70HB901

PAC90HB101PAC90HB201

PAC90HB301

PAC90HB401

PAC90HB501

PAC90HB601

PAC90HB701

PAC90HB801

PAC90HB901

PAD40HB102

PAD40HB202

PAD40HB302

PAD40HB402

PAD40HB502

PAD40HB602

PAD40HB702

PAD40HB802

PAD40HB902

PAJ20HB105

PAJ20HB106

PAJ20HB205PAJ20HB206

PAJ20HB305PAJ20HB306

PAJ20HB405 PAJ20HB406

PAJ20HB505 PAJ20HB506

PAJ20HB605PAJ20HB606

PAJ20HB705PAJ20HB706

PAJ20HB805PAJ20HB806

PAJ20HB905PAJ20HB906

PAP30HB101PAP30HB201

PAP30HB301PAP30HB401

PAP30HB501

PAP30HB601

PAP30HB701

PAP30HB801

PAP30HB901

PAP501

PAR110HB101

PAR110HB201

PAR110HB301

PAR110HB401

PAR110HB501

PAR110HB601

PAR110HB701

PAR110HB801PAR110HB901

PAR120HB101

PAR120HB201

PAR120HB301

PAR120HB401

PAR120HB501

PAR120HB601

PAR120HB701

PAR120HB801

PAR120HB901

PAU20HB102PAU20HB103

PAU20HB105PAU20HB106PAU20HB107

PAU20HB202PAU20HB203

PAU20HB205PAU20HB206PAU20HB207

PAU20HB302PAU20HB303PAU20HB305PAU20HB306PAU20HB307PAU20HB402 PAU20HB403 PAU20HB405 PAU20HB406 PAU20HB407

PAU20HB502PAU20HB503

PAU20HB505PAU20HB506PAU20HB507

PAU20HB602PAU20HB603

PAU20HB605PAU20HB606PAU20HB607

PAU20HB702PAU20HB703

PAU20HB705PAU20HB706

PAU20HB707

PAU20HB802PAU20HB803PAU20HB805PAU20HB806

PAU20HB807

PAU20HB902PAU20HB903

PAU20HB905PAU20HB906

PAU20HB907

PAC30HB101

PAC50HB101

PAC60HB102

PAD20HB102

PAD30HB102

PAJ10HB105PAJ10HB106

PAP20HB101PAR40HB101 PAR50HB101 PAU10HB102

PAU10HB103

PAU10HB105PAU10HB106PAU10HB107

PAU20HB104PAC30HB102

PAD20HB101PAJ10HB102

PAQ10HB103PAU10HB101

PAC30HB201

PAC50HB201

PAC60HB202PAD20HB202

PAD30HB202

PAJ10HB205PAJ10HB206

PAP20HB201

PAR40HB201PAR50HB201

PAU10HB202PAU10HB203

PAU10HB205PAU10HB206

PAU10HB207PAU20HB204

PAC30HB202PAD20HB201

PAJ10HB202PAQ10HB203

PAU10HB201

PAC30HB301

PAC50HB301

PAC60HB302

PAD20HB302PAD30HB302

PAJ10HB305PAJ10HB306 PAP20HB301PAR40HB301

PAR50HB301

PAU10HB302PAU10HB303

PAU10HB305PAU10HB306

PAU10HB307PAU20HB304

PAC30HB302PAD20HB301

PAJ10HB302PAQ10HB303

PAU10HB301

PAC30HB401PAC50HB401

PAC60HB402PAD20HB402

PAD30HB402

PAJ10HB405PAJ10HB406

PAP20HB401

PAR40HB401PAR50HB401

PAU10HB402PAU10HB403

PAU10HB405PAU10HB406

PAU10HB407PAU20HB404

PAC30HB402PAD20HB401

PAJ10HB402PAQ10HB403

PAU10HB401

PAC30HB501

PAC50HB501

PAC60HB502

PAD20HB502

PAD30HB502

PAJ10HB505PAJ10HB506

PAP20HB501PAR40HB501

PAR50HB501PAU10HB502

PAU10HB503PAU10HB505

PAU10HB506PAU10HB507

PAU20HB504PAC30HB502

PAD20HB501

PAJ10HB502PAQ10HB503PAU10HB501 PAC30HB601

PAC50HB601

PAC60HB602

PAD20HB602

PAD30HB602

PAJ10HB605PAJ10HB606

PAP20HB601

PAR40HB601PAR50HB601PAU10HB602PAU10HB603

PAU10HB605PAU10HB606PAU10HB607

PAU20HB604

PAC30HB602PAD20HB601

PAJ10HB602

PAQ10HB603PAU10HB601

PAC30HB701

PAC50HB701

PAC60HB702

PAD20HB702

PAD30HB702

PAJ10HB705 PAJ10HB706

PAP20HB701

PAR40HB701PAR50HB701PAU10HB702PAU10HB703PAU10HB705

PAU10HB706PAU10HB707PAU20HB704

PAC30HB702PAD20HB701

PAJ10HB702 PAQ10HB703 PAU10HB701

PAC30HB801

PAC50HB801

PAC60HB802

PAD20HB802

PAD30HB802

PAJ10HB805 PAJ10HB806PAP20HB801

PAR40HB801PAR50HB801

PAU10HB802PAU10HB803PAU10HB805PAU10HB806PAU10HB807 PAU20HB804PAC30HB802PAD20HB801PAJ10HB802

PAQ10HB803 PAU10HB801

PAC30HB901

PAC50HB901

PAC60HB902

PAD20HB902

PAD30HB902

PAJ10HB905PAJ10HB906

PAP20HB901

PAR40HB901 PAR50HB901PAU10HB902PAU10HB903 PAU10HB905

PAU10HB906PAU10HB907PAU20HB904

PAC30HB902 PAD20HB901

PAJ10HB902PAQ10HB903

PAU10HB901

PAC40HB101PAC50HB102

PAJ10HB103PAQ10HB102 PAR70HB102 PAC40HB102

PAQ10HB101 PAR60HB101

PAR70HB101

PAC40HB201PAC50HB202

PAJ10HB203

PAQ10HB202PAR70HB202 PAC40HB202PAQ10HB201

PAR60HB201PAR70HB201

PAC40HB301PAC50HB302

PAJ10HB303

PAQ10HB302PAR70HB302

PAC40HB302PAQ10HB301

PAR60HB301PAR70HB301PAC40HB401PAC50HB402

PAJ10HB403

PAQ10HB402PAR70HB402

PAC40HB402PAQ10HB401

PAR60HB401PAR70HB401

PAC40HB501PAC50HB502

PAJ10HB503PAQ10HB502

PAR70HB502PAC40HB502 PAQ10HB501

PAR60HB501 PAR70HB501

PAC40HB601 PAC50HB602

PAJ10HB603

PAQ10HB602PAR70HB602

PAC40HB602

PAQ10HB601

PAR60HB601 PAR70HB601

PAC40HB701 PAC50HB702

PAJ10HB703

PAQ10HB702PAR70HB702

PAC40HB702PAQ10HB701PAR60HB701

PAR70HB701

PAC40HB801PAC50HB802

PAJ10HB803

PAQ10HB802 PAR70HB802PAC40HB802PAQ10HB801

PAR60HB801PAR70HB801

PAC40HB901PAC50HB902

PAJ10HB903

PAQ10HB902 PAR70HB902PAC40HB902PAQ10HB901

PAR60HB901PAR70HB901

PAC60HB101

PAR90HB102PAR100HB102

PAC60HB201PAR90HB202PAR100HB202

PAC60HB301PAR90HB302PAR100HB302

PAC60HB401

PAR90HB402 PAR100HB402

PAC60HB501

PAR90HB502 PAR100HB502

PAC60HB601PAR90HB602PAR100HB602

PAC60HB701PAR90HB702

PAR100HB702

PAC60HB801PAR90HB802

PAR100HB802

PAC60HB901

PAR90HB902PAR100HB902

PAC70HB102PAD40HB101

PAJ20HB102PAQ20HB103

PAU20HB101

PAC70HB202PAD40HB201

PAJ20HB202PAQ20HB203

PAU20HB201

PAC70HB302PAD40HB301PAJ20HB302

PAQ20HB303PAU20HB301PAC70HB402 PAD40HB401

PAJ20HB402PAQ20HB403 PAU20HB401

PAC70HB502 PAD40HB501

PAJ20HB502 PAQ20HB503

PAU20HB501

PAC70HB602PAD40HB601

PAJ20HB602

PAQ20HB603

PAU20HB601

PAC70HB702PAD40HB701

PAJ20HB702PAQ20HB703

PAU20HB701

PAC70HB802PAD40HB801

PAJ20HB802PAQ20HB803

PAU20HB801

PAC70HB902PAD40HB901 PAJ20HB902

PAQ20HB903

PAU20HB901

PAC80HB101PAC90HB102 PAJ20HB103

PAQ20HB102

PAR140HB102

PAC80HB102PAQ20HB101

PAR130HB101PAR140HB101

PAC80HB201PAC90HB202

PAJ20HB203

PAQ20HB202PAR140HB202

PAC80HB202 PAQ20HB201PAR130HB201PAR140HB201

PAC80HB301 PAC90HB302

PAJ20HB303PAQ20HB302PAR140HB302

PAC80HB302

PAQ20HB301PAR130HB301PAR140HB301

PAC80HB401

PAC90HB402

PAJ20HB403

PAQ20HB402PAR140HB402PAC80HB402

PAQ20HB401PAR130HB401 PAR140HB401

PAC80HB501PAC90HB502

PAJ20HB503

PAQ20HB502 PAR140HB502PAC80HB502

PAQ20HB501PAR130HB501 PAR140HB501

PAC80HB601PAC90HB602PAJ20HB603

PAQ20HB602 PAR140HB602PAC80HB602

PAQ20HB601 PAR130HB601PAR140HB601

PAC80HB701PAC90HB702

PAJ20HB703

PAQ20HB702PAR140HB702

PAC80HB702

PAQ20HB701 PAR130HB701PAR140HB701

PAC80HB801

PAC90HB802PAJ20HB803

PAQ20HB802PAR140HB802 PAC80HB802

PAQ20HB801PAR130HB801

PAR140HB801

PAC80HB901PAC90HB902

PAJ20HB903

PAQ20HB902PAR140HB902

PAC80HB902PAQ20HB901

PAR130HB901PAR140HB901

PAD10HB101PAR10HB102

PAD10HB201

PAR10HB202

PAD10HB301 PAR10HB302PAD10HB401

PAR10HB402

PAD10HB501PAR10HB502

PAD10HB601

PAR10HB602

PAD10HB701

PAR10HB702

PAD10HB801

PAR10HB802

PAD10HB901

PAR10HB902PAD30HB101 PAR80HB102

PAD30HB201PAR80HB202

PAD30HB301PAR80HB302

PAD30HB401PAR80HB402

PAD30HB501PAR80HB502

PAD30HB601PAR80HB602

PAD30HB701PAR80HB702

PAD30HB801PAR80HB802

PAD30HB901 PAR80HB902

PAJ10HB101

PAR10HB101

PAJ10HB104PAR60HB102

PAJ10HB201

PAR10HB201 PAJ10HB204PAR60HB202

PAJ10HB301PAR10HB301

PAJ10HB304PAR60HB302

PAJ10HB401

PAR10HB401

PAJ10HB404PAR60HB402

PAJ10HB501PAR10HB501

PAJ10HB504PAR60HB502

PAJ10HB601

PAR10HB601

PAJ10HB604 PAR60HB602

PAJ10HB701

PAR10HB701

PAJ10HB704 PAR60HB702PAJ10HB801

PAR10HB801

PAJ10HB804PAR60HB802

PAJ10HB901

PAR10HB901PAJ10HB904

PAR60HB902PAJ20HB101

PAR80HB101

PAJ20HB104PAR130HB102

PAJ20HB201 PAR80HB201

PAJ20HB204PAR130HB202

PAJ20HB301PAR80HB301

PAJ20HB304PAR130HB302

PAJ20HB401PAR80HB401

PAJ20HB404PAR130HB402

PAJ20HB501PAR80HB501

PAJ20HB504PAR130HB502

PAJ20HB601PAR80HB601 PAJ20HB604 PAR130HB602

PAJ20HB701PAR80HB701

PAJ20HB704PAR130HB702

PAJ20HB801PAR80HB801

PAJ20HB804PAR130HB802

PAJ20HB901PAR80HB901PAJ20HB904

PAR130HB902

PAJ301 PAR1701PAR1802

PAJ302PAR1601

PART701PAJ303

PAR1801

PAJ306PAR1501

PART101

PAR20HB101 PAR30HB101PAR40HB102 PAR50HB102

PAR20HB201PAR30HB201PAR40HB202

PAR50HB202

PAR20HB301PAR30HB301 PAR40HB302PAR50HB302

PAR20HB401PAR30HB401 PAR40HB402

PAR50HB402

PAR20HB501PAR30HB501PAR40HB502

PAR50HB502 PAR20HB601PAR30HB601PAR40HB602PAR50HB602

PAR20HB701PAR30HB701PAR40HB702PAR50HB702

PAR20HB801PAR30HB801

PAR40HB802PAR50HB802

PAR20HB901 PAR30HB901PAR40HB902 PAR50HB902

PAR90HB101PAR100HB101

PAR110HB102PAR120HB102

PAR90HB201PAR100HB201PAR110HB202PAR120HB202

PAR90HB301PAR100HB301PAR110HB302PAR120HB302

PAR90HB401 PAR100HB401PAR110HB402 PAR120HB402

PAR90HB501 PAR100HB501PAR110HB502 PAR120HB502

PAR90HB601PAR100HB601PAR110HB602

PAR120HB602

PAR90HB701PAR100HB701PAR110HB702

PAR120HB702

PAR90HB801PAR100HB801 PAR110HB802PAR120HB802

PAR90HB901PAR100HB901

PAR110HB902PAR120HB902

PART102

PART201PART202

PART301PART302

PART401PART402

PART501PART502

PART601PART602

PART801

PART802

PART901 PART902PART1001

PAC10HB102

PAC10HB202

PAC10HB302

PAC10HB402

PAC10HB502 PAC10HB602

PAC10HB702

PAC10HB802

PAC10HB902

PAC20HB102

PAC20HB202

PAC20HB302PAC20HB402

PAC20HB502

PAC20HB602

PAC20HB702

PAC20HB802

PAC20HB902

PAD10HB102

PAD10HB202

PAD10HB302

PAD10HB402

PAD10HB502

PAD10HB602

PAD10HB702

PAD10HB802

PAD10HB902

PAP10HB101

PAP10HB201

PAP10HB301PAP10HB401

PAP10HB501 PAP10HB601

PAP10HB701

PAP10HB801

PAP10HB901

PAP401

PAR1702

PAU10HB104PAU10HB204

PAU10HB304PAU10HB404

PAU10HB504 PAU10HB604

PAU10HB704PAU10HB804

PAU10HB904