1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

D D

C C

B B

A A

2πλ−1

WavenumberTechnologies

Rev:

Sheet 1 2of

1

2J4

282857-2

1

2J11

282857-2

1

2

J5

282857-2

MOTOR - A

MOTOR - B

STEERING SERVO

BATTERY IN

GND

GND

+V_BATTERY

MOTOR_OUTH-BRIDGE_CONTROL

U_H-BRIDGEH-BRIDGE.SchDoc

R9

47k

R1010k

GND

GND

GND

GND

Line Scan Camera In

SPARE SERVO

FRDM-TFC

Top Level

E. Hughes

α

POT2100k

POT1100k

GND

GND

C181.0uF

C201.0uF

C191.0uF

H-BRIDGE_A-OUT1H-BRIDGE_A-OUT2H-BRIDGE_B-OUT1H-BRIDGE_B-OUT2

HBRIDGE-OUTH-BRIDGE_A-OUT1H-BRIDGE_A-OUT2H-BRIDGE_B-OUT1H-BRIDGE_B-OUT2

R14 10kR15 10kR16 10kR17 10k GND

1357

2468

SW3

219-4MST

D4

D3

D6

D5

R18

220

R19

220

R20

220

R21

220

GND

GND

GND

GND

11

22

33

J12

640454-3

11

22

33

J13

640454-3

1 1

2 2

3 3

4 4

5 5

J3

640454-5

1 1

2 2

3 3

4 4

5 5

J6

640454-5

1 1

2 2

3 3

J8

640454-3

1 1

2 2

3 3

J7

640454-3

GND

GND

+3.3v

+3.3v

SPEED SENSOR INPUTS

SW2

EVQ-PAG05R

SW1

EVQ-PAG05RR12 10k

R13 10k GND

GND

+3.3v

+3.3v

+3.3v

+3.3v

+3.3v

+3.3v

+3.3v

1234567891011121315

1416

1719

1820

J2

67996-420HLF

1234567891011121315

1416

J1

67996-416HLF

1 23 45 67 89 1011 12

J10

67996-412HLF

1 23 45 67 89 1011 121315

1416

J9

67996-416HLF

PTA1PTA2

PTD4PTA12PTA4PTA5PTC8PTC9

PTC10PTC11

PTC0 PTC1PTC2PTC3

PTC4PTC5PTC6

PTC7

PTC12PTC13PTC16PTC17PTA16PTA17PTE31

PTD6PTD7

PTA13PTD5

PTD0

PTD1

PTD2PTD3

GNDVREFHPTE1PTE0

PTB0PTB1PTB2PTB3

PTE20PTE21PTE22PTE23PTE29

PTE30

PTE2PTE3PTE4PTE5

PTB8PTB9PTB10PTB11

SDA_PTD5

RESET/PTA20

P5V_USB

T1

GND

GND1 VOUT 2VIN3 VOUT 4U8

NCV1117ST50T3G

T2

GND

GND

GND

C161.0uF

GNDD1

GND

R11470

PTC3PTC4

PTC1PTC2

H-BRIDGE_A-IN2H-BRIDGE_A-IN1

H-BRIDGE_ENABLEH-BRIDGE-FAULT

H-BRIDGE_A-IFB

H-BRIDGE_B-IN2H-BRIDGE_B-IN1

H-BRIDGE_B-IFB

H-BRIDGE_CONTROL

FTM0_CH0FTM0_CH1

FTM0_CH2FTM0_CH3FTM0_CH0

FTM0_CH1FTM0_CH2FTM0_CH3

FTM1_CH0FTM1_CH1

PTB0

PTB1

FTM1_CH0

FTM1_CH1

ADC0_SE6b

ADC0_SE7b

PTD6

PTD5 ADC0_SE6b

ADC0_SE7b

PTD7PTE0

SICLK

SICLK

PTD7PTE0

FTM2_CH0FTM2_CH0

PTA1

PTA2

FTM2_CH0

FTM2_CH1

ADC0_SE4b

PTE29ADC0_SE4b

ADC0_SE12ADC0_SE13

PTB2

PTB3

ADC0_SE12

ADC0_SE13

PTE21PTE20ADC0_SE0

ADC0_SE3ADC0_SE4a

ADC0_SE7a

PTB8

PTB9

PTB10

PTB11

PTE2PTE3PTE4PTE5

PTC13

PTC17

+5v

+3.3v

+3.3v

GNDGND

+V_BATTERY

C171.0uF

PTE22

PTE23

ADC0_SE3

ADC0_SE7a

R22

1

R8

1

+V_BATTERY

+V_BATTERY

Freedom Board Interface

PIC1601

PIC1602COC16

PIC1701

PIC1702COC17

PIC1801

PIC1802COC18

PIC1901

PIC1902COC19

PIC2001

PIC2002COC20

PID10A

PID10CCOD1

PID30APID30C

COD3

PID40APID40C

COD4

PID50APID50C

COD5

PID60APID60C

COD6

PIJ101PIJ102

PIJ103PIJ104

PIJ105PIJ106

PIJ107PIJ108

PIJ109PIJ1010

PIJ1011PIJ1012

PIJ1013PIJ1014

PIJ1015PIJ1016

COJ1

PIJ201PIJ202

PIJ203PIJ204

PIJ205PIJ206

PIJ207PIJ208

PIJ209PIJ2010

PIJ2011PIJ2012

PIJ2013PIJ2014

PIJ2015PIJ2016

PIJ2017PIJ2018

PIJ2019PIJ2020

COJ2

PIJ301

PIJ302

PIJ303

PIJ304

PIJ305

COJ3

PIJ401

PIJ402

COJ4

PIJ501

PIJ502

COJ5

PIJ601

PIJ602

PIJ603

PIJ604

PIJ605

COJ6

PIJ701

PIJ702

PIJ703

COJ7

PIJ801

PIJ802

PIJ803

COJ8

PIJ901 PIJ902

PIJ903 PIJ904

PIJ905 PIJ906

PIJ907 PIJ908

PIJ909 PIJ9010

PIJ9011 PIJ9012

PIJ9013 PIJ9014

PIJ9015 PIJ9016

COJ9

PIJ1001 PIJ1002

PIJ1003 PIJ1004

PIJ1005 PIJ1006

PIJ1007 PIJ1008

PIJ1009 PIJ10010

PIJ10011 PIJ10012

COJ10

PIJ1101

PIJ1102

COJ11

PIJ1201

PIJ1202

PIJ1203

COJ12

PIJ1301

PIJ1302

PIJ1303

COJ13

PIPOT101PIPOT102

PIPOT103

COPOT1

PIPOT201PIPOT202

PIPOT203

COPOT2

PIR801 PIR802COR8

PIR901 PIR902COR9

PIR1001

PIR1002

COR10

PIR1101

PIR1102COR11

PIR1201PIR1202COR12

PIR1301PIR1302COR13

PIR1401PIR1402COR14

PIR1501PIR1502COR15

PIR1601PIR1602COR16

PIR1701PIR1702COR17

PIR1801PIR1802COR18

PIR1901PIR1902COR19

PIR2001PIR2002COR20

PIR2101PIR2102COR21

PIR2201 PIR2202COR22PISW10A PISW10B

COSW1

PISW20A PISW20B

COSW2

PISW301 PISW302

PISW303 PISW304

PISW305 PISW306

PISW307 PISW308

COSW3

PIT101

COT1

PIT201

COT2

PIU801 PIU802

PIU803 PIU804

COU8

PIJ304

PIJ604

PIJ701

PIJ801

PIJ904

PIJ908

PIPOT101

PIPOT201

PISW10A

PISW20A

PISW301

PISW303

PISW305

PISW307

PIC1701PIU802

PIU804

PIC1601

PID10A

PIJ501

PIJ9016

PIR801

PIR901

PIR2201

PIU803

PIC1602PIC1702

PIC1801

PIC1901

PIC2001

PID30C

PID40C

PID50C

PID60C

PIJ2014

PIJ305

PIJ502

PIJ605

PIJ703

PIJ803

PIJ9012

PIJ9014

PIJ1201

PIJ1301

PIPOT103

PIPOT203

PIR1002

PIR1101

PIR1201

PIR1301

PIR1401

PIR1501

PIR1601

PIR1701

PIT101 PIT201

PIU801

NLGND

PIJ402

NLH0BRIDGE0A0OUT1

PIJ401

NLH0BRIDGE0A0OUT2

PIJ1102

NLH0BRIDGE0B0OUT1

PIJ1101

NLH0BRIDGE0B0OUT2

PID10CPIR1102

PID30A PIR1802

PID40A PIR1902

PID50A PIR2002

PID60A PIR2102

PIJ2015

PIJ1202

PIR802

PIJ1302

PIR2202

PIJ9010NLP5V0USB

PIJ102

PIJ702

NLPTA1

PIJ104

PIJ802

NLPTA2

PIJ1010NLPTA4

PIJ1012NLPTA5

PIJ108NLPTA12

PIJ202NLPTA13

PIJ209NLPTA16

PIJ2011NLPTA17

PIJ1002

PIJ1203NLPTB0

PIJ1004

PIJ1303NLPTB1

PIC2002

PIJ1006

PIPOT202

NLPTB2

PIC1902

PIJ1008

PIPOT102

NLPTB3

PIJ901

PIR1801

NLPTB8PIJ903

PIR1901

NLPTB9PIJ905

PIR2001

NLPTB10PIJ907

PIR2101

NLPTB11

PIJ103NLPTC0

PIJ10012

NLPTC1

PIJ10010

NLPTC2

PIJ105

NLPTC3

PIJ107

NLPTC4

PIJ109NLPTC5

PIJ1011NLPTC6

PIJ101NLPTC7

PIJ1014NLPTC8

PIJ1016NLPTC9

PIJ1013NLPTC10

PIJ1015NLPTC11

PIJ201NLPTC12

PIJ203

PIR1202PISW10B

NLPTC13

PIJ205NLPTC16

PIJ207

PIR1302PISW20B

NLPTC17PIJ206

NLPTD0

PIJ2012NLPTD1

PIJ208NLPTD2

PIJ2010NLPTD3

PIJ106NLPTD4

PIJ204

PIJ601

NLPTD5

PIJ2017

PIJ301

NLPTD6

PIJ2019

PIJ302

PIJ602

NLPTD7PIJ2020

PIJ303

PIJ603

NLPTE0PIJ2018

NLPTE1

PIJ909

PIR1402PISW302

NLPTE2PIJ9011

PIR1502PISW304

NLPTE3PIJ9013

PIR1602PISW306

NLPTE4PIJ9015

PIR1702PISW308

NLPTE5

PIJ1001NLPTE20

PIJ1003NLPTE21

PIJ1005

NLPTE22

PIJ1007NLPTE23

PIC1802

PIJ1009

PIR902

PIR1001

NLPTE29PIJ10011

NLPTE30

PIJ2013NLPTE31

PIJ906NLRESET0PTA20

PIJ902NLSDA0PTD5

PIJ2016NLVREFH

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

D D

C C

B B

A A

2πλ−1

WavenumberTechnologies

Rev:

Sheet 2 2of

FRDM-TFC

H-Bridge

E. Hughes

α

AGND

1

FS2

IN13

V+

4

V+

5

OUT1 6

OUT1 7

FB8

PGND

9

PGND

10

PGND

11

PGND

12

D213

OUT2 14

OUT2 15

V+

16

CCP 17

D118

IN219

EN20

HEA

TSINK

U2MC33887APVW

GND

H-BRIDGE_A-IN2H-BRIDGE_A-IN1

H-BRIDGE_ENABLEH-BRIDGE-FAULT

H-BRIDGE_A-IFB

H-BRIDGE_B-IN2H-BRIDGE_B-IN1

H-BRIDGE_B-IFB

H-BRIDGE_CONTROL

H-BRIDGE_CONTROL

GND

+V_BATTERY

10kR2

+5v

10k

R4

C70.1uF

GND

R5220

C4

33nFGND

+C1

47uF+C2

47uF

AGND

1

FS2

IN13

V+

4

V+

5

OUT1 6

OUT1 7

FB8

PGND

9

PGND

10

PGND

11

PGND

12

D213

OUT2 14

OUT2 15

V+

16

CCP 17

D118

IN219

EN20

HEA

TSINK

U6MC33887APVW

GND

GND

+V_BATTERY

10k

R6

C150.1uF

GND

R7220

C12

33nFGND

+C9

47uF+C11

47uF

H-BRIDGE_A-IN1H-BRIDGE_A-IN2

H-BRIDGE_A-IFB

H-BRIDGE_B-IN1H-BRIDGE_B-IN2

H-BRIDGE_B-IFB

H-BRIDGE_A-OUT1H-BRIDGE_A-OUT2H-BRIDGE_B-OUT1H-BRIDGE_B-OUT2

H-BRIDGE_A-OUT1H-BRIDGE_A-OUT2H-BRIDGE_B-OUT1H-BRIDGE_B-OUT2

HBRIDGE-OUT

MOTOR_OUT

C533nF

C1433nF

C3

0.1uF

IN2 OUT 4

VCC 5

GND 3

U1

M74VHC1GT50DTT1G

GND

+5v

+5vGND

C6

0.1uF

IN2 OUT 4

VCC 5

GND 3

U3

M74VHC1GT50DTT1G

GND

+5v

+5vGND

C10

0.1uF

IN2 OUT 4

VCC 5

GND 3

U5

M74VHC1GT50DTT1G

GND

+5v

+5vGND

C13

0.1uF

IN2 OUT 4

VCC 5

GND 3

U7

M74VHC1GT50DTT1G

GND

+5v

+5vGND

C8

0.1uF

IN2 OUT 4

VCC 5

GND 3

U4

M74VHC1GT50DTT1G

GND

+5v

+5vGND

GND

10kR1

10kR3

GND

GND

GND GND

GNDGND PIC101 PIC102

COC1

PIC201PIC202

COC2

PIC301 PIC302

COC3

PIC401 PIC402

COC4

PIC501

PIC502COC5

PIC601 PIC602

COC6

PIC701

PIC702COC7

PIC801 PIC802

COC8

PIC901 PIC902

COC9

PIC1001 PIC1002

COC10PIC1101PIC1102

COC11

PIC1201 PIC1202

COC12

PIC1301 PIC1302

COC13

PIC1401

PIC1402COC14

PIC1501

PIC1502COC15

PIR101

PIR102COR1

PIR201

PIR202COR2

PIR301

PIR302COR3

PIR401PIR402COR4

PIR501

PIR502COR5

PIR601PIR602COR6

PIR701

PIR702COR7

PIU102

PIU103

PIU104

PIU105

COU1

PIU201

PIU202

PIU203

PIU204 PIU205

PIU206

PIU207

PIU208

PIU209 PIU2010 PIU2011 PIU2012

PIU2013

PIU2014

PIU2015

PIU2016PIU2017

PIU2018

PIU2019

PIU2020

PIU20HEATSINK

COU2

PIU302

PIU303

PIU304

PIU305

COU3

PIU402

PIU403

PIU404

PIU405

COU4

PIU502

PIU503

PIU504

PIU505

COU5

PIU601

PIU602

PIU603

PIU604 PIU605

PIU606

PIU607

PIU608

PIU609 PIU6010 PIU6011 PIU6012

PIU6013

PIU6014

PIU6015

PIU6016PIU6017

PIU6018

PIU6019

PIU6020

PIU60HEATSINK

COU6

PIU702

PIU703

PIU704

PIU705

COU7

PIC302

PIC602

PIC802

PIC1002

PIC1302

PIR102 PIR202

PIU105

PIU305

PIU405

PIU505

PIU705

PIC101PIC201

PIC901PIC1101

PIU204 PIU205PIU2016

PIU604 PIU605PIU6016

PIC102PIC202

PIC301

PIC402

PIC601

PIC702PIC801

PIC902PIC1001 PIC1102

PIC1202

PIC1301

PIC1502

PIR301

PIR501

PIR701

PIU103

PIU201 PIU209 PIU2010 PIU2011 PIU2012

PIU2018

PIU20HEATSINKPIU303

PIU403

PIU503

PIU601 PIU609 PIU6010 PIU6011 PIU6012

PIU6018

PIU60HEATSINKPIU703

PIC701PIR402

NLH0BRIDGE0A0IFB

POH0BRIDGE0CONTROL

PIU102

NLH0BRIDGE0A0IN1

POH0BRIDGE0CONTROL

PIU302

NLH0BRIDGE0A0IN2

POH0BRIDGE0CONTROL

PIC502PIU206

PIU207

NLH0BRIDGE0A0OUT1

POMOTOR0OUT

PIC501PIU2014

PIU2015

NLH0BRIDGE0A0OUT2 POMOTOR0OUT

PIC1501PIR602

NLH0BRIDGE0B0IFB

POH0BRIDGE0CONTROL

PIU502

NLH0BRIDGE0B0IN1

POH0BRIDGE0CONTROL

PIU702

NLH0BRIDGE0B0IN2

POH0BRIDGE0CONTROL

PIC1402PIU606

PIU607

NLH0BRIDGE0B0OUT1 POMOTOR0OUT

PIC1401PIU6014

PIU6015

NLH0BRIDGE0B0OUT2

POMOTOR0OUT

PIC401PIU2017

PIC1201PIU6017

PIR101 PIR201

PIR302

PIU202

PIU602

POH0BRIDGE0CONTROL

PIR401 PIR502

PIU208

PIR601 PIR702

PIU608

PIU104

PIU203

PIU2013

PIU2020

PIU404

PIU6013

PIU6020

PIU2019

PIU304

PIU402POH0BRIDGE0CONTROL

PIU504

PIU603

PIU6019

PIU704

POH0BRIDGE0CONTROLPOH0BRIDGE0CONTROL0H0BRIDGE0FAULTPOH0BRIDGE0CONTROL0H0BRIDGE0A0IFBPOH0BRIDGE0CONTROL0H0BRIDGE0A0IN1POH0BRIDGE0CONTROL0H0BRIDGE0A0IN2POH0BRIDGE0CONTROL0H0BRIDGE0B0IFBPOH0BRIDGE0CONTROL0H0BRIDGE0B0IN1POH0BRIDGE0CONTROL0H0BRIDGE0B0IN2POH0BRIDGE0CONTROL0H0BRIDGE0ENABLE

POMOTOR0OUTPOMOTOR0OUT0H0BRIDGE0A0OUT1POMOTOR0OUT0H0BRIDGE0A0OUT2POMOTOR0OUT0H0BRIDGE0B0OUT1POMOTOR0OUT0H0BRIDGE0B0OUT2