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NANO-CARRIER CONNECTIONS MOTOR DRIVERS: M1-M2-M3-M4

+3.3V

R20 R19
JANALOG1 B1 JDIGITAL1 10k 10k
+3.3V SCK 1 1 30 15 /SF
SCK SCK MISO~ MISO
2 2 29 14 R3 CRCW04020000Z0EDC U4 MP6522GU-P
+3V3 +3V3 MOSI MOSI
AREF 3 3 28 13 SCL 9 +VM2 +3.3V U5 MP6522GU-P +VM
AREF AREF D10~ D10 MP6522 VIN
FB_M3 A0 4 4 27 12 D9~ SDA 10 9
A0 A0/DAC0 D9~ D9 D9~ TP6 VIN MP6522 VIN
FB_M4 A1 R1 CRCW04020000Z0EDC 5 5 26 11 D8 11 R11 10
A1 A1 D8 D8 VIN TP8 VIN
A A2 R8 CRCW04020000Z0EDC 6 6 25 10 D7 IN1_M1 1 M1 330 11 A
A2 A2 D7 D7 IN1 VIN
A3 7 7 24 9 D6~ SD11_INT IN2_M1 24 18 C8
VCP_M1 100nF IN1_M2 1 M2 C9
A3 A3 D6~ D6 IN2 VCP IN1
SDA A4 8 8 23 8 IN1_M4 D5 R13 0 +3.3V IN2_M2 24 18 100nF
SDA A4 A4/SDA D5~ D5 IN2 VCP
SCL A5 9 9 22 7 IN2_M4 D4 TP7 4 14 C32 100nF +3.3V
SCL A5 A5/SCL D4 D4 nSLEEP CPA DL9
A6 10 10 21 6 IN1_M3 D3 /SF 23 15 TP9 4 14 C33 100nF
A6 A6 D3~ D3 nFAULT CPB nSLEEP CPA
VBUS A7 11 11 20 5 IN2_M3 D2 19 /SF 23 15
A7 A7 D2 D2 VISEN nFAULT CPB
12 12 19 4 22 19
VUSB VUSB* GND GND GND NC VISEN
13 13 18 3 RST_NANO 5 21 22
RST_NANO2 RESETN RESETN RESETN RESETN NC NC NC
14 14 17 2 RX1 20 5 21
GND GND RX RX BNO055_NBOOT NC NC NC
15 15 16 1 TX1 R9 CRCW04020000Z0EDC 7 M1+ 20
+VM2 VIN VIN TX TX OUT1 NC
8 6 7 M2-
R28 ISET OUT1 OUT1
PINHD-1X15-NANO Nano Socket PINHD-1X15-NANO-DIGITAL R29 6.81k8 6
ISET OUT1
GND 6.81k 13 M1-
OUT2
12 13 M2+
OUT2 OUT2
GND 12

GND
GND
GND
GND
GND
OUT2
GND

GND
GND
GND
GND
GND
ATSAMD11
+3.3V

3
2

25
16
17
FIDUCIALS IC1A D5 D6 D7 D8

3
2

25
16
17
1 V_READ
PA02 V_READ
2 LED_S R24 330
PA03
21 3 IN1_M2 GND GND GND GND
PA24/USB_DM PA04
22 4 IN2_M2 DL10 GND
PA25/USB_DP PA05
5 IN1_M1 GND
PA06
HB_E2 7 6 IN2_M1
PA08/XIN32 PA07
9 HA_E1
PA10
HA_E2 8 10 HB_E1
PA09/XOUT32 PA11
11 SDA
PA14
B SWDIO/SS 20 12 SCL B
PA31/SWDIO PA15 DL1
SWCLK/MISO19 13 SERVO3 +VM2
PA30/SWCLK PA16 DL2
14 SERVO1 RN4A
PA17 DL3
RESET_D11 18 15 SERVO4 C10 RN4B
PA28/RESETN PA22 C25 C2 C38 C39 DL4 RN4C
16 SERVO2
PA23 220uF 10µF
17 SD11_INT 10µF RN4D
PA27 1µF 1µF
ATSAM-D11-D14A-MUT
GND M1+
IC1B +3.3V M1- X6A GND
+VM M3+
D11: PROGRAMMING 23 M3- X6B
GND1 C1
24
VDDIO1 100nF C60 C3 C40 C41 C59
EXP
EP 220uF 10µF 10µF
M4-
1µF 1µF M4+ X1A
+3.3V R25 10k ATSAM-D11-D14A-MUT M2-
GND GND GND M2+ X1B
TP5 +3.3V DL5
1 2 SWDIO/SS DL6 RN2A
3 4 SWCLK/MISO DL7 RN2B
TWI
5 6 R26 SERVO AND ANALOG PINS VOLTAGE TRANSLATION +5V SCL 1 DL8 RN2C
J5 1
7 8 TP4 10k +3.3V 2 RN2D
TP2

SDA
2
9 10 R2 RESET_D11 3
3
0 +5V SERVO2 4
C22 C5 C13 C31 C58 4
CN1 SRV2 1 GND
100nF 1
2 100µF 100µF 100µF 100µF
+5V 2
GND RST_NANO R50 3 GND
C GND 3 C
+3.3V +5V
SERVO4
GND 100k SRV4 1 GND
1
2 R39 R42 R46 R49
+5V 2
R10 3 10k 10k 10k 10k U7 MP6522GU-P +VM U6 MP6522GU-P +VM2
GND 3
100k 9 9
SERVO1 MP6522 VIN MP6522 VIN
C19 SRV1 1 SRV1 10 10
C20 1 VIN VIN
2 SRV2 11 11
100nF +5V 2 VIN VIN
3 SRV3 IN1_M4 1 M4 IN1_M3 1 M3
100nF GND 3 IN1 IN1
D11: ENCODER INPUTS SRV4 IN2_M4 24 18 C34 100nF IN2_M3 24 18 C35 100nF
SERVO3 IN2 VCP IN2 VCP
GND GND SRV3 1 +3.3V +3.3V
1
GND U1 2 4 14 C36 100nF 4 14 C37 100nF
+5V 2 nSLEEP CPA nSLEEP CPA
1 14 3 1 /SF 23 15 /SF 23 15
VREF_A VREF_B GND 3 J4 1 nFAULT CPB nFAULT CPB
SERVO2 2 13 2 FB_M4 19 FB_M3 19
C15 A1 B1 2 VISEN VISEN
SERVO4 3 12 3 22 22
A2 B2 IN2 +5V 3 NC NC
X2A R5 140 10nF HB_E2 SERVO1 4 11 1 4 C61 5 21 C62 5 21
GND A3 B3 +3.3V 1 GND 4 110pF NC NC 110pF NC NC
R4 140 HA_E2 SERVO3 5 10 2 20 20
+3.3V A4 B4 2 NC NC
X2B 6 9 3 1 7 M4- 7 M3+
C14 NC NC GND 3 J3 1 OUT1 OUT1
7 8 2 8 6 8 6
10nF GND EN IN4 2 R31 ISET OUT1 R30 ISET OUT1
1 3
+3.3V 1 +5V 3
LSF0204QPWRQ1 2 4 6.81k 13 6.81k 13 M3-
2 GND 4 OUT2 M4+ OUT2
GND GND A2 3 GND 12 GND 12
GND 3 OUT2 OUT2
GND 1

GND
GND
GND
GND
GND

GND
GND
GND
GND
GND
A3
J2 1
A7 1IN11 2
+3.3V 2
A6 2 3
C17
2 +5V 3
3 4
GND GND 4

3
2

25

25
3

16
17

16
17
X3A R7 140 10nF HA_E1 D9 D10 D11 D12
+3.3V IN3
R6 140 HB_E1 1 1
GND D1 D2 D3 D4 +3.3V 1 J1 1
X3B 2 2
D C16
2 2 D
3 3 GND GND
10nF GND 3 +5V 3
4 GND GND GND GND
GND 4

GND
GND GND GND GND
Reference Designs ARE PROVIDED "AS IS" AND "WITH ALL FAULTS. Arduino SA DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, REGARDING PRODUCTS, INCLUDING BUT NOT LIMITED TO, ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULA R Title NANOMotorCarrierV0.1.PrjPcb
PURPOSE.
Arduino SA may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked "reserved" or "undefined". Size: Number: Revision: *
Arduino SA reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice.
Date: 11/16/2020 Time: 9:00:31 AM Sheet * of *
Do not finalize a design with this info. ARDUINO and other Arduino brands and logos and Trademarks of Arduino SA. All Arduino SA Trademarks cannot be used without owner's formal permission.
File: NANOMotorCarrierV0.1_DRV.SchDoc Author * E.Lopez Rev author *
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PIB1023456789CONDALfidEXJGTRSVUF~MHKW
 1 2 3 4

A A

+3.3V
U3
3 20
VDD COM0/SDA/TX SDA
28 19
C26 VDDIO COM1/SCL/RX SCL
B 18 B
100nF COM2(GND)
CAP_bno 9 17
CAP COM3/I2C_ADDR GND
C7 2 14
100nF GND1 INT D9~
GND 25 R12 0
GND2
11 RST_NANO2 +3.3V
NRESET RST_NANO2
10
PIN10(GND)
15 6
PIN15(GND) PS0 R14
16 5
PIN16(GND) PS1 GND 10k
C42 22pF GND 27 4
XIN32 NBOOT_LOAD_PIN BNO055_NBOOT
7
PIN7(SWDIO)
XTAL-32768Hz 26 8
XOUT32 PIN8(SWCLK)
C43 22pF BNO055-A.4

GND
C C

D D

Reference Designs ARE PROVIDED "AS IS" AND "WITH ALL FAULTS. Arduino SA DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, REGARDING PRODUCTS, INCLUDING BUT NOT LIMITED TO, ANY IMPLIED Title *
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
Arduino SA may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked "reserved" or Size: Number: * Revision: *
"undefined". Arduino SA reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site
or Materials is subject to change without notice. Date: 11/16/2020 Time: 9:00:33 AM Sheet * of *
Do not finalize a design with this info. ARDUINO and other Arduino brands and logos and Trademarks of Arduino SA. All Arduino SA Trademarks cannot be used without owner's formal permission. File: NANOMotorCarrierV0.1_IMU.SchDoc Author * Rev author *
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 1 2 3 4 5 6 7 8

A A

BOOST
Q5 AON7522E +VM2
L1 SRP6050CA-1R2M SW

C11 C18 U8 MP3428AGL-P C24 C27

TP-VM2
22µF 22µF 21 22µF 22µF
SW C28
20
SW 100nF
5 19
GND CLDR SW
6 8
SENSE SW
GND 7 GND
SW
11 1 BST
R18 IN BST
C29 12
100k VDD
2.2µF 2 SDR
SDR
3
OUT
VBUS GNDEN_MP34 4
R34 EN
15 14 FB
100k SS FB C30 R22
VBUS BATT CHRG 13 COMP
CBUS C44 COMP 1.8nF 300k

AGND
TP-5V

PGND
PGND
PGND
PGND
PGND
B 1µF U9 BQ24195LRGET +3V8 C21 B
L2 10nF 6.8nF
1 19 SW_bq R36
VBUS SW C45 16k
+5V 24 20 C47
VBUS SW C52 150pF
GND 23 21 C48 GND GND
PMID BTST GND

9
10
17
18
22

16
22 47nF REGN 10µF
C50 REGN 2.2µF R35 R37
C49 R47 10k 8
+3V8 OTG 27k 34k
10µF 10µF 17
PGND GND
1 USB_P 2 18 C65 GND
P11 D+ PGND 2.2µF
1 USB_N 3 15 GND
P21 D- SYS
GND GND DL12 16
SYS
R40 330 STAT 4 13 VBATT GND GND
+3.3V STAT BAT
14
BAT Q3
6 10 ILIM_bq
TP-GND SDA SDA ILIM AON7407
5 11 R41 330
SCL SCL TS1
INT_bq 7 12 R16
INT TS2
TH

+3V8 CE_bq 9 5.49k U$1

CE
TS_bq GND
GND BATT+1 BATT+1 6
R44 R45 5
EXP

R43 10k 10k 4

GND OFF C51
3
10k ON
10nF BOOST2
2
+

Q1
-

GND AON7522E +VM

1 L3 SRP6050CA-1R2M
GND GND SW2
-

GND GND
XT30UPB-M CL-SB-22A-02T R48GND C4 C6 U2 MP3428AGL-P C12 C23

TP-VM
J6 330 22µF 22µF 21 22µF 22µF
SW C46
20
+5V SW 100nF
BATT+1 5 19
C R15 GND CLDR SW C
6 8
ON SENSE SW
10k GND 7 GND
HSMG-C190 SW
GND 11 1 BST2
R17 IN BST
C53 12
TB5 V_READ 100k VDD
2.2µF 2 SDR2
R38 C63 C64 SDR
3
OUT
GNDEN_MP34_24
32.4k 1µF 100nF R21 EN
15 14 FB2
100k SS FB C54 R33
13 COMP2
C55 COMP 1.8nF 300k

AGND
PGND
PGND
PGND
PGND
PGND
GND C57
10nF C56 6.8nF R32
150pF 16k
GND GND R23

9
10
17
18
22

16
27k R27
34k

GND

GND GND

D D

Reference Designs ARE PROVIDED "AS IS" AND "WITH ALL FAULTS. Arduino SA DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, REGARDING PRODUCTS, INCLUDING BUT NOT LIMITED TO, ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULA R Title NANOMotorCarrierV0.1.PrjPcb
PURPOSE.
Arduino SA may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked "reserved" or "undefined". Size: Number: Revision: *
Arduino SA reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice.
Date: 11/16/2020 Time: 9:00:35 AM Sheet * of *
Do not finalize a design with this info. ARDUINO and other Arduino brands and logos and Trademarks of Arduino SA. All Arduino SA Trademarks cannot be used without owner's formal permission.
File: NANOMotorCarrierV0.1_PWR.SchDoc Author * Rev author *
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PIBAT01XCO42683795USDLJNQRVGME$bqFW