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Vs VCC JP1 4 3 2 1 D +12 +12 5 -5 JuP 1 2 R9 1k F1 L1 Vs R1 C1 C2 330 R2 330 OP2 R5 1k R6 1k T1 1 C E B R10 R3 330 P EN R4 330 OP4 OP3 1K 2 Vs R7 1k R8 1k Vs R51 0,1 3 8 6 4 2 RU LU RD LD 10 OP1 Vs Hbridge_1 Vcc OUTru OUTlu GDN OUTrd OUTld 9 7 5 3 C51 S1 1 2 D
PWM L
R19 1k
1 2
OP11 A K OP12
C E
5 4
R15 1k R16 1k T2 1 C E B 3 8 6 4 2 RU LU RD LD
10
1 Vs Hbridge_2 Vcc OUTru OUTlu OUTrd GDN OUTld 9 7 5 3 C52 S2 1 2 C R20 OP13 1K 2 Vs R17 OP14 1k R18 1k Vs R52 0,1 R29 1k 1 2 OP21 A K OP22 C E 5 4 R25 1k R26 1k T3 1 C E B R30 3 8 6 4 2 RU LU RD LD 10 1 Vs Hbridge_3 Vcc OUTru OUTlu GDN OUTrd OUTld 9 7 5 3 C53 S3 1 2 OP23 1K 2 Vs 1
R49 1k
Vs R41 330 R42 330 1 2 OP41 A K OP42 C E 5 4 R45 1k R46 1k T4 1 C E B R40 R43 330 P A EN R44 330 OP44 OP43 1K 2 Vs 3 8 6 4 2 RU LU RD LD 10 Hbridge_4 Vcc OUTru OUTlu OUTrd GDN OUTld 9 7 5 C54 3 S4 1 2
PWM L
Transoptory OP1- OP44 - dowolny typ np seri CNY Tranzystory T1-T4 : dowolny typ NPN, np BC847
Title Size B Date: File: 30-Mar-2007 Sheet of D:\elektronika\moje projekty\Robot-manipulator\robot.ddb Drawn By: 4 Number Revision