1、1234+3V3U1ACN1CN3R610KRESET# PA11256 PE055 PE1DDnRST PA1/OSCIN PA2/OSCOUTPA3/TIM2_CH3TIM3_CH1 PA4(HS)/UART1_RX PA5(HS)/UART1_TX PA6(HS)/UART1_CKVCAPPE0(HS)/CLK_CCO PE1(T)/I2C_SCL PE2(T)/I2C_SDA PE3/TIM1_BKINPE4 PE5/SPI_NSS PE6/AIN9 PE7/AIN8PA2354 PE253 PE3 USART1_RX PD2 PD7 PD4USART1_RX LCD_BL LCD_C

2、S/MC_WH BEEP/MC_UHB1 RESETC9C520pFPA39RT1 RX PA1 PA3 PA6 PF6 PF5USART1_TXUSART1_TX USA10USART1 TX1152 PE433 PE5PA2 PF7 100nFC62R7 60MC_VHPD3PA61232 PE631 PE7C10470nF6MC_PFC SYNC I2C_SCL BOOT0 CAN_TXPF4 I2C_SCL MSD_CS/MC_ I2C_SDAX1 24MHzI2C_SDAPD0 PE1PB0 PB1302922 PF017 PF3PB0/AIN0TIM1_CH1N PB1/AIN1T

3、IM1_CH2N PB2/AIN2TIM1_CH3N PB3/AIN3TIM1_ETR PB4/AIN4I2C_SCL PB5/AIN5I2C_SDA PB6/AIN6PB7/AIN7PF0/AIN10 PF3/AIN11 PF4/AIN12 PF5/AIN13 PF6/AIN14 PF7/AIN15PG0/CAN_TX PG1/CAN_RXPG2 PG3 PG4 PG5 PG6 PG7CAN_RX CAN_RXPE0 PE2CAN_TX SPI_MOSI SPI_SCKSPI2_MOSI SPI2_SCK USART3_RXPB2 PB3282716 PF415 PF5SPI2_MISO S

4、PI2_NSS/MC_NTC USART3_TXSPI_MISO PE3J1LCD_BUSYPF3 USART3_RXTX1 RX1 GND+3V3I2C SCL I2C_SDA262514 PF613 PF7USART3 TXLCD_IRQ KEY_TEMPFlash_CS MC_CURRENT A MC_CURRENT CPF0 VBATPB6 PB72423PB7 PB6 PE4 PG6CAN_TXCAN_RXRESET# PB2PG7 PG5PB3 PB1 MC_BUSVoltage MC_CURRENT BPI0ISPJ2PC1 PC23435PG2PG3PC1(HS)/TIM1_C

5、H1 PC2(HS)/TIM1_CH2 PC3(HS)/TIM1_CH3 PC4(HS)/TIM1_CH4 PC5(HS)/SPI_SCK PC6(HS)/SPI_MOSI PC7(HS)/SPI_MISO PB0PG4 PG3CCNET_WOL/MC_WLNET_MC_VLPC3 PC4363747 PG449 PG5VREF+ VDDAVREF- VDDARESET# GND SWIM+3V3!MC_HeatsinkTemperaturePE6 SPI_MOSIPE7 SPI_MISO!POT(A/D)SPI1_MOSI/MC_ULSPI1_MISO/MC_FAULT DAC USART2

6、_TX/MC_EnCMC_EnASPI SCK SPI_MOSI3841PG6PG7SPI1_SCKUSART2_RX/MC_DisBrake MC_EnBSPI_SCK PE5PC4 PC3SPI_MISO42PC1PC248 PI0IAPJ3PI0PD0 SWIM5758+3V3HEADER 25X2 +3V3PD0(HS)/TIM3_CH2TIM1_BKINCLK_CCOHEADER 25X2PD1(HS)/SWIMCH1TIM2_CH3+3V3 SPI_CS+3V3 PE5PD2 PD3596012345PD2(HS)/TIM3_PD3(HS)/TIM2_CH2ADC_ETR PD4(

7、HS)/TIM2_CH1BEEP PD5/UART3_TX PD6/UART3_RX PD7/TLITIM1_CH4SPI_SCKSPI_SCKPD461SPI_MISO SPI_MISO SPI_MOSI SPI_MOSIUSART3_TX62 USART3_RX63U1B STM8207xxGND SPI_IOGND PE6PD7648186+3V3+3V3+3V3VDDIO_1VREF+VREF+7SPISTM8207xx421CN2VSSIO_1VREF-VREF-R4 680R5 6804019B1+3V3VDDIO_2VDDAVDDABP1USB5V+3V3er regulator

8、2VDDAVREF+P23920R247U2VSSIO_2VSSATP2 3V3TP1 GND3USB5VAMS1117-3.3V+3V3L1 BEAD+3V3LD13V3LD2P3732+3V3VDDVinVout4P4C4 10nFC8C11 100nF510uF5100nFVSSP5C3 10nF R3C14 10uF/16VC15 10uF/16VC13C7 100nFC12 100nFC1USB 04.7nF R1VREF-USB1M TitleAASize A4DateNumberRevi板-STM8S207RB模塊V1.84-Jul-2013Sheet ofFileE ST解決方

9、案d 電機(jī)控制方案相關(guān)STM32Dr6a4w電n B機(jī)y主控STM32 -64 v3.ddb1234PE5VD+DID G76SHLD2SHLD11GND+3V3GND212110uFC2PG2SWIM12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849501234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950RESET#1234GNDSWIM

10、+3V3USART1_TX1234USART1_RXGND+3V30pFR81M1234S4/F3LR7 0R9 0 R170 LED4 K3/F3K3/F3L二選 一F3P6二選 一二選 一三選 一R18 0 R190R20 0 R210R22 0 R230 DBK DBK VbADC IbADC RCN1LED4DRRLYRLYMITADCRwADCDDPA1 PA3 PA6 PF6PF5 PB5PG1/CAN_RXPA2 PF7 DBKMIT_SEL910LCD_CS MITADC RWADCSJ2KJ2FLJ2FJ2PD4 PD5 PD6PD4 PD5 PD6PF4 PB4TpADC

11、LED4DR VeADCUL VL123456789101112131415161718192012345678910111213141516123412345678910RLY UeADC PG1GND nRSTGND nRST1718WeADCWL nRSTPA1 PA2 PA4 PA5 PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0 PE5 PE6 PA6 PG0PA1 PA2 PA3 PF4 PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0 PE5PG0/CAN_TXPG0LED4DR MIT_SEL ULLED4 LCD_NRST nRST UL2122

12、PA1 PA2PA1 PA2LED4D_R5678910PF3VbADC TX_LED1 RX_LED2VL GND2526VL WeADCGND+5VPF0 PB7 PB6 PB3 PB1IbADC LCD_MOSI LCD_RS+5VNC PA3NC PA3WeADC VeADC VeADC UeADCnRST WLLCD_CLK LCD_CSWLHC3334TIM1_ETR VLPB2 PB0IbADC VbADC UL RWADC WeADCCON10CON103738TpADCSTKeyVeADC UeADCCCMITADC LCD_CSULRWADC WLCON10LKey+5VH

13、EADER 25X2+5VCON10RCN2SJ1KJ1FLJ1FJ1PD3 PD2 PD1 PC7 PC6 PC5 PC4 PC3 PB4 PB5PD3 PD2 PD1 PC7 PC6 PC5 PC4 PC3 PB4 PB5+5V LCD_NRST+5V MIT_SELUeADCV_MHB VbADC1234567891011121314151617181920123456789101112131415161234567891012345678910PD7 PD6 PD5 PD4 PD3 PD2 PD1 PD0 PC7 PC6 PC5 PG1 PC3 PC2 PC1 PE0 PE1 PE2P

14、D7 PD6 PD5 PD4 PD3 PD2 PD1 PD0 PC7 PC6 PC5 PC4 PC3 PC2 PC1 RX_LED2 HC LCD_NRSTPA4_RX1 PD2PD7 PD4RX_LED2 TX_LED1IbADCV_MSWIM VHSWIM VHPA5_TX1TX_LED1HA HBD_R HBUH MIT_SELUH HAPD3PD1PE0 PE2 PC7 PE3PD5_TX3PE4 PG6 PI0HBHAHC SWIMHC SWIMIbRw WHIbRw WHPD0 PE1 PC6 PC5PD6_RX3 BKIN PE1 LCD_MOSI LCD_CLK PD6 BKI

15、N LCD_RSBKIN VHSTKey BKINSTKey BKINPE0 PE2BBLCD_MOSI LCD_CLKUH HALCD_RS CON10CON10PE3 PD5RKey WHSTKey WHSTM8S103F3 STM8S003F3Sensorless無傳感不帶顯示STM8S103F3 STM8S003F3Sensored有傳感不帶顯示VH UHWL VLPE4SKeyPG7 PG5 PG4 PG3 PE7 STKey DKey UKey RKey PE7 SKey DKeyLED4CON10STM8S903K3Sensorless/Sensored有/無傳感UKeyPG2

16、PE6PE6CON10STM8S105S4Sensorless/Sensored有/無傳感_IrefPC4 PC3 PC2PE5 PC1PE5 UHWH VHHEADER 25X2STM8S207RB/208RB帶液晶TFT顯示TitleAASensorless/Sensored有/無傳感帶液晶TFT顯示帶液晶TFT顯示Size A4Date:Number主控板-MCU適配模塊ReviV1.84-Jul-2013SheetofFile:E:ST解決方案d 電機(jī)控制方案相關(guān)STM3D2ra6w4電n B機(jī)y:主控STM32-64 v3 ddb1234LKeySWIM123456789101112

17、13141516171819202122232425262728293031323334353637383940414243444546474849501234567811121314151619202324 2728293031323536394041424344454647484950IbRwV_MD_R1234Motor control connector MAIN+5V*R8 10KTIM1_ETR:電流模式用DCN19DTIM1_BKINBKIN UH132 TIM1_ETREMERGENCY STOP MC-UHMC-UL MC-VH MC-VL MC-WH MC-WLCURREN

18、T-A CURRENT-B/IS CURRENT-C/IVNTC BYPASS RELAY DISSIPATIVE BRAKE+5VERTIME-ETR/OCGND GND GND GND GNDBUS VOLTAGEGND GND HALL-A HALL-B HALL-CHeatsink TemperatureTIM1_CH1 TIM1_CH1N TIM1_CH2 TIM1_CH2N TIM1_CH3 TIM1_CH3N46UL VH57User LED810LD1VL WH911+5V1214R112k12 TX_LED1WL1315VbADC+5V1618IbADC MITADC1719

19、LD22022 HA HB 預(yù)留HALL接入R15 1KRLY DBK2123R132k12 RX_LED22426 HC TpADCC62527+5V33K R41LD3MIT_SEL2830 LD0 5V100nFPFC-SYNC/MITSEL+3 3VER+3V3_IrefIref2931PFC-/IREFGNDR142k323412 SWIMEncoder-A/BEMF-A Encoder-B/BEMF-BGNDEncoder-Indes/BEMF-COnly for 207RB33IrefTP5CCLD4R24*R25STMCCONR52k12 LED400R28*Vfb-WBEMF

20、-CR290HC Vfb-U BEMF-AHAR26R270* 0Vfb-VBEMF-B0 HB DC5V+5V+3V3U73142IN OUTTP6 MIT_SELGND OUTC1C18C3TP1 3V3TP2 TP3GND 5V100nFC4AMS1117-3 3MIT_SEL100nFC17C5C31 100uF100uF100nF 100nF+5VD5 SS12+5VD6 SS12+5VD7 SS12Z25V6470uF/16V+3V3+5Ver regulatorD2D3D4R422k2R432k2R442k21N41481N41481N4148Z15V6R3810kR3910kR

21、4010kVfb-U Vfb-VVfb-W S1D1BBSS12UeADCVeADCWeADCCN181 DC5VINCN17注意！以上反電動(dòng)勢分壓電路的電阻參數(shù)僅適合24V電機(jī)電壓時(shí)如不是24V，請自行設(shè)計(jì)合適的分壓參數(shù)USBDC5V+5V23CDC5VC13C8C9C10 100nF100uF100uF100uF100nF100nF100nFCN521+5VM-PWRTP4 ADCJP17RWADC 10KC11100nFTitleAASize A4Date:NumberRevi可調(diào)分壓電路主控板-電機(jī)接口及電源模塊V1.84-Jul-2013Sheet ofFile:E:ST解決方案d

22、電機(jī)控制方案相關(guān)STM3D2ra6w4電n B機(jī)y:主控STM32-64 v3 ddb123413456321I/O2 I/O1 TAP2 TAP1 I/O2 I/O1ER_SW212 RV1C2C721VCC D- D+ GND12340S0STP9TP8TP7SW1234+5V10kTFT 彩色液晶屏接口R32DDCN8PF7 PC7LCD_CS 1LCD_RS 2678910111213CS RS WR/SCL RD RESETDB0 DB1 DB2 DB3 DB4 DB5 DB6 DB7PC6 PC5 PD7LCD_MOSI3 LCD_CLK 4 LCD_NRST5LED數(shù)碼管操作面板接口+5VR31R16222310kBL_GNDBL_Control VDDVCI GND GND BL_VDD PEN_IRQ MISO BUSY MOSI CLK T_CS+5V+3V3 102425SIN0 PE0PE3165SH/L+3V3+5V165SLK PE4595SCK PE6PE5595LCKPE7595SDI