RigidBot Schematic

2

COR4
R4

PIR501

PIC302

COC3
C3

47uF

COU4
U4

PIC402

PIU401

+24V

PIC501
COC4
C4

0.1uF

PIC502

R1

47uF

GND

POUGND
UGND

A

1
PIJ401
1

PO16U
Reset
16U Reset

+5V

2
2 PIJ402
4
MOSI
4 PIJ404 PO16U
16U MOSI
6
6 PIJ406

3
3
5
PIJ405
5
PIJ403

16U-ICSP

PIR2402COR24

GND

R24

COU5
U5

PIR2401 10k
24

COC24
RESET
16U Reset
C24PO16U

PIY102
PIY101

20pF

1

COC28
C28

PIU5024

PIC2802 PIC2801

16Mhz

1

PIU501

32

PIU5032

20pF
+5V

4

PIC2901

PIU504

COC29
C29

PIC2902

0.1uF

XTAL1
AVCC

22
(INT4/ICP1/CLK0)PC7 PIU5022
23
(OC1A/PCINT8)PC6 PIU5023
25
(PCINT9/OC1B)PC5 PIU5025
26
(PCINT10)PC4 PIU5026
5
(AIN2/PCINT11)PC2 PIU505

VCC

3
PIU503
GND

GND

13
(CTS/HWB/AIN6/TO/INT7)PD7 PIU5013
12
(RTS/AIN5/INT6)PD6 PIU5012
11
(XCK/AIN4/PCINT12)PD5 PIU5011
10
(INT5/AIN3)PD4 PIU5010
9
(TXD1/INT3)PD3 PIU509
8
(RXD1/AIN1/INT2)PD2 PIU508
7
(AIN0/INT1)PD1 PIU507
6
(OC0B/INT0)PD0 PIU506

27
UCAP
31
COR47 POUVCC
R47
UVCC PIU5031 UVCC
30
PIR4702
PIR4701
PIU5030
POD0
DD
22
29
POD0
PIR5202
PIR5201
PIU5029 D+
D+
28
COR52
PIU5028 UGND
R52 22
PIU5027

PIC3701
COC37
C37

PIC3702

1uF

33
PIU5033
PAD

COR55
R55

UGND
POUGND

PIR5502

PIR1 02

R11
0

9

PIU109

1
3

PIJ1101

PIS201

PIR80 2

PIS202

20pF

PIR80 1 10k

PIY20
PIY201

PIR4301
1k

GND

PIC30 2

C30
0.1uF

PID101

COR49
R49
PIR4902

33

Y2
COY2
16Mhz

34

PIU8034

XTAL1

98
100
99

AREF
AVCC
PIU8099 AGND
+5V
PIU80100

20pF

1k

PIR4901
PIR5401

PID102

PIR4602

PID202

PIR5302

PIR4601

POE00En
E0-En

COD1
D1

PO2560RX
2560RX
PO2560TX
2560TX

COR53
R53 1k

COR54
R54 1k

PID201

PIC5 01
C54
COC54

PIC5601
C55
COC55

0.1uF PIC5302 0.1uFPIC5402 0.1uF PIC5 02 0.1uF PIC5602

31
VCC
61
80
VCC
PIU8080
11
PIU8011
GND
32
PIU8032 GND
62
PIU8062
GND
81
PIU8081 GND
PIU8031

PIC5701
C56
COC56

PIU8061 VCC

C57
COC57

0.1uFPIC5702 0.1uF

GND
35
36
37
38
Z-Step PIU8038
POZ0STEP
39
PIU8039
40
PIU8040
41
PIU8041
42
PIU8042
GND

PIU8035 PL0(ICP4)

POZ0DIR
Z-Dir

PIU8036
PIU8037

MS1
MS3
RESET

14
PIU2014
SLEEP

23
PIU2023
SENSE1
27

PIU2027

PIR4102 PIR3802

SENSE2

8
COR38
PIU208
R38
VREG
0.05 PIC2601
COC26 A4988
C26
PIC2602 0.22uF

PIC2 01
PIR1902

COR19
R19

REF

17

GND

40kPIR1901

PIU2017

PIR3501

COR35
R35
10k

PIR3502

3
GND PIU203
18
GND PIU2018
29
GND PIU2029

PIC20 1 COC20

R15
0

PIR1602

POZ0Step
Z-Step

16

PIU3016

CP2

9

PIU309

11
12

PIU3011

R32
DNP

PIR3202

R33
DNP

PIR3 02

PIU3012

COR23
PIR2302 R23

MS1

PIR2301

REF

27

PIU3027

PIR4202 PIR3902
COR39
R39
0.05

PIC2701
PIC2702

89
88
PIU8088
87
PIU8087
86
PIU8086
85
PIU8085
84
THERM0 PIU8084
POTHERM0
83
THERM1 PIU8083
POTHERM1
82
PIU8082
THERM2
POTHERM2

PL1(ICP5)
PL2(T5)
PL3(OC5A)
PL4(OC5B)
PL5(OC5C)
PL6
PL7

PIR5601

63
65
66

PIU8065

PJ2(XCK3/PCINT11)

PJ3(PCINT12)
PIU8066
67
PIU8067

68
69
79

PIU8068

PJ4(PCINT13)
PJ5(PCINT14)

PIR5701

R56
COR56
0

2
13
4

PIR5801
R57
COR57

R58
COR58

0

PIR5702

PIR5802

PIR6701

PIR6801

PIR6901

POE00Dir
E0-Dir

19

PIU6019

9
10

PIU609
PIU6010

COR67
R67
DNP

PIR6802

COR68
R68
DNP

PIR6902

12
14

PIU6012

PIR6502CR65
OR65

PIU6014

10k

0

PIU606

PIU6015

DIR
MS1
MS2

PJ7

12

LCDE PIU8012 PH0(RXD2)
POLCDE
13
LCDRS
POLCDRS

PH1(TXD2)
14
PH2(XCK2)
15
PIU8015 PH3(OC4A)
16
PH4(OC4B)
PIU8016
17
E1-FAN PIU8017 PH5(OC4C)
POE10FAN
18
E1-HEAT PIU8018 PH6(OC2B)
POE10HEAT
27
PIU8027
PH7(T4)
PIU8013
PIU8014

A

PIR20 2

0.05

PIR7801 PIR7601

8

PIU608

PIC4701
PIC4702

POE10En
E1-En

REF

17

COC43
C43
0.22uF

PIC4302
PIR6302

GND

PIR6301

PIR7402

3
GND PIU603
18
GND PIU6018
29
GND PIU6029

VREG

PIR5901

PIC4301

PIR740R74
1COR74

PIR60 1

R59
COR59
0

PIR7403

PIR610

R60
COR60
0

16
POE10Step
E1-Step PIU7016 STEP

DNP

PIR60 2

PIR6102

PIR70 1

PIR710

PIR7201

PIU7019

9
10

PIU709
PIU7010

COR70
R70
DNP

COR71
R71
DNP

PIR7102

PIR720

12
14

PIU7012

PIR6 02CR66
OR66

COR72
R72

DIR
MS1
MS2

PIU706

PIU7015

PIU7014

10k

0

23
PIU7023 SENSE1
27
PIU7027 SENSE2

PIR6 01

COR79
R79
0.05

R77
COR77
0.05

PIR7901 PIR7 01

GND

RESET
SLEEP

8

PIU708

PIC4801 COC48
C48

VREG

0.1uF

10k

R48
4.7k

POTHERM0
THERM0
C42
COC42
10uF

PIR4802
PIC4201

1

POE001B
PIJ901 1
E0-1B
3
POE002B
PIJ903 3
E0-2B

5

PIJ905

9
9
11
PIJ9011
11
13
POE00FAN0
E0-FAN+ PIJ9013 13

PIC420

GND

PIR750R75
1COR75

PIR7301

Fan for stepper drivers

10k

PIR7302

PIR7503

THERM1
POTHERM1

5
5
7
PIJ1207 7
9
POE10HEAT0
E1-HEAT+ PIJ1209 9
11
PIJ12011 11
13
POE10FAN0
E1-FAN+ PIJ12013 13
PIJ1205

PIC4601

COC46
C46
10uF

E1-axis

1

PIJ1201
E1-1B
1
POE101B
3
POE102B
PIJ1203
E1-2B
3

PIC4602

7
9
11
13
15
17
19

PIJ802

POLCDE
LCDE
6
PIJ806
POLCD5
LCD5
PIJ804

8
POLCD7
LCD7
10
PIJ8010
POBTN0LFT
BTN_LFT
12
PIJ8012
POBTN0DWN
BTN_DWN
14
PIJ8014 POIO00
IO_0
16
PIJ8016
PO2560
MOSI
2560 MOSI
18
PIJ8018 PO2560
2560 SS SS
20
PIJ8020
PIJ808

COJ8
J8

2
2 PIJ902 POE001A
E0-1A
4
4 PIJ904 POE002A
E0-2A
6
6 PIJ906
8
8 PIJ908
10
10 PIJ9010 POE00HEAT0
E0-HEAT12
12 PIJ9012
14
GND
14 PIJ9014 POE00FAN0
E0-FAN-

GND

GND

LCD

+5V

PIR6201
R62
COR62
4.7k

PIR6202
POTHERM2
THERM2

1
3

PIJ1001

PIC4501

PIJ1003

COC45
POHBP0
C45
HBP10uF PIC4502

2
2 PIJ1202 POE101A
E1-1A
4
4 PIJ1204 POE102A
E1-2A
6
6 PIJ1206
8
8 PIJ1208
10
10 PIJ12010 POE10HEAT0
E1-HEAT12
12 PIJ12012
14
GND
14 PIJ12014 POE10FAN0
E1-FAN-

2
2 PIJ1002
4
4 PIJ1004
6
6 PIJ1006
8
8 PIJ1008
10
10 PIJ10010

1
3

5
PIJ1005
5
7
9

PIJ1007
PIJ1009

7
9

POHBP0
HBP+

GND

COJ10
J10

GND

HBP Conn

B

COJ12
J12

GND
+24V

7
POLCD6
LCD6
9
POBTN0RT
BTN_RT PIJ809
11
POBTN0UP
BTN_UP PIJ8011
13
POBTN0ENT
BTN_ENT PIJ8013
15
PO2560
MISOPIJ8015
2560 MISO
17
PIJ8017
2560 SCLK
PO2560
SCLK 19
PIJ8019
PIJ807

2
4

2
4
6
8
10
12
14
16
18
20

POLCDRS
LCDRS PIJ803
3
5
POLCD4
LCD4 PIJ805 5

J9
COJ9

COR73
R73
4.7k

1

PIJ801

Extruder 1 Conn

+5V

GND

+24V

PIJ909

GND

PIR6402

5

7
PIJ907
7

E0-HEAT+
POE00HEAT0

COC44
C44
0.22uF

A4988

PIC4802 0.22uF

GND

1
3

2

PIR4801COR48

PIR6401

PIR7502

Z-Axis 2

+5V

1
PIJ1501
1

49.9k

3
GND PIU703
18
GND PIU7018
29
GND PIU7029

2

PIR3603

+5V

PIC4 01
PIC4 02

2

PIJ702

3
PIJ703
POZ02A
Z-2A
3
4
POZ02B
PIJ704
Z-2B
4
COJ7
J7

PIC3601

COC35
COC36
C35
C36
0.1uF PIC3602
47uF

PIC3502

POZ01A
Z-1A

Z-Axis 1

COJ15
J15

+5V

COR64
R64

17

PIU7017

1
POZ01B
PIJ701
Z-1B
1

2
3

4
PIJ604
4
COJ6
J6

GND

GND

COC39
C39
PIC3902 0.1uF

2
3

PIJ602
PIJ603

+5V

Z-axis

15

21
OUT1B PIU7021POE101B
E1-1B
24
OUT1A PIU7024POE101A
E1-1A
26
OUT2A PIU7026POE102A
E1-2A
1
OUT2B PIU701POE102B
E1-2B
REF

PIC3501

COC34
C34

PIC3901

6

VCP
VDD

11
PIU7011
MS3

+5V

PIR7902 PIR7 02

COC47
A4988
C47
0.22uF

E0-axis

19

POE10Dir
E1-Dir

22
VBB1 PIU7022
28
VBB2 PIU7028

CP1

5
PIU705
CP2

COC41
C41
0.1uF

PIC4102

R61
COR61

PIR5902

PIR70 2

10k

PIU704

PIC410
GND

ENABLE

PIU7013 ROSC

10k

+5V

40k

PIU6017

2
13
4

PIU702

COR51
R51
PIR5102
PIR5101

+5V

PIC3402

COU7
U7

1
PIJ601
1

Z-1B
Z-1A
Z-2A
Z-2B

GND

PIC3401

COR45
R45

Y-Axis

COJ5
J5

GND

PIR45010k
1

X-Axis

+24V

COC27 A4988
C27
0.22uF

GND

PIR4502

GND

COC38
C38
PIC3802 0.1uF

COR63
R63

RESET
SLEEP

PIC3 01

COC32
COC33
C32
C33
0.1uF PIC3 02
47uF

PIC320

15

21
OUT1B PIU6021POE001B
E0-1B
24
OUT1A PIU6024POE001A
E0-1A
26
OUT2A PIU6026POE002A
E0-2A
1
OUT2B PIU601POE002B
E0-2B

23
PIU6023 SENSE1
27
PIU6027 SENSE2

PIR6501

0.1uF

PIC3801

6

VCP
VDD

11
PIU6011
MS3

+5V

COR69
R69

CP1

5
PIU605
CP2

COC40
C40
0.1uF

16
POE00Step
E0-Step PIU6016 STEP

DNP

PIR5602

22
VBB1 PIU6022
28
VBB2 PIU6028

ENABLE

PIU6013 ROSC
PIU604

PIC40 2

PIC3201

COC31
C31

PIC3102

GND

COJ13
J13

Extruder 2 Conn

+24V

+24V

RGB LED strip

PIJ130 PIJ1302 PIJ130 PIJ1304

POLCD7
LCD7

E0-Dir
POE00DIR

E0-HEAT+
POE00HEAT0

PIR810

LCD6
POLCD6
POE00STEP
E0-Step

PIR8201

R81
COR81

LCD5
POLCD5

2k

IO_0
POIO00

PID302
PID301

PID902 PID901

COD9
D9

E0-FAN+
POE00FAN0

PIR8301

E0-FAN-

PIR8302

R82
COR82
2k

E0-HEAT-

PIR8102

E0-En
POE00EN
POLCD4
LCD4

PID402
PID401

D3
COD3

E1-HEAT+
POE10HEAT0

PIR8401

E1-HEAT-

PIR8402

R83
COR83

PIR8202

2k

PID502
PID501

D4
COD4

E1-FAN+
POE10FAN0

R84
COR84
2k

+Vin

E1-FAN-

+5V

PID602
PID601 COD6

D5
COD5

PIR10602
R106
COR106

D6

100k

PIR10601
GND

PIQ302 PSMN7R0-30YL
POE00HEAT
E0-HEAT

R94
COR94

+5V

Q3
COQ3

PIQ303

PIR9402

PIQ402 PSMN7R0-30YL

POE00FAN
E0-FAN

PIQ301

R95
COR95

GND

PIQ502 PSMN7R0-30YL
POE10HEAT
E1-HEAT

Extruder 1

Q5
COQ5

PIQ503

PIR9602

PIQ401

PIQ602PSMN7R0-30YL

POE10FAN
E1-FAN

R97
COR97

PIR9601 10k
GND

GND

GND

PIR10701

PIQ601

PIQ803
POHBP
HBP

GND

Extruder 2

+5V

PIR1080110k PIR1090110k

R107
COR107
100k

PIR97010k
1

GND

PIR10702

Q6
COQ6

PIQ603

PIR9702

PIQ501

R96
COR96

PIR950110k
GND

PIR10802COR108
PIR10902COR109
R108 R109

Q4
COQ4

PIQ403

PIR9502

PIR94010k
1

PIQ801

PIR9802
R98
COR98

GND

Q8
COQ8

PIQ802

PIR98010k
1

+5V

GND

PIR10 02
S3
COS3
1
PIS301
2
PIS302

PIR8601

PIQ703

+5V

R101
COR101

+5V

GND

10k

PIR10 010k
1

PIS303

+5V

ADE02S04
GND

X-Min
POX0Min

PIC5802

R102
COR102

0.1uF

PIJ1403

PIJ1407

GND

Y-Min
POY0Min

PIC60 2

1
3
5

PIJ1401 1

3

5
PIJ1405
7

PIR102 110k
PIC60 1

PIR10 1

PIC5801
C58
COC58

PIR102

+5V

C60
COC60
0.1uF

PIR10402

9
11
PIJ14011
13
PIJ14013
15
PIJ14015
17
PIJ14017
19
PIJ1409

PIJ14019

R104
COR104

GND

PIC6201
PIC6202

C62
COC62
0.1uF

GND

7
9
11
13
15
17
19

2
4
6
8
10
12
14
16
18
20

C59
COC59
0.1uF

PIC5902

PIJ1404

2k

PIR8502

PIJ1408

10
12
PIJ14012
14
PIJ14014
16
PIJ14016
18
PIJ14018
20
PIJ14010

COR90
R90
1M
R91
COR91
8
5
LED3 PIU905
100k
6
3
PIU906 SCL
PIR9102
LED2 PIU903 PIR9101
7
2
R92
COR92
PIU907 SDA LED1 PIU902 PIR9201
PIR9202
4
1
100k
PIU904
PIR9302
Vss LED0 PIU901 PIR9301
R93
COR93
U9
100k
COU9

HBP+
POHBP0
+5V

R89
COR89
1M +5V

PIR90 2 PIR8702 PIR8902

PIU908 Vdd

SDA
POSDA

PIR85R85
01COR85

PIQ101

PIR90 1 PIR8701 PIR8901

PIR9 02

SCL
POSCL

PIQ702

PID702
PID701

PIR9 01

8
6
PIU1006 3A
3
PIU1003 2A
1
PIU1001
1A

PIU1008 VCC

3Y
2Y
1Y
GND

1
2
3

PIJ1602

PIQ203
PIQ201

Q2
COQ2

PIQ202

PIQ903
PIQ901

Q9
COQ9

PIQ902
GND

PIJ1601 1

SCL
SDA

COQ1
Q1

U10
COU10

GND
HBP-

PIQ103
PIQ102

2
5
PIU1005
7
PIU1007
4
PIU1004
PIU1002

GND

GND

2

GND

3
PIJ1603
4
PIJ1604 4
COJ16
J16

D7
COD7
GND

I2C expansion

HBP
GND

+5V

PIR103 2

R103
COR103
10k

PIJ1406
8

GND

PIR103 1

+5V

PIC610

PIR105 2

PIC6102

POY0Max
Y-Max

C61
COC61

PIJ14020

C

0.1uF

R105
COR105
10k

PIR105 1

EndStops

GND
POZ0Max
Z-Max

PIC6301
GND

X-Max
POX0Max

PIC5901

2
4
6

PIJ1402

J14
COJ14

PIR104010k
1
POZ0Min
Z-Min

1
(OC0B)PG5 PIU801
29
(TOSC1)PG4 PIU8029
28
(TOSC2)PG3 PIU8028
70
(ALE)PG2 PIU8070
52
(RD)PG1 PIU8052
51
(WR)PG0 PIU8051

PIR8602

PIR10 2

R100
COR100
4
PIS304
3

+5V
R87
COR87
1M

R86
COR86 R99
COR99 +5V
4.7k 4.7k

Q7
COQ7
SUD50P04-13L-E3

PIQ701

90
(ADC7/TDI)PF7 PIU8090 POY0DIR
Y-Dir
91
(ADC6/TDO)PF6 PIU8091 POY0STEP
Y-Step
92
(ADC5/TMS)PF5 PIU8092
93
(ADC4/TCK)PF4 PIU8093
94
(ADC3)PF3 PIU8094
95
(ADC2)PF2 PIU8095 POY0EN
Y-En
96
(ADC1)PF1 PIU8096 POX0DIR
X-Dir
97
(ADC0)PF0 PIU8097 POX0STEP
X-Step

PIU8069 PJ6(PCINT15)
PIU8079

COC23
C23

PIC2302 0.22uF

COR36
PIR3602 R36

3
GND PIU303
18
GND PIU3018
29
GND PIU3029

SENSE2

8
PIU308
VREG

2

COJ3
J3

COR20 GND
R20
40k PIR20 1

17

PIU3017

GND

9
(CLKO/ICP3/INT7)PE7 PIU809
8
(T3/INT6)PE6 PIU808
7
(OC3C/INT5)PE5 PIU807 POX0MIN
X-Min
6
(OC3B/INT4)PE4 PIU806 POX0MAX
X-Max
5
(OC3A/AIN1)PE3 PIU805
4
(XCK0/AIN0)PE2 PIU804
3
(TXD0)PE1 PIU803 PO2560TX
2560TX
2
(RXD0/PCIN8)PE0 PIU802 PO2560RX
2560RX

Y-Max PIU8063 PJ0(RXD3/PCINT9)
POY0MAX
64
Y-Min PIU8064 PJ1(TXD3/PCINT10)
POY0MIN

PIC2301

2

PIJ302

1
POY01B
PIJ501
Y-1B
1
2
PIJ502
POY01A
Y-1A
2
3
POY02A
PIJ503
Y-2A
3
4
POY02B
PIJ504
Y-2B
4

+24V

COU6
U6

PIU602

PIC40 1

0.05

50
(T0)PD7 PIU8050 POX0EN
X-En
49
(T1)PD6 PIU8049
48
(XCK1)PD5 PIU8048
47
(ICP1)PD4 PIU8047
46
(TXD1/INT3)PD3 PIU8046 POZ0MIN
Z-Min
45
(RXD1/INT2)PD2 PIU8045 POZ0MAX
Z-Max
44
(SDA/INT1)PD1 PIU8044 POSDA
SDA
43
(SCL/INT0)PD0 PIU8043 POSCL
SCL

PK1(ADC9/PCINT17)
PK2(ADC10/PCINT18)
PK3(ADC11/PCINT19)
PK4(ADC12/PCINT20)
PK5(ADC13/PCINT21)
PK6(ADC14/PCINT22)
PK7(ADC15/PCINT23)

POX01A
X-1A

3
POX02A
PIJ303
X-2A
3
4
POX02B
PIJ304
X-2B
4

PIR3601

23
PIU3023
SENSE1

PIR4201 PIR3901

GND

MS3
RESET

14
PIU3014
SLEEP

10k

PIC1702

6
PIU306

15
VDD PIU3015

10
PIU3010
MS2
+5V

R31
DNP

1
POX01B
PIJ301
X-1B
1

COC14
C14

COC17 GND
C17
0.1uF
+5V

21
OUT1B PIU3021POZ01B
Z-1B
24
OUT1A PIU3024POZ01A
Z-1A
26
OUT2A PIU3026POZ02A
Z-2A
1
OUT2B PIU301POZ02B
Z-2B

STEP

19
POZ0Dir
PIU3019
Z-Dir
DIR

COR42
R42
0.05

PIR410 PIR3801

VCP

PIU305

PIC20 2 0.1uF

PIR1702

PIR3101COR31 PIR3201COR32 PIR3 01COR33
PIR3102

PIR3503

R16
0

PIR1502

5

C20

GND

R17
0

PIR1501COR15 PIR1601COR16 PIR1701COR17

COC22
C22

PIC2 02 0.22uF

PIC1701

+5V

10k
GND

GND

60
(A15)PC7 PIU8060 POE10EN
E1-En
59
(A14)PC6 PIU8059 POBTN0ENT
BTN_ENT
58
(A13)PC5 PIU8058 POBTN0RT
BTN_RT
57
(A12)PC4 PIU8057 POBTN0LFT
BTN_LFT
56
(A11)PC3 PIU8056 POE10DIR
E1-Dir
55
(A10)PC2 PIU8055 POBTN0DWN
BTN_DWN
54
(A9)PC1 PIU8054 POE10STEP
E1-Step
53
(A8)PC0 PIU8053 POBTN0UP
BTN_UP

POZ0EN
Z-En PIU8089 PK0(ADC8/PCINT16)

C

11
12

PIU2011
PIU2012

21
OUT1B PIU2021POY01B
Y-1B
24
OUT1A PIU2024POY01A
Y-1A
26
OUT2A PIU2026POY02A
Y-2A
1
OUT2B PIU201POY02B
Y-2B

Y-axis

PIC3101

COR50
R50
PIR5002
PIR5001

+5V

PIR5301

COD2
D2

R88
COR88
26
PIR8802
PIR8801
(OC0A/OC1C/PCINT7)PB7 PIU8026
25
1k
POE00HEAT
(OC1B/PCINT6)PB6 PIU8025
E0-HEAT
24
(OC1A/PCINT5)PB5 PIU8024 POE00FAN
E0-FAN
23
(OC2A/PCINT4)PB4 PIU8023 POHBP
HBP
22
(MISO/PCINT3)PB3 PIU8022
2560 MISO
21
(MOSI/PCINT2)PB2 PIU8021
2560 MOSI
20
(SCK/PCINT1)PB1 PIU8020
2560 SCLK
19
(SS/PCINT0)PB0 PIU8019 PO2560
2560 SS SS

10
PIU8010
VCC

PIC5401

9

PIU209

GND

COR44
R44

PIR4 0110k

1k

PIR7802 PIR7602
R76
COR78 COR76
R78

71
(AD7)PA7 PIU8071
72
(AD6)PA6 PIU8072
73
(AD5)PA5 PIU8073
74
(AD4)PA4 PIU8074
75
(AD3)PA3 PIU8075
76
(AD2)PA2 PIU8076
77
(AD1)PA1 PIU8077
78
PIU8078
(AD0)PA0

XTAL2

PIU8098

+5V

C53
COC53

15
VDD PIU2015

STEP

PIU3013

10k

+5V

22
VBB1 PIU3022
28
VBB2 PIU3028

13
ROSC
4
PIU304
CP1

PIR801

C13

47uF

2
PIU302
ENABLE

COR8
R8

PIR802

PIC1202 0.1uF PIC1302 0.1uF PIC1402

COU3
U3

PIR301 10k
POZ0En
Z-En

C16 GND
0.1uF
+5V

GND

+24V

30

PIU8033

1

PIC5102 PIC5101

PIC5301

CP2

10
PIU2010
MS2
+5V

COR41
R41
0.05

PIR4 02

+5V

COR46
R46

PIR5402

16

PIU2016

PIR2801COR28 PIR2901COR29 PIR30 1COR30 PIR2 02CR22
OR22
R28
R29
R30
10k
DNP DNP DNP
PIR2802 PIR2902 PIR30 2
PIR2 01

+5V

PIC30 1 COC30

COR43
R43

PIR4302

PIU205

19
POY0Dir
PIU2019
Y-Dir
DIR

C12

R3

2

U8
COU8
PIU8030 RESET

2

20pF
COC51
C51

C52
COC52

PIR3403

VCP

5

COC19
C19
0.1uF

POY0Step
Y-Step

GND

X-axis

PIC1901
PIC1902

R14
0

PIC1602

PIC1201 COC12 PIC1301 COC13 PIC1401

PIR302COR3

PIJ1502

GND

COR80
R80

COC50
RESET
2560 Reset
C50 PO2560

PIC5201

3
GND PIU103
18
GND PIU1018
29
GND PIU1029

SENSE2

COR34
R34
10k

PIR1402

PIC1 01

COC10
COC11
C10
C11
0.1uF PIC1 02
47uF

PIC1601 COC16

6
PIU206

+24V

PIC4901

PIC5002 PIC5001

GND

GND

PIR3401

8
PIU108
VREG

COC25 A4988
C25
0.22uF

PIR1802

40kPIR1801

PIR3402

R13
0

PIR1302

22
VBB1 PIU2022
28
VBB2 PIU2028

PIC10 2

1
2
3
4

PIC4902

27

PIU1027

PIC2502

17

PIU1017

R12
0

PIR120

PIU2013

C9
0.1uF

2560-ICSP

COS2
S2

C49
COC49

REF

10k

PIR1201COR12 PIR1301COR13 PIR1401COR14

COC21
C21
0.22uF

PIC2102

13
ROSC
4
PIU204
CP1

PIR701

GND

PIC210

COR18
R18

MS3
RESET

23
PIU1023
SENSE1

2
PIU202
ENABLE

COR7
R7

PIR702

+5V

PIC902

COU2
U2

PIR20110k
POY0En
Y-En

15
VDD PIU1015

MS1

R2

C15 GND
0.1uF
+5V

21
OUT1B PIU1021POX01B
X-1B
24
OUT1A PIU1024POX01A
X-1A
26
OUT2A PIU1026POX02A
X-2A
1
OUT2B PIU101POX02B
X-2B

STEP

14
PIU1014
SLEEP

0.05 PIC2501

PIC1502

+5V

PIC901 COC9 PIC10 1

PIR20 COR2

PIC1501 COC15

6
PIU106

2560 Reset
PO2560

2
2 PIJ1102
4
4 PIJ1104 PO2560
2560 MOSI
MOSI
6
6 PIJ1106

1

PIJ1103 3
5
PIJ1105
5

CP2

PIC801

COC7
COC8
C7
C8
0.1uF PIC802
47uF

PIC702

GND

COJ11
J11

2560 Reset

PIU1012

COR37
R37

PIR40 1 PIR3701

+5V
2560 MISO
PO2560
MISO

11
12

PIU1011

PIR6702

2560 SCLK
PO2560
SCLK

16

PIU1016

10
PIU1010
MS2

PIR40 2 PIR3702

ATMEGA16U2-MU

+5V

PIU105

19
POX0Dir
PIU1019
X-Dir
DIR

COR40
R40
0.05

GND

B

VCP

5

COC18
C18
0.1uF

POX0Step
X-Step

GND

PIR5501

0

R10
0

+5V

21
(PCINT7/OC0A/OC1C)PB7 PIU5021
20
(PCINT6)PB6 PIU5020
19
(PCINT5)PB5 PIU5019
18
(T1/PCINT4)PB4 PIU5018
17
MISO
(PD0/MISO/PCINT3)PB3 PIU5017PO16U
16U MISO
16 PO16U MOSI
PIU5016
(PDI/MOSI/PCINT2)PB2
16U MOSI
15
SCLK
(SCLK/PCINT1)PB1 PIU5015PO16U
16U SCLK
14
(SS/PCINT0)PB0 PIU5014

RESET(PC1/DW)

2
PIU502
XTAL2(PC0)
COY1
Y1

PIR10 2

22
VBB1 PIU1022
28
VBB2 PIU1028

13
ROSC
4
PIU104
CP1
PIU1013

PIR2501COR25 PIR2601COR26 PIR2701COR27 PIR2102CR21
OR21
R25
R26
R27
10k
DNP DNP DNP
PIR2502 PIR2602 PIR2702
PIR2101

Microstepping Selection

PIC2401

2

PIC2402

GND

R9
0

PIR902

PIC1801
PIC1802

PIR901COR9 PIR10 1COR10 PIR1 01COR11

+5V

COJ4
J4
PO16U
MISO
16U MISO
PO16U
SCLK
16U SCLK

Microstepping Selection

PIL102

10k

+5V

GND

COL1L1

PIC5202

2
PIU102
ENABLE
PIR601

C6
0.1uF

PIC602

COU1
U1

PIR10110k
COR6
R6

PIR602

FB

8

+24V

+5V

PIC601 COC6 PIC701

PIR102COR1

COC5
C5

POX0En
X-En

GND
PIL101

7

+24V

+5V

PIC401

GND

0.1uF

1

GND
Shield

GND1
GND2

PIC301
COC2
C2

PIC202

5
6

1
3

2
4
+Vin

6

+24V

3
2
PIU403
IN OUT PIU402

PIC201

PIJ102 PIJ104 PIJ10 PIJ103 PIJ105 PIJ106

4

3

2

24V1
24V2

MNT

1A

1

1B

GND

COR5
R5

5

1
2
3
4

PIR401

4

+5V

PWR Switch

PIS10 PIS102 PIS103 PIS104

PIR502

1

USB-B
S2

S1
S1

S2

PIJ20S2 PIJ20S1

+24V

Microstepping Selection

POUVCC
UVCC

PIC101 COC1
C1
PIC102 0.1uF

D-

POD0
D+

PIR402

3

COJ1
J1

Microstepping Selection

COS1
S1

1
UVCC
2
D- PIJ202
3
D+ PIJ203
4
UGND PIJ204
PIJ201

Microstepping Selection

1

COJ2
J2

GND

PIC6302

C63
COC63
0.1uF

GND

ATMEGA2560-16AU

D

D

Title
Size

Number

Revision

D
Date:
File:
1

2

3

4

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6

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2/26/2014
C:\projects\..\RigidBot_main.SchDoc
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