Digital Servo Controller Schematic

USB
Connector D/A Converters
- 2x DAC122S085 for the 4 analog outputs AO-1
PA11 PA5 SCLK - SCLK and DIN signals are going to both IC Conversion AO-2 Analog
PA12 PA7 DIN
AO-3
USB_DISCONNECT PB2 PC8 SYNC - SYNC for AO-1 & AO-2 +3.3 to 0 V ~-10 to ~+10 V Outputs
AO-4
+5V USB PC10 PC9 SYNC1 - SYNC1 for AO-3 & AO-4
(See DAC122S085 datasheet for more COM
information)
A
Motor IA PC4
IB Conversion PC5
Currents IC -6.6 to +6.6 A 0 to +3.3 V PB0

PB6 Hall Encoder HALL 1

PB7 Conversion HALL 2
PB8 +3.3 to 0 V 0 to +5 V HALL 3 Sensors Connector : J1
AI-1 PC0
Analog AI-2 Conversion PC1
AI-3 -10 to +10 V ~+3.3 to ~0 V PC2 +5 V
Inputs AI-4 PC3
COM

A J1-1
J1-2 Hall
J1-3
nTRST PB4 PA0 Motor Encoder A+ Encoder
J1-4
TDI PA15 PA1 Conversion B+
JTAG J1-5
TMS PA13 PA2 Z+
+3.3 to 0 V 0 to +5 V J1-6
Connector TCK PA14
J1-7
TDO PB3 Motor
J1-8
NRST NRST Encoder
J1-9
Controller J1-10
J1-11
STM32F103 J1-12 Rail
Power Amplifier Rail Encoder J1-13 Encoder
PC7 B+
PC6 Conversion A+
J1-14
Motor Connector : J2 PWM_1H PA8 +3.3 to 0 V 0 to +5 V J1-15
PWM Drivers PWM_1L PB13 J1-16 Limit
J2-1 +/A J1-17
J2-2 -/B
Duty Cycle Permissible PWM_2H PA9 Switches
Range = 4 to 96 % PWM_2L PB14 J1-18
J2-3 C
(See L6386D datasheet PWM_3H PA10
J2-4 PC12 Left SW
for more information) PWM_3L PB15
PC11 Limit Switches Right SW
FAULT PB12 D
p

PROGRAM
Conversion
DC_BUS PA3 PB9
0 to +62.1 V 0 to +3.3 V

Thermistor
Conversion
Thermistor TEMP 0 to +100°C 0.13 to +3.3 V PA4
(See Thermistor-ADC Conversion.xlsx
for more information)

Brake
Resistor
BRAKE PB10
Triggering
Circuit
2010/11/16