Instructions Circuit Diagram

- 54 -
1
2
34
A
B
C
D
4
3
2
1
D
C
B
A
SERVO6
SERVO5
SERVO4
SERVO3
SERVO2
SERVO1
1
2
3
S1
1
2
3
S2
1
2
3
S3
1
2
3
S4
1
2
3
S5
1
2
3
S6
R21
1R 1/2W
R22
10K
C21
10u/16V
R23
1R 1/2W
R24
10K
C22
10u/16V
R25
1R 1/2W
R26
10K
C23
10u/16V
R27
1R 1/2W
R28
10K
C24
10u/16V
R29
1R 1/2W
R30
10K
C25
10u/16V
R31
1R 1/2W
R32
10K
C26
10u/16V
VCC_SRV
current1
current2
current3
current4
current5
current6
X1
16M
C9
22p
C10
22p
C7
10n
C6
100n
L2
10uH
VCC
R4
10k
C8
100n
D3
1N4148
RST
VCC
RESET
LED1
R8
220
R9
220
R
G
VCC
T1
L5602S
VCC
R6
1k
C12
470u/16V
Y0
13
Y1
14
Y2
15
Y3
12
Y4
1
Y5
5
Y6
2
Y7
4
EN
6
S0
11
S1
10
S2
9
Z
3
U3
74HC4051
A
B
C
ADC_EN
EXT_ADC
EYE_UP
EYE_DN
EYE_L
EYE_R
servo1_u_pos
servo1_d_pos
R11
1k
R10
1k
SW2
SW3
R7
100k
VCC_SRV
C11
220n
D4
1N4007
beep
VCC
R12
1k
Q1
PN100
bep
(AD0) PA0
51
(AD1) PA1
50
(AD2) PA2
49
(AD3) PA3
48
(AD4) PA4
47
(AD5) PA5
46
(AD6) PA6
45
(AD7) PA7
44
(ALE) PG2
43
(A8) PC0
35
(A9) PC1
36
(A10) PC2
37
(A11) PC3
38
(A12) PC4
39
(A13) PC5
40
(A14) PC6
41
(A15) PC7
42
(RD) PG1
34
(WR) PG0
33
PF0 (ADC0)
61
PF1 (ADC1)
60
PF2 (ADC2)
59
PF3 (ADC3)
58
PF4 (ADC4 / TCK)
57
PF5 (ADC5 / TMS)
56
PF6 (ADC6 / TDO)
55
PF7 (ADC7 / TDI)
54
AREF
62
AGND
63
AVCC
64
PE0 (PDI / RXD0)
2
PE1 (PDO / TXD0)
3
PE2 (AC+ / XCK0)
4
PE3 (AC- / OC3A)
5
PE4 (INT4 / OC3B)
6
PE5 (INT5 / OC3C)
7
PE6 (INT6 / T3)
8
PE7 (INT7 / IC3)
9
PB0 ( SS )
10
PB1 (SCK)
11
PB2 (MOSI)
12
PB3 (MISO)
13
PB4 (OC0)
14
PB5 (OC1A)
15
PB6 (OC1B)
16
PB7 (OC2 / OC1C)
17
(INT0 / SCL) PDO
25
(INT1 / SDA) PD1
26
(INT2 / RXD1) PD2
27
(INT3 / TXD1) PD3
28
(IC1) PD4
29
(XCK1) PD5
30
(T1) PD6
31
(T2) PD7
32
XTAL2
23
XTAL1
24
GND
53
GND
22
VCC
21
VCC
52
PEN
1
RESET
20
PG4 (TOSC1)
19
PG3 (TOSC2)
18
U2
ATMEGA64
servo1
servo2
servo3
servo4
servo5
servo6
PDI
PDO
current1
current2
current3
current4
current5
current6
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
PG2
SS
SCK
MOSI
MISO
SCL
SDA
RXD1
TXD1
UBAT
EXT_ADC
INT6
INT7
A
B
C
ADC_EN
EYE_EN
servo1_u_pos
servo1_d_pos
PD4
PD5
PD6
PD7
bep
C17
220n
R13 100k
R14 100k
R15 100k
R16 100k
A. SCHALTBILD ROBOT ARM RA1-PRO