User Manual

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10
10
11
11
12
12
D D
C C
B B
A A
25Heating detection
22Negative oxygen ion fan2supply unit 21solenoid valve
GND
24VB
104C1
+3.3VA
24VA
1
2
3
4
P1
Power(Red)
RELAY1
942H-1A-24DS-T
国标座
POWER
24VB24VA
E2
220uF/50V
E1
220uF/50V
F1
10A/250V
24V
1
2
1
2
3
4
5
6
7
8
9
10
P3
ValveA(Gray)
Fuse Hold
+5VC
3
1
2
P4
BackWarm(Green)
R2 20K Valve_DATSwitch
R3 1K
GND 24VB
GND
Connect
Warm-S4
R5 1K
Valve_CLK
R6 1K
24VA
+5VC
Plug
GND
D1 P6KE43A
Q1
Y1
Valve_LATCH
R9 1K
+3.3VA
1
2
3
SIP1
5V/24V
JDQ
Q2
1GM
R8
2K
24VB
GND
C3 104
VM
1
VCLAMP
2
OUT1
3
OUT2
4
GND
5
OUT3
6
OUT4
7
nENBL
8
RESET
9
NC
10
LATCH
11
GND
12
SCLK
13
SDATIN
14
SDATOUT
15
nFAULT
16
U1
DRV8804
D2
M7
FET1
ST3422A
R7
10K
R10
100R
R11
2K
+5VC
GND
104
C4
GND
R15 10K
R12
10K
C5
103
GND
ValveA
D3
4148
Q3
Y2
Q4
Y1
R13
10K
R14
2K
24VB
1
2
3
4
5
P5
VB1-VB2(Black)
GND+5VC
+5VC
4Unidirectional roller and heating
VM
1
VCLAMP
2
OUT1
3
OUT2
4
GND
5
OUT3
6
OUT4
7
nENBL
8
RESET
9
NC
10
LATCH
11
GND
12
SCLK
13
SDATIN
14
SDATOUT
15
nFAULT
16
U2
DRV8804
Q5
Y1
Temperature detection
+3.3VA
3Bluetooth power supply
GND
104
C6 FET2
ST3422A
R16
10K
R17
100R
R18
2K
1
2
3
SIP2
5V/24V
24VB
+5VA
R25 10K R26 100R
+5VC
R19
10K
1
2
3
4
5
6
7
8
9
10
P6
ValveB(Green)
GND
ValveB
D4
4148
Q6
Y2
Q7
Y1
R20
10K
R21
2K
+5VC
+5VC
BT_Power
Q8
Y1
R22
2K
R23 20K R24 20K
B
1
C
3
E
2
Q9
Y1
FET3
AO3407
P-J BackWarm_dect
GND
R27 1K
P-Z ZeroCheck
R29 1K
+3.3VA 24VB
R34 10K
24VB
R30 10K
R31 2K
GND
L2
BT-LED
R32 2K
VM
1
VCLAMP
2
OUT1
3
OUT2
4
GND
5
OUT3
6
OUT4
7
nENBL
8
RESET
9
NC
10
LATCH
11
GND
12
SCLK
13
SDATIN
14
SDATOUT
15
nFAULT
16
U3
DRV8804
valve1
+5VC
1
2
P9
VB3(Black)
FET4
LR024N
R35
100R
GND
104
C8
+5VC
R/H_Enable
C9
102/1K
C10
102/1K
D5 SS26
1
2 3
4
L1
501TF
1
2
P8
R/H(White)
Q12
Y1
Q10
Y2
R33
10K
R36 2K
GND
Q11
Y1
BT-GNDBT-VCC
FB1
102
FB2
102
D6
4148
+3.3VA
GND
C11 104 C12 104
GND GND
R39
10K
FET5
ST3422A
R37
10K
R40
100R
R41
2K
GND
R38
0.1R/3W
R43
0R
valve1
R42
10K
ValveC
GND
D7
4148
Q13
Y2
Q14
Y1
R44
10K
R45
2K
VM
1
VCLAMP
2
OUT1
3
OUT2
4
GND
5
OUT3
6
OUT4
7
nENBL
8
RESET
9
NC
10
LATCH
11
GND
12
SCLK
13
SDATIN
14
SDATOUT
15
nFAULT
16
U4
DRV8804
GND
GND
1.MCU
+3.3VA1 +3.3VA1
R48
10K
BT-Feedback
+3.3VA
R46 10K
+3.3VA1+3.3VA1
VDDA VBAT
+3.3VA1 +3.3VA1+3.3VA1 + 3.3VA1
VDD1 VDD2 VDD3 VDD4 VDD5
Manual communicatorIO口
19Bluetooth communication
RESETVREF+
R47
10R
Q15
Y1
R50
330R
R52
10K
MCU-GNDMCU-GNDMCU-GND
VREF-
C15
104
C16
106
C17
104
C18
105
C19
104
C20
104
C21
104
C22 335 C23
104
C24
104
C25
104
+5VA
GND
C26
104
FB6
102
GND
+5VC
BT-RXD
R56
5.1K
R57
10K
R-R
Flap_CheckTread_Enable
Roller_Check
TIM5/2
Q17
Y1
Q20
Y1
R62
5.1K
ADC123 10-13
Pump2_CheckReserved_TX
ADC123 0-3
FB8
102
Reserved_RX Heat_Check
Warm-S
ADC12 14
GND
1
2
3
4
5
6
P12
Reserved(White)
1
2
3
4
5
P14
BT(Blue)
MCU_State
ADC12 15
BT-GND R66
5.1K
LDDG_Enable
ADC12 4-7
GND
R/H_Enable
+5VE
BT-R
TIM8/3
ADC-IO
R70 1K
+5VC
BT-T
R68
10K
R69
5.1K
ValveB
TIM1
BT-VCC
GPRS_TX ValveC
+3.3VA1
R75
10K
USART1
GPRS_RX A-TXD
FT-IO1
R71
20K
R74 1K
USART4/3
BT-TXD
Q21
Y1
Q22
Y1
R72
5.1K
R73
5.1K
Pump1_Enable A-RXD
1
2
3
4
5
P15
Program
USB_Power USART5 TXBT-TXD
Valve_LATCHSWDIO
GND
SWDIO
C28
104
GND
SWCLK Valve_CLK
SWCLK
R76
10K
Valve_DATBDDG_S1
6Backrest heating
7Walking backrest
TreadOut1
TreadOutA
BDDG_Phase
R77 0R
ADC12 8-9
+5VC_Power BDDG_Decay
MCU-GND
BT-RXDBOOT1
USART5 R X
TreadOut2
BDDG_FaultFT-IO1
C29
102/1K
1
2 3
4
L5
501TF
TreadOut1TreadOut2
TreadOutB
C30
102/1K
JDQ BDDG_Reset
+5VC
RESET
LDDG_PhaseLDDG_Reset
C32
103
18Manual communicator
17Manipulator communication
LDDG_DecayValveA
24VB+5VC
LDDG_Fault
GND
C31
104
Q23
Y1
1
2
3
P17
Back Heat(Yellow)
+5VA
H-RXD
R78
5.1K
R79
10K
BDDG_Enable BT-Feedback
24VB+3.3VA
Heat_Check
R80
150R
R81 1M
USART3--
Roll_Enable LDDG_S3
R82 10K
R83 2K
H-TXD LDDG_S2
TIM2 3-4
TreadOutA
Q24
Y1
Q27
Y1
R84
5.1K
H-RXD LDDG_S1
USART3
FET7
LR024N
R85
100R
C3315P
OSC1
PUMP-JDQ BDDG_S3
GND
Heat_Enable
C34
104
D11 SS26
Q25
Y2
Q26
Y1
R86 10K
R88 2K
GND
BDDG_S2
Tread_EnableTreadOutB
CP1
1
CP2
2
VCP
3
VM
4
OUT1
5
ISEN
6
OUT2
7
OUT2
8
ISEN
9
OUT1
10
VM
11
VREF
12
VREF
13
GND
14
V3P3OUT
15
nRESET
16
nSLEEP
17
nFAULT
18
DECAY
19
PHASE
20
ENBL
21
NC
22
I0
23
I1
24
I2
25
I3
26
I4
27
GND
28
IC1
DRV8840
R87 2K
MCU-GND
GND
TIM4
P_EN Roll_Decay
Tread_Phase
D10
4148
R90 2K
X1
8M
C36
104
R91
5.1KBT_Power Roll_Reset
Tread_Decay
GND
TreadOutA
GND
C43 104
R94
2K
C3815P
OSC2
R95 10K
R92
1M
GND
R89
0.1R/3W
R93 10K
+5VA
C35
104
FB10
R96 10K
H-R
FB11
Roll_FaultOSC1
Tread_Fault
R99 2K
+5VA
H-T
FB12
R97
10K
R98
5.1K
Roll_PhaseOSC2
Tread_Reset
R100 2K
ESD4 ESD5
FB14
Heat_Enable
C41 104
C42
474
1
2
3
4
P19
Robat(Orange)
MCU-GND
BOOT0
R103 10K
Tread_Phase
FB13
GNDGND
R101
0.1R/3W
H-TXD
Q28
Y1
Q29
Y1
R104
5.1K
R105
5.1K
Tread_DecayBOOT0
MCU-GND
BOOT1
R10710K
Tread_Fault
Tread_ResetRESET
GND
R106
10K
R108
33K
GND
Tread_Circle
VREF- WID_THA
VREF+ WID_THB
+3.3VA
Shoulder_B
GND
FB15
Shoulder_A
Arm_UP
Arm_DW
wireless charger
L7
MCU
R112
1K
ZeroCheck
G/HVBAT
VDD1
15keyboard shortcuts 16.5VA/3.3VApower-supply module
VDD2
MCU_State
VDD3
VDD4
VDD5
A-RXD
R113
5.1K
R114
10K
MCU-GND
VDDA
BOOT0
94
NC
73
NRST
14
OSC_IN
12
OSC_OUT
13
PA0-WKUP
23
PA1
24
PA2
25
PA3
26
PA4
29
PA5
30
PA6
31
PA7
32
PA8
67
PA9
68
PA10
69
PA11
70
PA12
71
PA13/JTMS/SWDIO
72
PA14/JTCK/SWCLK
76
PA15/JTDI
77
PB0
35
PB1
36
PB2/BOOT1
37
PB3/JTDO
89
PB4/JNTRST
90
PB5
91
PB6
92
PB7
93
PB8
95
PB9
96
PB10
47
PB11
48
PB12
51
PB13
52
PB14
53
PB15
54
PC0
15
PC1
16
PC2
17
PC3
18
PC4
33
PC5
34
PC6
63
PC7
64
PC8
65
PC9
66
PC10
78
PC11
79
PC12
80
PC13-TAMP ER-RTC
7
PC14-OS C32_IN
8
PC15-OS C32_OUT
9
PD0
81
PD1
82
PD2
83
PD3
84
PD4
85
PD5
86
PD6
87
PD7
88
PD8
55
PD9
56
PD10
57
PD11
58
PD12
59
PD13
60
PD14
61
PD15
62
PE0
97
PE1
98
PE2
1
PE3
2
PE4
3
PE5
4
PE6
5
PE7
38
PE8
39
PE9
40
PE10
41
PE11
42
PE12
43
PE13
44
PE14
45
PE15
46
VDD_1
50
VDD_2
75
VDD_3
100
VDD_4
28
VDD_5
11
VDDA
22
VREF-
20
VREF+
21
VSS_1
49
VSS_2
74
VSS_3
99
VSS_4
27
VSS_5
10
VSSA
19
VBAT
6
MCU1
STM32F103VCT6
Vin
1
GND
2
Vout
3
T1
AMS1117-3.3
Q30
Y1
Q31
Y1
R115
5.1K
+3.3VA1+3.3VA+5VA
E4 47uF/16V
FB17
L8
5VA-LED
R1162K
1
2
3
P20
5V-P(White)
+5VA
E3
47uF/16V
F2
2A/63V
GND
1
2
3
4
P21
GND TX RX VCC
C44
104
C45
104
C37
104
FB18
R117
5.1K
R120
330R
A-R
GND
GND MCU-GND
FB19
A-T
R118
10K
R119
5.1K
1
2
3
4
P22
USB-P(White)
FB20
+3.3VA
R123
10K
A-TXD
Q32
Y1
Q33
Y1
R121
5.1K
R122
5.1K
RollOutA
(Orange)
+3.3VA +5VC
12Bidirectional roller
GND
1
2
P23
Roll(Blue)
P_EN
Q34
Y2
R124
2.7K
GND
C48
103
C49
103
C50
103
C51
103
RollOutB
C46
102/1K
C47
102/1K
1
2 3
4
L9
501TF
C53
103
24VB
GND
C52
104
R1251M
RollOutA
GND
C54
104
Roll_EnableRollOutB
CP1
1
CP2
2
VCP
3
VM
4
OUT1
5
ISEN
6
OUT2
7
OUT2
8
ISEN
9
OUT1
10
VM
11
VREF
12
VREF
13
GND
14
V3P3OUT
15
nRESET
16
nSLEEP
17
nFAULT
18
DECAY
19
PHASE
20
ENBL
21
NC
22
I0
23
I1
24
I2
25
I3
26
I4
27
GND
28
IC2
DRV8840
R126 2K
27.+5VCPower supply selection
Roll_PhaseR127 2K
14.GPRS/HAND
Roll_DecayRollOutA
R128
2K
10Electric backrest lever
Electric shank rod
R129 10K
+5VC +5VC
Roll_FaultR130 2K
+5VA
R141 10K
R144 100R
Roll_ResetR131 2K
C55 104
C56
474
GNDGND
R132
0.1R/3W
+5VC_Power
Q35
Y1
R133
2K
+3.3VA1
FB21 102 FB22 102 R13410K R13510K R13610K R13710K R13810K R13910K
FET8
AO3407
BDDG_S1 LDDG_S1R142 1K R143 1K
GND
R140
10K
R145
33K
GND
R152 10K
+5VC
G/HBDDG_S2 LDDG_S2
R150 1K R151 1K
R146
10K
R149
1K
MCU-GNDBDDG_S3 LDDG_S3
R153 1K R154 1K
1
2
3
SIP3
G/H
1
2
3
4
5
6
P24
BDDG_C(Red)
1
2
3
4
5
6
P25
LDDG_C(Yellow)
GNDGND
C58 104 C59 104 C60 104 C61 104 C62 104 C63 104
28ground connection
13air pump
小腿电动杆检测
E-GND1 E-GND2 E-GND3 E-GND4
BDDG_Out1
LDDG_Out1
L10
T12*6*4
GND
CY1
222/250V
CY2
222/250V
CY3
222/250V
CY4
222/250V
L11
T12*6*4
BDDG_Out2
C64
102/1K
C65
102/1K
1
2
3
P26
BDDG(Red)
1
2
3
P27
LDDG(Yellow)
C66
102/1K
C67
102/1K
LDDG_Out2
C69
103
C71
103
24VB24VB
GNDGND
C68
104
C70
104
24VB
R156 1M R157 1M
+5VC
BDDG_Out1 LDDG_Out1
+5VC
GND GND
C72
104
C73
104
Q36
Y1
BDDG_Enable LDDG_EnableBDDG_Out2
CP1
1
CP2
2
VCP
3
VM
4
OUT1
5
ISEN
6
OUT2
7
OUT2
8
ISEN
9
OUT1
10
VM
11
VREF
12
VREF
13
GND
14
V3P3OUT
15
nRESET
16
nSLEEP
17
nFAULT
18
DECAY
19
PHASE
20
ENBL
21
NC
22
I0
23
I1
24
I2
25
I3
26
I4
27
GND
28
IC3
DRV8840
CP1
1
CP2
2
VCP
3
VM
4
OUT1
5
ISEN
6
OUT2
7
OUT2
8
ISEN
9
OUT1
10
VM
11
VREF
12
VREF
13
GND
14
V3P3OUT
15
nRESET
16
nSLEEP
17
nFAULT
18
DECAY
19
PHASE
20
ENBL
21
NC
22
I0
23
I1
24
I2
25
I3
26
I4
27
GND
28
IC4
DRV8840
LDDG_Out2R158 2K R159 2K
LDDG_PhaseBDDG_Phase
R160 2K R161 2K
+3.3VA
Pump2_Check
R162
150R
LDDG_DecayBDDG_DecayBDDG_Out1 LDDG_Out1
R163
2K
R164 2K
R16510K
R166 2K
R167
10K
R168 10K
BDDG_Fault LDDG_FaultR169 2K R170 2K
FET9
LR024N
R172
100R
LDDG_ResetBDDG_ResetR173 2K R174 2K
R17110K
Pump2_Enable
D13 SS26
Q37
Y1
Q38
Y2
R1772K
C74 104 C75 104
C76
474
C77
474
GNDGNDGNDGND
R175
0.1R/3W
R176
0.1R/3W
D12
4148
C78
104
GND GND
GND
R178
0.1R/3W
R18110K
GNDGND
R179
10K
R180
10K
R182
33K
R183
33K
R148
10K
R155
75K
R147
10K
C57
103
Power_Fault
+5VA
+5VD
+5VD
FB3
102
24VB
DC24V
1
2
3
4
P10
(White)
GND
L3
100uH
24VB
Manipulator communication
1
2
3
P28
LEGHEAT(Green)
1
2
P16
BUMP(Purple)
1
2
P7
LegWarm(Yellow)
FB9
+5VC
1
2
3
4
5
P18
Hand(Red)
P-Z
+3.3VA
Power_Fault
GND
GND
BackWarm_dect
DC24c
1
2
3
4
P13
LegPower(Black)
GND
L4
100uH
24VB
Leg power supply
FB16
+5VC
FB4
102
+5VC
+5VC
+5VC
Q16
Y1
24VB+ 3.3VA
Heat2_Check
R55
150R
R58 10K
R59 2K
FET6
LR024N
R61
100R
Heat2_Enable
D9 SS26
Q18
Y2
Q19
Y1
R63 10K
R64 2K
D8
4148
C27
104
GND
GND
GND
R65
0.1R/3W
R67 10K
heating
Heat2_Enable
1
2
P11
HEAT(Black)
Heat2_Check
+3.3VA
1
2
P2
Heat2 Warm(Red)
R1 20K
Heat2_S
R4 1K
GND
C2 104
Heat2_S
ADC-IO
GND
+5VE
+5VD
R28
150R
C7
104
Roller_Check
GND
R49
5.1K
R
RE
DE
D GND
A
B
VCC
U6
MAX485
R110
10K
C39
104
C40
105
R109
4.7K
R111
10K
R102
10K
ESD3
SURGE06C15
USART_DR
UM3352EESA
GPRS_RX
GPRS_TX
G-T
G-R
+5VC
+5VC
GND
GND
GND GND
R
RE
DE
D GND
A
B
VCC
U5
MAX485
R54
10K
C13
104
C14
105
R53
4.7K
R60
10K
R51
10K
Reserved_DR
UM3352EESA
R-T
R-R
GND
GND
GND GND
Reserved_TX
FB5
102
FB7
102
GND
GND
+5VE
USART_DR
Pump2_Enable
Reserved_DR
+5VE
GND
GND
G-R
G-T
R-T
ESD6
SURGE06C15
ESD1
SURGE06C15
ESD2
SURGE06C15
GND
L6
100uH
24VA
Q39
Y2
R184
2.7K
GND
R185
10K
VBAT
Reserved_RX