User manual
28l
Robotics experiment with PIC microcontroller
Figure 2-3 : Schematic diagram of RBX-877 V2.0 Robot Controller board
23
18
37
RB4
RD0
RD1
RB1
RB2
RC4/SDA
RC3/SCL
RC6/TxD
RC7/RxD
CR1
Ceramic
Resonator
20MHz
13 14
9
2
7
1
15
10
16
13 12 5 4
IC4
L293D
1A
2A
12EN
4A
3A
Vcc1
34EN
1Y
2Y
4Y
3Y
3
6
14
11
R11
2k2
LED4
DIR. #A
LED5
DIR. #B
K18A-K18B
MOTOR-A
K19A-K19B
MOTOR-B
K17
AN7/RE2
K16
AN6/RE1
K15
AN5/RE0
K14
AN4/RA5
K9
AN3/RA3
K13
AN2/RA2
R12
2k2
DIRECT
INVERT
DIRECT
INVERT
+
+
+
+
8
+Vm
+Vm
K8
SERVO1
38
RB5
+Vm
K9
SERVO2
35
34
20
19
6
+5V
24
RC5
+Vm
K10
SERVO3
+5V
R5
4k7
SW2
RESET
R6
1k
RB6
+5V
11 32
1
RB7
40
39
MCLR
+5V
25
26
+5V
RC2/CCP1
17
RC1/CCP2
16
R3
0.47
ZD1
5.1V
L1
10
µ
H
CE
OUT
GND
4
5
D2
MBRA340T3
Q1
FDS6680A
ZD2
5.6V
IC2
NCP1450
5.0
+5V
1
2
C4
1000
µ
F
6.3V
C5
0.01
µ
F
50V
R4
1k
LED2
ON
Vpp
GND
PGC
J1
ICD2
PGD
K12
AN1/RA1
K11
AN0/RA0
RE2/AN7
RE1/AN6
RE0/AN5
RA5/AN4
RA3/AN3
RA2/AN2
RA1/AN1
RA0/AN0
2
3
4
5
7
8
9
10
K5
TxD/RC6
K6
RxD/RC7
K3
SDA/RC4
K4
SCL/RC3
+5V
+5V
R8
4k7
R7
4k7
RA4
RB0/INT
K7
INT/RB0
+5V
R9
150
DSP1
LCD 16x2 (back light option)
4
6
RS
E
D7 D6 D5 D4 D3 D2 D1 D0 R/W
+5V
BLA
+V
Vo
GNDBLK
JP1
BACK LIGHT
ON
14 13 12 11 10 9 8 7 5 15 2
3
1
16
R5
47
VR1
10k
BRIGHTNESS
RD2
RD3
21
22
RD7
RD6
RD5
RD4
33
36
RB3
R10
510
LED3
RB3
27
28
29
30
RC0
SP1
PIEZO
15
12
31
PGD
+5V
Vpp
+5V
K2
ISP
IC3
PIC16F887
C6
0.1
µ
F
50V
C7
10
µ
F 50V
C9
0.1
µ
F 50V
C8
0.1
µ
F 50V
C2
0.1/50V
+Vm
K1
DC input
+4.8~6Vdc
S1
POWER
C1
100
µ
F
10V
D1
1N5819
+
-
R1
1k
LED1
LOW-BAT.
IC1
KIA7042
1
3
2
GND
+V
RESET
R2
47k
C3
100
µ
F
10V
PGC