Schematic

5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
MCU
ROBOTIS / OROCA
MCU_NRESET
ARD_A[0..5]
ARD_D[0..15]
ARD_A1
ARD_A2
ARD_A3
ARD_A4
ARD_A5
ARD_A0
ARD_D0
ARD_D1
ARD_D2
ARD_D3
ARD_D4
ARD_D11
ARD_D12
OTG_FS_VBUS
OTG_FS_N
OTG_FS_P
OTG_FS_ID
OTG_FS_OC
OTG_FS_PWR
OTG_FS_ID
OTG_FS_N
OTG_FS_P
OTG_FS_OC
OTG_FS_VBUS
BUT_USER1
BUT_USER2
SW _USER1
SW _USER2
CAN_RX
CAN_TX
CAN_TX
CAN_RX
MPU_SPI_INT
OTG_FS_PWR
JTMS_SW DIO
JTCK_SW CLK
JTDO_SW O
JTDI
JTMS_SW DIO
JTCK_SW CLK
JTDI
JTDO_SW O
DXL_RXD
DXL_TXD
DXL_DIR
USER_UART2_TX
USER_UART2_RX
TEST_PIN6
ARD_D8
ARD_D7
BUT_USER2
SW _USER1
ARD_D6
ARD_D9
SYS_STS_LED
SYS_USER_LED4
ARD_D15
ARD_D14
SYS_USER_LED1
BUT_USER1
ARD_D13
ARD_D5
ARD_D10
SW _USER2
SYS_USER_LED3
SYS_USER_LED2
OLLO_S3
OLLO_S5
OLLO_S6
OLLO_S8
OLLO_S10
OLLO_S1
MCU_NRESET
OLLO_S11
OLLO_S13
OLLO_S15
OLLO_S16
OLLO_S18
OLLO_S20
DXL_RXD
DXL_TXD
DXL_DIR
USER_UART8_RX
USER_UART8_TX
SYS_STS_LED
MPU_SPI_CS
MPU_SPI_CLK
MPU_SPI_SDI
MPU_SPI_SDO
MPU_SPI_INT
TEST_PIN3
TEST_PIN4
TEST_PIN5
TEST_PIN1
TEST_PIN2
TEST_PIN[1..18]
MPU_SPI_CS
MPU_SPI_CLK
MPU_SPI_SDO
MPU_SPI_SDI
TEST_PIN7
TEST_PIN8
TEST_PIN9
TEST_PIN10
TEST_PIN11
TEST_PIN12
BUZZER_SIG
DXL_PW R_EN
BUZZER_SIG
DXL_PW R_EN
TEST_PIN13
TEST_PIN14
TEST_PIN15
TEST_PIN17
ADC_BAT_PW R_IN
ADC_BAT_PW R_IN
SYS_USER_LED1
SYS_USER_LED2
SYS_USER_LED3
SYS_USER_LED4
OLLO_S1
OLLO_S3
OLLO_S5
OLLO_S6
OLLO_S8
OLLO_S10
USER_UART8_RX
USER_UART8_TX
OLLO_S11
OLLO_S15
OLLO_S13
OLLO_S16
OLLO_S20
OLLO_S18
TEST_PIN16
TEST_PIN18
USER_UART2_RX
USER_UART2_TX
OLLO_SLEEP
OLLO_SLEEP
VDD3o3V_MCU
VDD3o3V
VDD3o3V
VDD3o3V_MCU
VDD3o3V
VDD3o3V
VDD_REF+
VDD3o3V
RTC_BAT
OTG_FS_OC
CAN_TX
JTMS_SW DIO
JTCK_SW CLK
JTDO_SW O
JTDI
MCU_NRESET
CAN_RX
OLLO_S11
OLLO_S15
OLLO_S16
OLLO_S20
DXL_TXD
DXL_RXD
DXL_DIR
USER_UART8_RX
USER_UART8_TX
SYS_STS_LED
MCU_NRESET
BUT_USER1
BUT_USER2
SW _USER1
SW _USER2
MPU_SPI_SDO
MPU_SPI_INT
MPU_SPI_CLK
MPU_SPI_CS
MPU_SPI_SDI
OTG_FS_PWR
OTG_FS_P
OTG_FS_VBUS
OTG_FS_N
OTG_FS_ID
ARD_A[0..5]
ARD_D[0..15]
TEST_PIN[1..18]
BUZZER_SIG
DXL_PW R_EN
BATT_CHARGE_LED
ADC_BAT_PW R_IN
SYS_USER_LED1
SYS_USER_LED2
SYS_USER_LED3
SYS_USER_LED4
OLLO_S13
OLLO_S18
OLLO_S1
OLLO_S5
OLLO_S6
OLLO_S10
OLLO_S3
OLLO_S8
USER_UART2_RX
USER_UART2_TX
OLLO_SLEEP
Title
Size Document Number R e v
Date: Sheet o f
MCU(STM32F746ZGT6) F
OpenCR
A3
1 12Friday, April 14, 2017
Title
Size Document Number R e v
Date: Sheet o f
MCU(STM32F746ZGT6) F
OpenCR
A3
1 12Friday, April 14, 2017
Title
Size Document Number R e v
Date: Sheet o f
MCU(STM32F746ZGT6) F
OpenCR
A3
1 12Friday, April 14, 2017
Y2
SP8150E7-25.000M
CRY1
1
GND1
2
CRY2
3
GND2
4
C79
C1005-0.1uF-35V
R73
R1005-10K
C71
C1005-0.1uF-35V
C46
C1005-0.1uF-35V
R98 R1005-0R
C47
C1005-0.1uF-35V
U6C
STM32F746ZGT6
VDD1
17
VDD2
30
VDD3
39
VDD4
52
VDD5
62
VDD6
72
VDD7
84
VDD8
108
VDD_USB33
95
VDD10
121
VDD11
131
VDD12
144
VBAT
6
VDDA
33
VREF+
32
VSS1
16
VSS2
38
VSS3
51
VSS4
61
VSS5
83
VSS6
94
VSS7
107
VSS8
120
VSS9
130
VSSA
31
VCAP1
71
VCAP2
106
R109 R1005-0R
C51
C1005-0.1uF-35V
C75
C1005-0.1uF-35V
C68 C1005-8pF-25V
C54
C1608-2.2uF-10V
C67
C1005-0.1uF-35V
FB6
BLM18PG121SN1
2 1
FB4
BLM18PG121SN1
2 1
C61
C1005-0.1uF-35V
R93 R1005-100R
C58 C1005-9pF-25V
U6A
STM32F746ZGT6
PA0-WKUP
34
PA1
35
PA2
36
PA3
37
PA4
40
PA5
41
PA6
42
PA7
43
PA8
100
PA9
101
PA10
102
PA11
103
PA12
104
PA13
105
PA14
109
PA15
110
PB0
46
PB1
47
PB2
48
PB3
133
PB4
134
PB5
135
PB6
136
PB7
137
PB8
139
PB9
140
PB10
69
PB11
70
PB12
73
PB13
74
PB14
75
PB15
76
PC14-OSC32_IN
8
PC15-OSC32_OUT
9
PH0-OSC_IN
23
PH1-OSC_OUT
24
NRST
25
BOOT0
138
PDR_ON
143
PC0
26
PC1
27
PC2
28
PC3
29
PC4
44
PC5
45
PC6
96
PC7
97
PC8
98
PC9
99
PC10
111
PC11
112
PC12
113
PC13-ANTI_TAMP
7
R100 R1005-NC
C70
C1608-1uF-16V
C74C1608-1uF-16V
R108 R1005-0R
Y1
STL9020C-32.768K
CRY1
1
CRY2
2
C80
C1005-0.1uF-35V
R103
R1005-10K
C81
C1005-0.1uF-35V
SW 5
ST-1185S
R111 R1608-0R
R52 R1005-0R
C65 C1005-8pF-25V
U6B
STM32F746ZGT6
PD0
114
PD1
115
PD2
116
PD3
117
PD4
118
PD5
119
PD6
122
PD7
123
PD8
77
PD9
78
PD10
79
PD11
80
PD12
81
PD13
82
PD14
85
PD15
86
PE0
141
PE1
142
PE2
1
PE3
2
PE4
3
PE5
4
PE6
5
PE7
58
PE8
59
PE9
60
PE10
63
PE11
64
PE12
65
PE13
66
PE14
67
PE15
68
PF0
10
PF1
11
PF2
12
PF3
13
PF4
14
PF5
15
PF6
18
PF7
19
PF8
20
PF9
21
PF10
22
PF11
49
PF12
50
PF13
53
PF14
54
PF15
55
PG0
56
PG1
57
PG2
87
PG3
88
PG4
89
PG5
90
PG6
91
PG7
92
PG8
93
PG9
124
PG10
125
PG11
126
PG12
127
PG13
128
PG14
129
PG15
132
R53 R1005-0R
R105 R1005-0R
C69
C2012-4.7uF-16V
R96 R1005-2.7K
FB3
FCM1608KF-601T03
2 1
C82
C1608-2.2uF-10V
C62
C1005-0.1uF-35V
R95 R1005-2.7K
C56
C1005-0.1uF-35V
C100C1608-1uF-16V
C50
C2012-4.7uF-16V
R97 R1005-10K
C60 C1005-9pF-25V
R102 R1005-0R