XV-11 PCB Information

Return to Index

 

Information on the Main PCB, part lists and data on headers.

Neato XV-11 BOM and parts identification

Ref. Desg. Manufacturer Part Number Description
U1 Allegro A3950SEUTR-T DMOS Full-Bridge Motor Driver
U5 Allegro A3950SEUTR-T DMOS Full-Bridge Motor Driver
U16 ST LIS302DL 3-axis – ± 2g/± 8g smart digital output “piccolo” accelerometer
U17 Fairchild MM74HC4051MTC 8-Channel Analog Multiplexer
U18 Fairchild MM74HC4051MTC 8-Channel Analog Multiplexer
U26 Allegro A4490EESTR-T Triple Output Step-Down Switching Regulator
U29 ATMEL AT91SAM9XE128-QU AT91 ARM Thumb Microcontrollers PQFP208
U32 Winbond W988D6FB SDRAM (typeno varies) – 256Mb (32MByte) Mobile LPSDR
U34 ZETEX ZXMHC3A01T8 COMPLEMENTARY 30V ENHANCEMENT MODE MOSFET H-BRIDGE
U36 National Semi NC7SZ14 Tiny UHS Inverter with Schmitt Trigger Input
U39
U44 National Semi NC7SZ14 Tiny UHS Inverter with Schmitt Trigger Input
U45 National Semi NC7SZ14 Tiny UHS Inverter with Schmitt Trigger Input
U35 ST NAND128W3A2BN6 16MByte small-page NAND flash
(on bottom side of PCB)

 

Ref. Desg. Description
J1 Charging Jack
J2 UI Board (LCD/Buttons)
J3 Direct connection to the ERASE line of the AT91 processor!! Shorting this jumper and rebooting the
XV-11 will result in a complete loss of programming. No known recovery method at this time.
SW1 Switch input used to hard reboot the processor. Probably used in conjunction with J3 for development
purposes.
P1 Battery pack thermistor input (Thermistor measures ~10k at 70 degrees Fahrenheit on battery)
For battery locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Wire Color\Pins
Orange,Blue\1,2 = Left Battery
Yellow,Green\3,4 = Right Battery
P2 Main power input
P3 Header for Bluetooth module (BlueSMiRF)
P4 Unknown. Leads to SPI of the AT91 processor: Probably MMC/SD connection.
P5 Bumper switch inputs x4
For button locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Wire Color\Pins
Blue\1,2 = Left Side
Yellow\3,4 Top Left
Purple\5,6 Top Right
Orange\7,8 Right Side
P6 Header used to communicate with the AT91 via serial connection.
P6:1 Unused (square pad), P6:2 AT91_RXD, P6:3 AT91_TXD, P6:4 Ground
P8 LIDAR Motor connector
P9 Brush motor Input/Output
Pins
1,2 = Brush motor power
3,4,5 = Input from encoder
P10 JTAG. Bottom row: VDDIO (square pin), TRST, TDI, TMS, TCK. Top row: GND, GND, SRST, TDO, RTCK. The JTAG-port unfortunately is software-disabled for debugging the ARM processor core.
P11 Viewing XV-11 from above with the laser at the bottom and bumpers up top:
1,2,3 = Top Right Side Wall Distance Sensor (Sharp 0A51SK F 0X)
P12 LIDAR power/serial connection
P13 Magnetic strip sensors and floor distance sensors (detecting edge before falling down stairs)
For sensor locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Pins
1,2,3 = Top Left Distance Sensor (Sharp 0A51SK F 0X)
4,5,6 = Top Left Hall Effect Sensor (Allegro 21E)
7,8,9 = Top Right Distance Sensor (Sharp 0A51SK F 0X)
10,11,12 = Top Right Hall Effect Sensor (Allegro 21E)
P14 Speaker
P16 Dustbin installed/removed input (Soft rubber button under dustbin)
P18 Charging input for wall docking charger
P19 Vacuum motor
P20 USB Connection to ATMEL processor
P22 Right Wheel
Pins
1,2 = motor power
3,4,5 = Input from encoder
P23 Left Wheel
Pins
1,2 = motor power
3,4,5 = Input from encoder
P24 Temperature input from brush motor, taped to motor (Measures ~10k at 70 degrees Fahrenheit)
Return to Index

Leave a Reply

Your email address will not be published. Required fields are marked *