1 2 3 4

500mA COQ3
Q3
COF4
F4 5V
PIF401 PIF402 PIQ303
3 2
PIQ302
COUSB1
USB1
NLVBUS
VBUS PIC2 01 PIC2301
COC22
C22 COC23
C23
1
PIC2 02 PIC2302 PIR201 COR2
VBUS PIUSB101
2 NLUSB0N
USB_N
10uF 0.1uF
PIQ301 R2

1
D- PIUSB102
NLUSB0P 10k
A 3 USB_P A
D+ PIUSB103
3401
ID
4
PIUSB104 GND
PIR202
GND
5
PIUSB105 PIQ402COQ4

2
6
SHIELD1 PIUSB106
NLPA28 COR14
R14 Q4
7 PA28 1
SHIELD2 PIUSB107 PIR1401 PIR1402
PIQ401
PNP_SMT
8 1k
SHIELD3 PIUSB108

SHIELD4
9
PIUSB109
PIQ403

3
10
PIUSB1010
SHIELD5
11
PIUSB1011
SHIELD6
USB_MICRO GND
micro USB GND

VDDCORE
SWCLK
NLSWCLK NLVDCORE

SWDIO

RESET
NLPB03NLPB02NLPB01NLPB0 NLPB31NLPB30NLSWDIO

PA28

PA27
PB03
PB02
PB01
PB00
PB31
PB30

PB23
PB22
NLPA27NLPB23NLPB2

GND
3V3
PIU4064 PIU4063 PIU4062 PIU4061 PIU406 PIU4059 PIU4058 PIU4057 PIU4056 PIU405 PIU4054 PIU4053 PIU4052 PIU4051 PIU405 PIU40 9

64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
COU4
U4
B SAMD21J18A-AUT B

PB03
PB02
PB01
PB00
PB31
PB30
PA31
PA30
VDDIN
VDDCORE
GND
PA28
RESET
PA27
PB23
PB22
XIN32 1 48 3V3
PIU401 PA00 VDDIO PIU4048
XOUT32 2 47 GND
NLPA02
PIU402 PA01 GND PIU4047
PA02 3 46 USB_P
NLPA03
PIU403 PA02 PA25 PIU4046
PA03 4 45 USB_N
NLPB04
PIU404 PA03 PA24 PIU4045
NLPA23
PB04 5 44 PA23
NLPB05
PIU405 PB04 PA23 PIU4044
NLPA22
PB05 6
PIU406 43
PIU4043 PA22
NLGND PB05 PA22 NLPA21
VDDA GND 7 42 PA21
PIU407 GNDANA PA21 PIU4042
NLPA20
8 41 PA20
NLPB06
PIU408 VDDANA PA20 PIU4041
NLPB17
PB06 9 40 PB17
NLPB07
PIU409 PB06 PB17 PIU4040
NLPB16
PB07 10 39 PB16
NLPB08
PIU4010 PB07 PB16 PIU4039
NLPA19
PB08 11
PIU4011 38 PA19
NLPB09 PB08 PA19 PIU4038
NLPA18
PB09 12 37 PA18
NLPA04
PIU4012 PB09 PA18 PIU4037
NLPA17 3V3
PA04 13 36 PA17
NLPA05
PIU4013 PA04 PA17 PIU4036
NLPA16 VDDCORE
PA05 14 35 PA16 PIC101 PIC201 PIC301
NLPA06
PIU4014 PA05 PA16 PIU4035
PA06 15 34 3V3 COC1
C1 COC2
C2 COC3
C3
NLPA07
PIU4015 PA06 VDDIO PIU4034
PA07 16 33 GND
C
PIU4016 PA07 GND PIU4033 PIC102 0.1uF PIC202 0.1uF PIC302 0.1uF
C
VDDIO
PA08
PA09
PA10
PA11

PA12
PA13
PA14
PA15
PB10
PB11
PB12
PB13
PB14
PB15
GND

GND COL1
L1
3V3 10uH VDDA
PIU4017 PIU4018 PIU4019 PIU402 PIU4021 PIU402 PIU4023 PIU4024 PIU4025 PIU4026 PIU4027 PIU4028 PIU4029 PIU403 PIU4031 PIU4032
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
PIL101 PIL102
PIC501 PIC401
COC5
C5 COC4
C4
3V3 0.1uF PIC502 PIC402 0.1uF
PA08
PA09
PA10
PA11

PA12
PA13
PA14
PA15
PB10
PB11
PB12
PB13
PB14
PB15
GND

NLPA08NLPA09NLPA10NLPA1 NL3V3 NLPB10NLPB1 NLPB12NLPB13NLPB14NLPB15NLPA12NLPA13NLPA14NLPA15

3V3

PIR101COR1
R1
GND
10k
3V3
PIR102 NLRESET
RESET COY1
Y1 PA17
PIS102 PIC601 NLXIN32
XIN32 PIY101
1 PIY102
NLXOUT32
2 XOUT32 PIR302 PIR1302
COC6
C6 PIC2401 PIC2501 COR3
R3 COR13
R13
PIC602 0.1uF C2432.768Hz COC25
COC24 C25 1k 1k
COS1
S1 PIC2402 6.8pF PIC2502 6.8pF PIR301 PIR1301
D PIS10 PID401 COD4
D4
PID601 COD6
D6 D
GND
PID402 red
PID602 blue

GND

MCU RESET Oscillator GND GND

1 2 3 4
 1 2 3 4
COP2
P2 COP3
P3 COP4
P4 COP5
P5 COP6
P6 COP7
P7 COP8
P8 COP9
P9
CO

1
2

1
2

1
2

1
2

1
2

1
2

1
2

1
2
logo
201 PI 20 NL1B0PINL1B0301 PI 302
NL1A0PI NL1A0 401 PI 402 NL2B0PI NL2B0501 PI 502
NL2A0PINL2A0 601 PI 602 NL3B0PINL3B0701 PI 702
NL3A0PI NL3A0 801 PI 802 NL4B0PI NL4B0901 PI 902
NL4A0PI NL4A0
1A+

2A+

3A+

4A+
1B+

2B+

3B+

4B+
1A-

2A-

3A-

4A-
1B-

2B-

3B-

4B-
makeblock
COCA1
CA1 COCA2
CA2 COCA3
CA3 COCA4
CA4
A A
D44 NLPB04
PB04PICA101
1 16 NLV0
V+ D48 NLPB17
PB17 1 16 V+ D52 NLPB12
PB12 1 16 V+ D11 NLPA16
PA16
1 16 V+
NLPB05 Enable Vmot PICA1016
NLPB16
PICA201 Enable Vmot PICA2016
NLPB13 Enable PICA301 Vmot PICA3016
NLPA21 Enable PICA401 Vmot PICA4016
D45 PB05PICA102
2 15 GND D49 PB16PICA202
2 15 GND D53 PB13 2 15 GND D7 PA21
2 15 GND
MS1 GND PICA1015 MS1 GND PICA2015 PICA302 MS1 GND PICA3015 PICA402 MS1 GND PICA4015
D46 NLPB06
PB06PICA103
3 14 1B+ D50 NLPB01
PB01PICA203
3 14 2B+ D54 NLPB14
PB14 3 14 3B+ D2 NLPA14
PA14
3 14 4B+
MS2 2B PICA1014 MS2 2B PICA2014 PICA303 MS2 2B PICA3014 PICA403 MS2 2B PICA4014
D47 NLPB07
PB07PICA104
4 13 1B-
PICA1013 D51 NLPB00
PB00PICA204
4 13 2B-
PICA2013 D55 NLPB15
PB15 4
PICA304 13
PICA3013 3B- D38 NLPA13
PA13
4
PICA404 13
PICA4013 4B-
MS3 2A MS3 2A MS3 2A MS3 2A
5
PICA105 Reset 12 1A-
PICA1012 5
PICA205 12 2A-
PICA2012 5
PICA305 12
PICA3012 3A- 5
PICA405 12
PICA4012 4A-
1A Reset 1A Reset 1A Reset 1A
6
PICA106 11 1A+
PICA1011 6
PICA206 11 2A+
PICA2011 6
PICA306 11
PICA3011 3A+ 6
PICA406 11
PICA4011 4A+
NLPA08 Sleep 1B Sleep 1B Sleep 1B Sleep 1B
D4 PA08PICA107
7 10 5V D6 NLPA20
PA20PICA207
7 10 5V D12 NLPA19
PA19 PICA307
7 10 5V D8 NLPA06
PA06 PICA407
7 10 5V
NLPA09 Step VDD PICA1010 Step VDD PICA2010 Step VDD PICA3010 Step VDD PICA4010
D3 PA09PICA108
8 9 GND D5 NLPA15
PA15PICA208
8 9 GND D10 NLPA18
PA18 PICA308
8 9 GND D9 NLPA07
PA07 PICA408
8 9 GND
Dir GND PICA109 Dir GND PICA209 Dir GND PICA309 Dir GND PICA409

Carrier Carrier Carrier Carrier

Motor Carrier
COP14 COP15 3V3 3V3
V+ P14 V+ P15
COP16
P16 PIP1401 1 PIP1501 1 PIR1 02 PIR1202
NLPI03V3 PIP1601
PI_3V3 NL5V
5V PIP1402 2 PIP1502 2 COR11
R11 COR12
R12
SDA
SCL
NLPA22
NLPA23
PA23
NLGPIO2
PA22 GPIO2 PIP1603
NLGPIO3 PIP1605
GPIO3
1
3
2
4
PIP1602
PIP1604
GND
5V
D56 PIQ104 D57 PIQ204 A4
NLPA05
PA05 PIR1 01
4.7kCOP18
P18
A5
NLPB02
PB02 R1201
PIPIP1901
COP19
4.7kP19
5 6 PIP1606 NLPB30
PB30 COQ1
Q1 NLPB31
PB31 COQ2
Q2 PIP1801 1 1
B NLGPIO4 PIP1607
GPIO4
7 8
NLGPIO14
GPIO14
PIP1608
NLTXD0
TXD0 NLPB23
PB23
PIPIQ101
R902 DTU09N03
PIQ201
PIR10 2 DTU09N03 PIC20 1 PIP1802 2
PIC2101 PIP1902 2
B
NLGND PIP1609
GND NLGPIO15
GPIO15 NLRXD0
RXD0 NLPB22
PB22 COC20
C20 COC21
C21
9
Header 5X2
10 PIP16010 COR9
R9
100k PIQ103 COR10
R10
100k PIQ203 PIC20 2 10uF PIC2102 10uF
PIR901 PIR10 1
GND GND

Raspberry Pi Connector GND GND

POWER MOS T0 T1
COP13
P13
D30 PB22/TX5 PB22 NLSWCLK
SWCLK D58
PIP1301 1 2 PIP1302
NLSWDIO
D31 PB23/RX5 PB23 SWDIO D59
PIP1303 3 4 PIP1304

5V PIP1305 5 6 PIP1306

Header 3X2
GND
V+ 5V
C COP1 C
V+ P1 PIC701 PIC801 PIC901 PIC10 1 PIC1901
COC7
C7 COC8
C8 COC9
C9 COC10
C10 C19 PIC2701
COC19
PIP101 1 2 PIP102 100uF/35V 100uF/35V 100uF/35V 100uF/35V 100uF/35V COC27
C27 COP10
P10 5V COP11
P11 COP12
P12
PIP103 3 4 PIP104 PIC702 PIC802 PIC902 PIC10 2 PIC1902 PIC2702 0.1uF Tx->1 NLPA10
PA10 PIP1001 1 PIP1101 1 PIP1201 1
Rx<-0 NLPA11
PA11
Header 2X2 PIP1002 2 PIP1102 2 PIP1202 2
SCL PA23
GND PIP1003 3 PIP1103 3 PIP1203 3
GND GND SDA PA22
NLPB11
PIP1004 4 PIP1104 4 PIP1204 4
SCK PB11 PIP1005 5 PIP1105 5 PIP1205 5
MISO NLPA12
PA12 PIP1006 6 PIP1106 6 PIP1206 6
COC11
C11 MOSI NLPB10
PB10 PIP1007 7 PIP1107 7 PIP1207 7
0.1uF A3 NLPA04
PA04
COU2
PIC1101 PIC1102
COL2 COU3 NLPB09
PIP1008 8 PIP1108 8 PIP1208 8
U2 L2 6.8uH 5V U3 3V3 A2 PB09
D1
COD1 COF2 10uF NLPB08
PIP1009 9 PIP1109 9 PIP1209 9
V+ F2 1.5A 1 8 1 5 A1 PB08
COJP1
JP1 PIU201 BOOT PH PIU208 PIL201 PIL202 PIU301 IN OUT PIU305 PIP10010 10 PIP11010 10 PIP12010 10
1
PIJP101 PID101 PID102
PIF201 PIF202
2
PIU202 VIN
7
GND PIU207 PID502 COC12
C12 COC13
C13 2
PIU302 GND
PIC2601 PIC2801 A0 NLPA02
PA02 PIP10011 11 PIP11011 11 PIP12011 11
2
PIJP102
PID20 PIC2901 P
COC29
C29 I C 1 4 0 2 3
PIU203 EN
6
COMP PIU206COC15
10uF 3
PIU303 EN
COC26
4 C26
NC/FB PIU304
COC28
C28
3 SS34 100uF/35V COC14
C14 PIU204 4 5 C15 PIC1501 C16 PIC1601
COC16 COD5
D5 PIC1201 PIC1301 PIC1801 10uFPIC2602 PIC2802 0.1uF Header 11 Y Header 11 R Header 11 B
PIJP103
COD2 SS VSENSE PIU205
D2 PIC2902 PIC1401 0.1uFPIC1701 PID501 SS34 COC18
C18 TLV70033DDCR GND
PID201 M7 COC17
C17 TPS54331 120pFPIC1502 68pF PIC1602 PIC1202 PIC1302 PIC1802 0.1uF
GND 10nFPIC1702 PIR401 GND
D GND 5V R4 COR4 D
COR5
R5 COR6
R6 29.4k GND
PIR502 PIR501
PIR601 PIR602
GND 1.91k 10k PIR402
GND
GND

1 2 3 4