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nSTROBE

PC ready to
send

Out

indicate data byte

nAUTOFEED
Out

PC acknowledges
data from uC

PC ready to
receive

nINIT
Out

DATA
In-Out

BUSY

Command Byte
uC ready to
receive

Data Byte

Return Value

uC acknowledges
data

In
uC ready to
send data

nERROR
In

0.5 usec

#.e,{#u\/L"#'3Ln8
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1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13

1131659968

Parallel Port1

R9
4.7k

VCC

3
5
7
9

A4
A3
A2
A1

A4
A3
A2
A1

RESET

S1

MC74HC244A

Y4
Y3
Y2
Y1

U9B

MC74HC244A

Y4
Y3
Y2
Y1

StrobeIn U9A

AutoLine
Error
Initial
Select

B1
B2
B3
B4
B5
B6
B7
B8

MC74HC245A

A1
A2
A3
A4
A5
A6
A7
A8

G
DIR

U7

12
Ack
14
Busy
16
PaperOut 18

Strobe

2
3
4
5
6
7
8
9

19
1

19

17
15
13
11

VCC

C6

R5
4.7K

VCC

R22

4.7K R19

4.7K

0.1uF

JUMPER

VCC

JUMPER
D0
D1
D2 JP2
D3
D4
D5
D6 JP1
D7

8
6
4
2

R21
100

18
17
16
15
14
13
12
11

4.7K

4.7K

4.7k

R6

4.7K

R3

IN

U2
MC34064

IN

U4
MC34164

1
2

R1
R20
R2
4.7K

GND

GND

RSET

RSET

D0

4.7K

R4

D1
D2
D3
D4
D5
D6
D7

10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
D1
D2
D3
D4
D5
D6
D7
RESET
XIRQ
IRQ
CSPROG
CSGEN
CSIO1
CSIO2
PG3
PG2
G1

C2
18pF

4.7k

R8

8MHz

U3

18pF

C1

PE4
PE0
ADR0
ADR1
ADR2
ADR3
ADR4
ADR5
ADR6
ADR7
ADR8
ADR9
ADR10
ADR11
ADR12
ADR13
ADR14

9
8
7
6
5
4
3
2
1
68
67
66
65
64
63
62
61
D0
4XOUT
XTAL
EXTAL
R/W
E
MODA/LIR
MOBD/VSTBY
Vss
VRH
VRL
PE7
PE3
PE6
PE2
PE5
E1

0.1uF

C5

VCC
+ C3
100uF/16v

A15

G0
PD0/RXD
PD1/TXD
PD2/MISO
PD3/MOSI
PD4/SCK
PD5/SS
VDD
PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0
B7

27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12

0.1uF

C8

0.1uF

C7

A[12..0]

MC68HC11F1

60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44

MPU1

1
3
4
5
11
10
12
9

VCC

MAX232

C1+
C1C2+
C2T1IN
T2IN
R1OUT
R2OUT

U1

VCC

4.7k

R7

A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12

JP3

HEADER 2

2
1

4
3
2
1

20
22
27
1

10
9
8
7
6
5
4
3
25
24
21
23
2

2764

Vs+
VsVCC
GND
T1OUT
T2OUT
R1IN
R2IN

2
6
16
15
14
7
13
8

MC74HC74A

PRE
CLK
D
CLR

U12A

CE
OE
PGM
VPP

A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12

U11

D[7..0]

Q
Q

5
6

C15
0.1uF

VCC

D0
D1
D2
D3
D4
D5
D6
D7

100uF/16V

+ C4

11
12
13
15
16
17
18
19

A0
A1
A2
A3

D0
D1
D2
D3
D4
D5
D6
D7

11
12
13
14
15
16
17
18

Number

14-Sep-1999
A:\Robot.sch

Date:
File:

Y1
Y2
Y3
Y4
MC74HC244A

A1
A2
A3
A4

MC74HC244A
U10A

A1
A2
A3
A4

U10B
Y1
Y2
Y3
Y4

DIR
G

A8
A7
A6
A5
A4
A3
A2
A1

C9
0.1uF

VCC

18
16
14
12

9
7
5
3

A0
A1
A2
A3

Sheet of
Drawn By:
6

DB9

J1

Revision

1
6
2
7
3
8
4
9
5

Address

Control

Data Bus

C10
C11
C12
C13
C14
0.1uF 0.1uF 0.1uF 0.1uF 0.1uF

1
19

9
8
7
6
5
4
3
2

Robot Arm Control Interface Board

2
4
6
8

11
13
15
17

19

MC74HC245A

B8
B7
B6
B5
B4
B3
B2
B1

U8

C32
47uF/16V

R/-W
CSIO1
Clock
A15

VO

Size

Title

C31
0.1uF

D0
D1
D2
D3
D4
D5
D6
D7

VI

U6
LM7805
GND