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

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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)