NEW NEW 10/27/2021 GARCIA Status change date name POWER_LOADER 00 POWER POWER_LOADER 01 4/8 POWER_LOADER 02 4/8 Vo+ 3/8 4 Vin- 3/8 3 8 CONVERTER 7 Trim 6 60V-24V Vo- 1 PS1 Power Converter CNT 1/8 2 1/8 SS+ 5/8 Vin+ DC-DC 5/8 5 We reserve all rights in this document and in the informa- created with POWER LOADER SCHEMATICS_TEST tion contained therein. Reproduction, use or disclosure C:\Users\dgarcia4\OneDrive\OneDrive - ALTEN Group\Documents\MASTERHAUL\ZUKEN\ to third parties without express authority is strictly 11/2/2021 forbidden. Electric © Zuken 11/2/2021 15:33 POWER_LOADER 03 + BATTERY 60 V 45A PWR - GND 2/2 2/2 -X18 1/2 -X19 POWER_LOADER 05 1/2 POWER_LOADER 04 POWER_LOADER 06 POWER_LOADER 19 J7A-H1 J9-29 J7A-H2 J9-30 J7A-H3 33/48 J9-31 J7A-H4 J9-32 J7A-J1 J9-33 J7A-J2 J7A-J3 POWER_LOADER 20 37/48 POWER_LOADER 21 POWER_LOADER 22 J9-34 J9-35 J7A-J4 J9-36 J7A-K1 J9-37 J7A-K2 J9-38 J7A-K3 J9-39 J7A-K4 J9-40 J7A-L1 J9-41 J7A-L2 J9-42 J7A-L3 J9-43 J7A-L4 J9-44 J7A-M1 J9-45 J7A-M2 J9-46 J7A-M3 J9-47 J7A-M4 J9-48 1/3 V+ GND GND 2/3 3/3 3/3 -X93 J7C-Z53 J7C-Z52 MOTOR 27/50 28/50 28/50 28/50 28/50 29/50 29/50 29/50 29/50 30/50 30/50 30/50 30/50 31/50 31/50 31/50 31/50 32/50 32/50 32/50 32/50 33/50 33/50 33/50 33/50 34/50 34/50 34/50 34/50 35/50 35/50 35/50 35/50 36/50 36/50 36/50 36/50 37/50 37/50 37/50 37/50 38/50 38/50 38/50 38/50 39/50 39/50 39/50 39/50 40/50 40/50 40/50 40/50 41/50 41/50 41/50 41/50 42/50 42/50 42/50 42/50 43/50 43/50 43/50 43/50 44/50 44/50 44/50 44/50 45/50 45/50 45/50 45/50 46/50 46/50 46/50 46/50 47/50 47/50 47/50 47/50 48/50 48/50 48/50 48/50 49/50 49/50 49/50 49/50 50/50 50/50 50/50 50/50 J10-29 23/48 GND SIGNAL 2/4 RECP_4 SIGNAL 3/4 2/4 2/6 2/6 24/48 24/48 1/4 1/4 2/4 2/4 3/4 3/4 -X127 RECP_4 3/4 3/6 1408987 -X124 1408987 25/48 3/6 25/48 4/6 4/6 26/48 26/48 5/6 5/6 27/48 27/48 6/6 6/6 28/48 28/48 -X142 ASM08AM06002 -X143 ASM08AF06002 DTM04-12P DTM06-12S -X63 J10-36 J10-38 4/12 32/48 32/48 2 3/12 3/12 34/48 34/48 3 1/12 1/12 35/48 35/48 NC NC C C -X62 4/12 4 1 M7 J10-42 M8 J14-D2 J13-D3 J14-D3 J13-D4 J14-D4 J13-E1 J14-E1 J13-E2 J14-E2 J13-E3 J13-E4 J13-F1 J13-F2 J13-F3 J13-F4 J14-E3 A2 J14-E4 J14-F1 J14-F2 J14-F3 J14-F4 J13-G1 Power Loader Breakout Board J14-G1 J13-G2 J14-G2 J13-G3 J14-G3 J13-G4 J14-G4 J13-H1 J14-H1 J13-H2 J14-H2 J13-H3 J14-H3 J13-H4 J14-H4 J13-J1 J14-J1 J13-J2 J14-J2 J13-J3 J14-J3 J13-J4 J14-J4 J13-K1 J14-K1 J13-K2 J14-K2 J13-K3 J14-K3 J13-K4 J14-K4 J10-43 J13-L1 J14-L1 J10-44 J13-L2 J14-L2 J13-L3 J14-L3 J13-L4 J14-L4 J10-45 DTM04-12P J10-46 -X63 J10-47 J10-48 J10-49 J10-50 DTM06-12S -X62 5/12 5/12 45/48 6/12 6/12 46/48 7/12 7/12 47/48 8/12 8/12 48/48 J13-M1 J14-M1 J13-M2 J14-M2 J13-M3 J14-M3 J13-M4 J14-M4 Solenoid -X114 21/48 22/48 Solenoid -X115 1/6 3/6 2/6 2 1 V+ EXTENDED RETRACTED 3 4 ENERGIZE 5/6 4/6 5 6 GND EN GND ASM08AM06002 6/6 6/6 ASM08AF06002 -X116 1/6 2/6 2 V+ EXTENDED RETRACTED 3 3/6 ENERGIZE 4/6 4 EN GND 5 1410666 3/6 4/8 4/6 -X148 5/6 -X149 ASM08AF06002 20/48 6/6 20/48 1/4 VCC 2/4 2/4 TX 21/48 3/4 3/4 RX 22/48 -X135 4/4 23/48 23/48 1/6 1/6 ASM08AF04001 24/48 24/48 2/6 2/6 1/4 -X148 5/6 19/48 -X149 18/48 19/48 1410666 3/6 6/8 4/6 18/48 2/6 17/48 1/6 16/48 17/48 -X122 16/48 2/6 1/6 -X121 1410665 2 4/8 15/48 -F13 15/48 5/6 6/6 6 GND ASM08AM06002 ASM08AF06002 6/6 -X148 5/6 -X149 -X148 14/48 1 1/6 2/6 2 1 V+ EXTENDED RETRACTED 3 3/6 ENERGIZE 4/6 4 EN GND 6 5 1410666 3/6 2/8 4/6 1/8 1410665 1410665 1 2 2/8 13/48 14/48 IMU Limit Sensor LS10 VCC Limit Sensor LS12 V+ J13-D2 13/48 TX 2 RX 25/48 25/48 3/6 4/4 -X134 GND ASM08AM04001 1/4 -X125 3/6 GND 1/4 2/4 2/4 3/4 3/4 1408987 -X132 RECP_4 1/4 26/48 26/48 4/6 4/6 27/48 27/48 5/6 5/6 2/4 2/4 28/48 28/48 6/6 6/6 3/4 3/4 -X145 ASM08AF06002 1/4 -X144 ASM08AM06002 -X126 1408987 -X63 41/48 41/48 45/48 45/48 V+ J14-D1 GND J13-D1 12/48 GND J14-C4 11/48 12/48 SIGNAL J13-C4 11/48 SIGNAL J14-C3 10/48 V+ J13-C3 10/48 V+ J14-C2 GND J13-C2 9/48 GND J14-C1 8/48 9/48 -X149 J13-C1 8/48 -X148 J14-B4 SIGNAL -X147 -F16 1 V+ 23/48 J13-B4 7/48 SIGNAL 26/26 1/6 J14-B3 6/48 7/48 1410665 2 6/8 26/26 1/6 J13-B3 6/48 -F18 25/26 J14-B2 5/48 1410665 5/8 1 25/26 J13-B2 5/48 1410666 5/8 22/48 J14-B1 -X149 22/48 1/4 -X123 J13-B1 4/48 -X148 24/26 17/48 J14-A4 3/48 4/48 1410665 3/8 1 24/26 11/48 J13-A4 3/48 1410666 3/8 21/48 GND 2/6 -F11 21/48 V+ 6/6 -X149 23/26 Limit Sensor LS11 1410666 1/8 -X61 23/26 -X131 1/4 1/6 -X120 V+ 20/48 1 20/48 V+ 5/6 ASM08AM06002 GND -F12 ASM08AF06002 2 6/6 6/6 3 5/6 -X146 5/6 4 4/6 -X147 5 3/6 1410666 3/6 2/8 4/6 1410665 1 -F10 2 2/8 6 2/6 2/6 -X113 1/6 1/6 Solenoid V+ ASM08AM06002 1 -X119 2 6/6 6/6 3 5/6 -X146 5/6 -X147 ASM08AF06002 EXTENDED RETRACTED 4 4/6 EN GND ENERGIZE 5 3/6 1410665 2 4/8 1410666 3/6 4/8 4/6 2/6 2/6 -X112 1/6 1/6 V+ ASM08AM06002 1-X118 22/26 J10-35 J10-41 ASM08AF06002 EXTENDED 22/26 J10-34 J10-40 2 19/48 J10-32 J10-39 6/6 5/6 -X146 5/6 18/48 19/48 J10-31 J10-37 6/6 RETRACTED 3 ENERGIZE 4 4/6 EN GND 5 3/6 1410666 3/6 6/8 4/6 GND 6 2/6 2/6 -X111 1/6 1/6 -X117 18/48 21/26 J10-30 J10-33 Solenoid 6 GND -F07 1 2 17,48 -F06 1 16,45 2 10 -F05 1 15,42 2 -F04 1 20/26 J10-27 J10-28 Solenoid ASM08AM06002 1 EXTENDED RETRACTED EN GND GND ENERGIZE -X11 6,33-X12 18 14,39 2 -F03 13,36 2 -F02 2 J12-26 21/26 Limit Sensor LS9 27/50 27/50 J10-26 J12-25 20/26 V+ 27/50 J10-25 16/48 GND 26/50 5/8 16/48 141066617/48 1410665 2 6/8 26/50 26/50 5/8 1410665 GND 26/50 19/26 SIGNAL 25/50 18/26 19/26 SIGNAL 25/50 25/50 J12-24 18/26 GND 25/50 J10-24 15/48 GND 24/50 -X14615/48 4/4 24/50 24/50 J12-23 -X147 4/4 24/50 J10-23 17/26 TX 23/50 17/26 RX 23/50 23/50 J12-22 14/48 RX 23/50 J10-22 J12-21 13/48 14/48 3/4 22/50 J10-21 13/48 3/4 22/50 22/50 J12-20 16/26 VCC 22/50 J10-20 15/26 16/26 TX 21/50 J12-19 15/26 2/4 20/50 21/50 21/50 J10-19 12/48 2/4 20/50 20/50 21/50 J12-18 12/48 IMU 20/50 J10-18 14/26 VCC 19/50 J12-17 10/48 1/4 18/50 19/50 19/50 J10-17 3/8 10/48 1410666 11/48 1/4 18/50 18/50 19/50 J12-16 3/8 1410665 -X136 ASM08AM04001 18/50 J10-16 -X147 9/48 -X137 ASM08AF04001 17/50 J12-15 13/26 14/26 Solenoid PWR GND -X11 -X9 5,30-X10 -X12 -X9 -X10 8 11 -X7 4,27 -X8 + MOTOR PWR -X7 -X8 + - GND PWR GND - -X5 + MOTOR MOTOR PWR GND -X5 -X6 3,25 -X6 -X3 -X4 + MOTOR PWR GND -X3 -X4 2,23 -X1 1,19 -X2 + MOTOR PWR -X1 1 1 17/50 17/50 11/12 DTM04-12P -X63 12/12 DTM04-12P -X133 RECP_4 -X62 11/12 DTM06-12S -X62 12/12 DTM06-12S GND 6 EN GND 5 ENERGIZE 4/6 4/6 4 RETRACTED 3/6 3/6 3 EXTENDED 2/6 2/6 2 V+ 1/6 1/6 -X108 1 17/50 J10-15 8/48 9/48 -X146 J14-A3 ASM08AM06002 53/53 53/53 ASM08AF06002 6/6 6/6 52/53 51/53 51/53 52/53 J7C-Z51 2 5/6 -F15 -X107 1/5 1/5 -X99 2/5 3/5 4/5 1 5/6 J7C-Z50 50/53 50/53 J7C-Z49 49/53 49/53 J7C-Z48 48/53 48/53 J7C-Z47 47/53 47/53 J7C-Z46 46/53 46/53 2/5 3/5 4/5 ASM08BM05002 5/5 5/5 3/3 -X98 1 SOL6 Solenoid -X101 A B B 0 0 Encoder LS8 Limit Sensor A ENC 2 2/3 1/3 1/5 2/5 3/5 -X100 4/5 ASM08BM05002 5/5 3/3 J7C-Z45 45/53 45/53 J7C-Z44 44/53 J7C-Z43 43/53 44/53 ASM08BF05002 43/53 J7C-Z42 J7C-Z41 41/53 41/53 3/3 2/3 1/5 1/3 -X104 2/5 3/5 4/5 5/5 3/3 ASM08AF03004 2/3 2/3 1/3 Limit Sensor LS4 -X106 ASM08AM03004 ASM08BF05002 ASM08AF03004 40/53 40/53 J7C-Z40 39/53 39/53 J7C-Z39 38/53 38/53 J7C-Z38 37/53 37/53 J7C-Z37 36/53 36/53 J7C-Z36 35/53 35/53 J7C-Z35 34/53 34/53 J7C-Z34 33/53 33/53 J7C-Z33 32/53 32/53 J7C-Z32 J7C-Z31 31/53 31/53 J7C-Z30 J7C-Z29 29/53 -X97 ASM08BF05002 1/5 16/50 J12-14 8/48 1 J13-A3 2/48 V+ PWR PWR PWR GND GND A GND A A A B 0 ASM08AF03004 15/50 16/50 16/50 J10-14 13/26 5/48 J14-A2 1/48 2/48 GND 0 ENC 6 SIGNAL 2/3 V+ V+ B SIGNAL SIGNAL SIGNAL SIGNAL GND GND V+ B B 0 0 Encoder 1/3 ASM08AF03004 PWR 15/50 15/50 16/50 J12-13 4/48 J13-A2 1/48 GND SIGNAL ENC 4 -X89 -X103 ASM08AM03004 1/3 3/3 2/3 1/3 -X102 29/53 28/53 28/53 3/3 -X92 15/50 J10-13 12/26 3/48 J14-A1 -X59 GND GND Limit Sensor 3/3 V+ PWR J9-50 14/50 12/26 3/48 -X146 1/84/48 1410666 5/48 J13-A1 SOL8 PWR GND LS16 SIGNAL GND Encoder GND 2/3 2/5 GND 3/5 2/3 SIGNAL 4/5 GND SIGNAL ASM08AF03004 5/5 1/3 -X94 LS2 Limit Sensor 1/3 V+ SIGNAL LS18 Limit Sensor -X95 -X88 V+ ASM08AM03004 4/5 3/3 SIGNAL 3/5 3/3 -X91 2/5 SIGNAL GND 1/5 LS6 2/3 2/3 V+ ASM08AM03004 1/3 GND ASM08BM05002 POWER_LOADER 27 Limit Sensor ASM08AM03004 1/3 V+ ASM08AF03004 27/53 27/53 J7C-Z28 26/53 26/53 J7C-Z27 25/53 25/53 J7C-Z26 24/53 24/53 J7C-Z25 23/53 23/53 J7C-Z24 22/53 22/53 J7C-Z23 21/53 21/53 J7C-Z22 J7C-Z21 20/53 20/53 J7C-Z20 19/53 19/53 J7C-Z19 18/53 18/53 J7C-Z18 17/53 17/53 J7C-Z17 16/53 16/53 J7C-Z16 15/53 15/53 J7C-Z15 14/53 14/53 J7C-Z14 13/53 13/53 J7C-Z13 12/53 12/53 J7C-Z12 J7C-Z11 11/53 V+ -X87 5/5 HMS V+ POWER_LOADER 28 ASM08AF03004 GND V+ ASM08AM03004 -X96 GND 3/3 POWER_LOADER 26 2/3 IN 1/3 OUT IN ASM08AM03004 OUT 11/53 J7C-Z10 J7C-Z9 10/53 10/53 3/3 3/3 9/53 9/53 2/3 2/3 J7C-Z8 8/53 8/53 -X86 POWER_LOADER 25 1/3 1/3 J7C-Z7 J7C-Z6 -X90 7/53 POWER_LOADER 24 7/53 J7C-Z5 J7C-Z4 J7C-Z3 J7C-Z2 POWER_LOADER 23 J7C-Z1 J9-49 13/50 14/50 14/50 J12-12 2/48 7/48 E-STOP 29/48 J9-28 13/50 13/50 14/50 J10-12 11/26 -X147 1/48 2/48 6/48 6/6 J7A-G4 13/50 J12-11 10/26 11/26 1410665 1/8 1/48 7/48 6/6 J9-27 12/50 J10-11 10/26 SOL7 SOL4 6/48 6 J7A-G3 J9-26 12/50 12/50 J12-10 9/26 SOL3 GND J7A-G2 J9-25 12/50 J10-10 8/26 9/26 4/6 PL Main Board J7A-G1 J9-24 11/50 J12-9 8/26 5 25/48 J9-23 10/50 11/50 11/50 J12-8 SEN_VCC J9-22 10/50 10/50 11/50 J10-9 A13 SEN_B_VOUT J9-21 10/50 J10-8 4/6 J9-20 9/50 3/6 J9-19 8/50 9/50 7/26 4 J9-18 8/50 9/50 7/26 3/6 J7A-E2 8/50 9/50 J12-7 3 J9-17 8/50 J10-7 6/26 SEN_A_VOUT J7A-E1 7/50 J12-6 5/26 6/26 SEN_GND J9-16 J7A-F4 POWER_LOADER 18 9 J7A-D4 J7A-F3 SOL1 2 J9-15 J7A-F2 SOL2 1 J7A-D3 7/50 J10-6 5/26 1/6 J9-14 7/50 J12-5 2 J7A-D2 J7A-F1 M6 -F09 J9-13 7/50 J10-5 1/6 J7A-D1 6/50 J12-4 4/26 1 J9-12 5/50 6/50 Motor Controller Board 3/26 4/26 PWR J7A-C4 5/50 6/50 J10-4 3/26 MOTOR J9-11 5/50 6/50 J12-3 6/6 J7A-C3 5/50 J10-3 6/6 J9-10 4/50 6 J7A-C2 A1 M5 GND J9-9 3/50 4/50 2/26 SEN_VCC J7A-C1 3/50 4/50 2/26 4/6 J9-8 3/50 4/50 J12-2 5 4/6 J7A-B4 3/50 J10-2 4 3/6 J9-7 2/50 1/26 SEN_B_VOUT J7A-B3 2/50 1/26 SEN_A_VOUT J9-6 2/50 J12-1 3/6 J7A-B2 J7A-E4 POWER_LOADER 17 + GND J9-5 J7A-E3 -X2 - J7A-B1 2/50 J10-1 3 16/48 J9-4 1/50 2 POWER_LOADER 16 M4 1 14/48 J7A-A4 1/50 2 1/6 13/48 J9-3 1/50 SEN_GND 12/48 J9-2 1/50 -A13.X2 -X15 PWR POWER_LOADER 15 J9-1 -X17 -A13.X1 2/2 -A1.X1 -X16 -F08 9/48 LS7 V+ -X81 ASM08AF03004 1/6 8/48 V+ 1 5/48 GND 2/2 3/3 GND J11-1 3/3 SIGNAL SIGNAL 1/2 2/3 Limit Sensor 2/3 53/53 53/53 1/3 MOTOR POWER_LOADER 14 M3 ASM08AM03004 -X85 1/3 J7B-Y53 52/53 J7B-Y52 52/53 51/53 51/53 J7B-Y51 J7B-Y50 49/53 50/53 50/53 49/53 OUT J11-2 ASM08AF03004 IN OUT J7B-Y49 3/3 48/53 J7B-Y48 J7B-Y47 48/53 47/53 47/53 J7B-Y46 46/53 46/53 -X80 2/3 1/3 -X79 45/53 J7B-Y45 J7B-Y44 45/53 44/53 43/53 44/53 43/53 IN J7A-A3 4/48 -F01 3/3 2/3 1/3 GND 3/3 2/3 1/3 GND M2 7 HMS V+ 40A LS5 V+ V+ 1/2 3/3 -X83 2/3 1/3 GND GND 2 Limit Sensor SIGNAL SIGNAL -X49 -X48 V+ V+ J7B-Y43 J7B-Y42 41/53 J7B-Y41 LS1 ASM08AM03004 ASM08AM03004 GND GND V+ ASM08AF03004 3/3 -X82 3/3 SIGNAL 41/53 ASM08AF03004 2/3 J7B-Y39 J7B-Y38 39/53 39/53 -X78 1/3 2/3 1/3 SIGNAL 38/53 J7B-Y37 Limit Sensor V+ M1 -X84 ASM08AM03004 V+ 38/53 36/53 36/53 J7B-Y36 LS3 GND Limit Sensor LS15 ASM08AM03004 -X76 -X77 GND ASM08AF03004 3/3 3/3 2/3 35/53 35/53 J7B-Y35 J7B-Y34 33/53 34/53 34/53 J7B-Y33 J7B-Y32 33/53 32/53 32/53 31/53 31/53 J7B-Y31 J7B-Y30 J7B-Y29 2/3 3/3 1/3 1/3 ASM08BM05002 -X69 -X70 5/5 28/53 28/53 J7B-Y28 SIGNAL ASM08BF05002 0 B 5/5 4/5 4/5 J7B-Y27 J7B-Y26 27/53 3/5 26/53 26/53 27/53 3/5 A GND PWR 2/5 25/53 25/53 J7B-Y24 24/53 24/53 1/5 2/5 1/5 0 5/5 5/5 23/53 J7B-Y23 J7B-Y22 23/53 22/53 22/53 J7B-Y21 ASM08AF03004 2/3 0 B A B 4/5 4/5 A 21/53 21/53 20/53 20/53 SIGNAL V+ 40/53 1/3 1/3 Solenoid Encoder 3/5 3/5 2/5 2/5 GND GND PWR J7B-Y19 J7B-Y20 -X67 1/5 PWR 1/5 -X68 19/53 J7B-Y18 16/53 17/53 J7B-Y17 17/53 16/53 J7B-Y16 15/53 15/53 J7B-Y15 14/53 13/53 13/53 14/53 J7B-Y14 J7B-Y12 J7B-Y13 12/53 12/53 11/53 10/53 10/53 11/53 J7B-Y11 J7B-Y9 J7B-Y8 J7B-Y7 J7B-Y6 J7B-Y5 J7A-A2 J7B-Y4 J7A-A1 J7B-Y10 2/48 1/48 J7B-Y3 1/48 J7B-Y2 J7B-Y1 643201318 347630001_3 V+ ENC 5 19/53 ASM08BF05002 ASM08BM05002 5/5 4/5 3/5 9/53 9/53 8/53 8/53 7/53 POWER_LOADER 12 7/53 -X57 POWER_LOADER 11 GND GND EXTENDED -X74 5/5 4/5 3/5 2/5 2/5 1/5 1/6 Encoder SIGNAL SIGNAL 40/53 V+ 3/6 V+ V+ J7B-Y40 2/62 1/6 1 4/6 ENERGIZE GND Limit Sensor RETRACTED 5/6 1 GND LS17 4/64 3/63 0 0 2 SIGNAL LEFT SIDE COMPONENTS Limit Sensor EN GND GND 3/3 6/66 5/65 SIGNAL -X73 6/6 -F14 -X66 ASM08BF05002 POWER_LOADER 10 POWER_LOADER 13 -X72 2/6 POWER_LOADER 09 SOL5 -X71 J7B-Y25 A B B A GND PWR -X64 GND PWR ENC 3 1/5 ASM08BM05002 POWER_LOADER 08 2/3 ASM08AF06002 ASM08AM06002 Encoder ASM08AM03004 POWER_LOADER 07 RIGHT SIDE COMPONENTS V+ POWER_LOADER 29 POWER LOADER BREKOUT BOARD POWER_LOADER 30 MASTERHAUL POWER LOADER SCHEMATICS POWER LOADER MAIN AND MOTOR CONTROLLER BOARD DIEGO JAVIER Repl. by date User Proved Standard NEW 10/27/2021 DIEGO GARCIA MATEO RESTREPO TBD Origin MASTERHAUL Repl. f. NEW POWER LOADER SCH 01 TBD Sheet P 2 Sh.