Version 4
SHEET 1 1784 680
WIRE 16 -1312 -80 -1312
WIRE 320 -1312 16 -1312
WIRE 432 -1312 320 -1312
WIRE 544 -1312 432 -1312
WIRE 672 -1312 544 -1312
WIRE 992 -1312 672 -1312
WIRE 1088 -1312 992 -1312
WIRE 1280 -1312 1088 -1312
WIRE -80 -1280 -80 -1312
WIRE 16 -1280 16 -1312
WIRE 992 -1280 992 -1312
WIRE 1088 -1280 1088 -1312
WIRE 320 -1232 320 -1312
WIRE 672 -1232 672 -1312
WIRE -80 -1152 -80 -1200
WIRE 16 -1152 16 -1200
WIRE 16 -1152 -80 -1152
WIRE 128 -1152 16 -1152
WIRE 144 -1152 128 -1152
WIRE 240 -1152 224 -1152
WIRE 272 -1152 240 -1152
WIRE 752 -1152 720 -1152
WIRE 768 -1152 752 -1152
WIRE 992 -1152 992 -1200
WIRE 992 -1152 848 -1152
WIRE 1088 -1152 1088 -1200
WIRE 1088 -1152 992 -1152
WIRE 128 -1104 128 -1152
WIRE 848 -1104 848 -1152
WIRE 432 -1088 432 -1312
WIRE 544 -1088 544 -1312
WIRE 16 -1040 16 -1152
WIRE 240 -1040 240 -1152
WIRE 752 -1040 752 -1152
WIRE 992 -1040 992 -1152
WIRE -304 -992 -496 -992
WIRE -304 -960 -416 -960
WIRE -160 -960 -240 -960
WIRE -128 -960 -160 -960
WIRE -32 -960 -48 -960
WIRE 1056 -960 1040 -960
WIRE 1216 -960 1136 -960
WIRE 128 -928 128 -1024
WIRE 240 -928 240 -976
WIRE 240 -928 128 -928
WIRE 320 -928 320 -1136
WIRE 320 -928 240 -928
WIRE 432 -928 432 -1024
WIRE 432 -928 320 -928
WIRE 448 -928 432 -928
WIRE 544 -928 544 -1024
WIRE 544 -928 528 -928
WIRE 672 -928 672 -1136
WIRE 672 -928 544 -928
WIRE 752 -928 752 -976
WIRE 752 -928 672 -928
WIRE 848 -928 848 -1024
WIRE 848 -928 752 -928
WIRE -416 -912 -416 -960
WIRE -416 -912 -672 -912
WIRE -192 -912 -416 -912
WIRE -496 -848 -496 -992
WIRE -496 -848 -544 -848
WIRE -416 -848 -416 -912
WIRE -368 -848 -416 -848
WIRE 320 -848 320 -928
WIRE 432 -848 432 -928
WIRE 432 -848 416 -848
WIRE 544 -848 544 -928
WIRE 560 -848 544 -848
WIRE 672 -832 672 -928
WIRE -496 -800 -496 -848
WIRE -496 -800 -592 -800
WIRE -336 -800 -496 -800
WIRE -672 -768 -672 -912
WIRE -592 -768 -592 -800
WIRE -160 -768 -160 -960
WIRE 112 -768 -160 -768
WIRE 144 -768 112 -768
WIRE 272 -768 224 -768
WIRE -496 -752 -496 -800
WIRE -416 -752 -416 -848
WIRE 752 -752 720 -752
WIRE 896 -752 832 -752
WIRE 112 -720 112 -768
WIRE 432 -720 432 -848
WIRE 544 -720 544 -848
WIRE 896 -720 896 -752
WIRE -336 -704 -336 -800
WIRE -288 -704 -336 -704
WIRE -192 -704 -192 -912
WIRE -80 -704 -192 -704
WIRE -336 -672 -336 -704
WIRE -288 -672 -336 -672
WIRE -80 -672 -224 -672
WIRE -672 -624 -672 -688
WIRE -592 -624 -592 -688
WIRE -592 -624 -672 -624
WIRE -496 -624 -496 -672
WIRE -496 -624 -592 -624
WIRE -416 -624 -416 -672
WIRE -416 -624 -496 -624
WIRE 16 -624 16 -944
WIRE 16 -624 -416 -624
WIRE 112 -624 112 -640
WIRE 112 -624 16 -624
WIRE 320 -624 320 -752
WIRE 320 -624 112 -624
WIRE 432 -624 432 -656
WIRE 432 -624 320 -624
WIRE 544 -624 544 -656
WIRE 544 -624 432 -624
WIRE 672 -624 672 -736
WIRE 672 -624 544 -624
WIRE 896 -624 896 -640
WIRE 896 -624 672 -624
WIRE 992 -624 992 -944
WIRE 992 -624 896 -624
WIRE 992 -608 992 -624
WIRE -16 -576 -16 -672
WIRE 832 -576 832 -752
WIRE 832 -576 -16 -576
WIRE 1216 -576 1216 -960
WIRE 1216 -576 832 -576
WIRE -480 -560 -544 -560
WIRE -320 -560 -480 -560
WIRE -480 -544 -480 -560
WIRE 16 -544 -80 -544
WIRE 320 -544 16 -544
WIRE 432 -544 320 -544
WIRE 544 -544 432 -544
WIRE 672 -544 544 -544
WIRE 992 -544 672 -544
WIRE 1088 -544 992 -544
WIRE 1280 -544 1280 -1312
WIRE 1280 -544 1088 -544
WIRE -80 -512 -80 -544
WIRE 16 -512 16 -544
WIRE 992 -512 992 -544
WIRE 1088 -512 1088 -544
WIRE 320 -464 320 -544
WIRE 672 -464 672 -544
WIRE -544 -432 -544 -560
WIRE -80 -384 -80 -432
WIRE 16 -384 16 -432
WIRE 16 -384 -80 -384
WIRE 128 -384 16 -384
WIRE 144 -384 128 -384
WIRE 240 -384 224 -384
WIRE 272 -384 240 -384
WIRE 752 -384 720 -384
WIRE 768 -384 752 -384
WIRE 992 -384 992 -432
WIRE 992 -384 848 -384
WIRE 1088 -384 1088 -432
WIRE 1088 -384 992 -384
WIRE 128 -336 128 -384
WIRE 848 -336 848 -384
WIRE 1280 -336 1280 -544
WIRE 1280 -336 1232 -336
WIRE -544 -320 -544 -368
WIRE -480 -320 -480 -464
WIRE -480 -320 -544 -320
WIRE 432 -320 432 -544
WIRE 544 -320 544 -544
WIRE -544 -288 -544 -320
WIRE 16 -272 16 -384
WIRE 240 -272 240 -384
WIRE 752 -272 752 -384
WIRE 992 -272 992 -384
WIRE 1280 -256 1280 -336
WIRE 1280 -256 1216 -256
WIRE 1280 -240 1280 -256
WIRE -304 -224 -496 -224
WIRE -304 -192 -416 -192
WIRE -160 -192 -240 -192
WIRE -128 -192 -160 -192
WIRE -32 -192 -48 -192
WIRE 1056 -192 1040 -192
WIRE 1184 -192 1136 -192
WIRE 128 -160 128 -256
WIRE 240 -160 240 -208
WIRE 240 -160 128 -160
WIRE 320 -160 320 -368
WIRE 320 -160 240 -160
WIRE 432 -160 432 -256
WIRE 432 -160 320 -160
WIRE 448 -160 432 -160
WIRE 544 -160 544 -256
WIRE 544 -160 528 -160
WIRE 672 -160 672 -368
WIRE 672 -160 544 -160
WIRE 752 -160 752 -208
WIRE 752 -160 672 -160
WIRE 848 -160 848 -256
WIRE 848 -160 752 -160
WIRE -416 -144 -416 -192
WIRE -416 -144 -672 -144
WIRE -192 -144 -416 -144
WIRE -496 -80 -496 -224
WIRE -496 -80 -544 -80
WIRE -416 -80 -416 -144
WIRE -368 -80 -416 -80
WIRE 320 -80 320 -160
WIRE 432 -80 432 -160
WIRE 432 -80 416 -80
WIRE 544 -80 544 -160
WIRE 560 -80 544 -80
WIRE 1216 -80 1216 -256
WIRE 672 -64 672 -160
WIRE -496 -32 -496 -80
WIRE -496 -32 -592 -32
WIRE -336 -32 -496 -32
WIRE -672 0 -672 -144
WIRE -592 0 -592 -32
WIRE -160 0 -160 -192
WIRE 112 0 -160 0
WIRE 144 0 112 0
WIRE 272 0 224 0
WIRE -496 16 -496 -32
WIRE -416 16 -416 -80
WIRE 752 16 720 16
WIRE 896 16 832 16
WIRE 112 48 112 0
WIRE 432 48 432 -80
WIRE 544 48 544 -80
WIRE 896 48 896 16
WIRE -336 64 -336 -32
WIRE -288 64 -336 64
WIRE -192 64 -192 -144
WIRE -80 64 -192 64
WIRE -336 96 -336 64
WIRE -288 96 -336 96
WIRE -80 96 -224 96
WIRE -672 144 -672 80
WIRE -592 144 -592 80
WIRE -592 144 -672 144
WIRE -496 144 -496 96
WIRE -496 144 -592 144
WIRE -416 144 -416 96
WIRE -416 144 -496 144
WIRE 16 144 16 -176
WIRE 16 144 -416 144
WIRE 112 144 112 128
WIRE 112 144 16 144
WIRE 320 144 320 16
WIRE 320 144 112 144
WIRE 432 144 432 112
WIRE 432 144 320 144
WIRE 544 144 544 112
WIRE 544 144 432 144
WIRE 672 144 672 32
WIRE 672 144 544 144
WIRE 896 144 896 128
WIRE 896 144 672 144
WIRE 992 144 992 -176
WIRE 992 144 896 144
WIRE 1216 144 1216 -16
WIRE 1216 144 992 144
WIRE 1280 144 1280 -160
WIRE 1280 144 1216 144
WIRE 1280 160 1280 144
WIRE -16 176 -16 96
WIRE 832 176 832 16
WIRE 832 176 -16 176
WIRE 1184 176 1184 -192
WIRE 1184 176 832 176
FLAG 1280 160 0
FLAG 992 -608 0
FLAG 416 -848 M2B
IOPIN 416 -848 Out
FLAG 560 -848 M2A
IOPIN 560 -848 Out
FLAG 416 -80 M1B
IOPIN 416 -80 Out
FLAG 560 -80 M1A
IOPIN 560 -80 Out
FLAG -544 -80 DIR1
IOPIN -544 -80 In
FLAG -368 -80 PWM1
IOPIN -368 -80 In
FLAG -544 -848 DIR2
IOPIN -544 -848 In
FLAG -368 -848 PWM2
IOPIN -368 -848 In
FLAG 1232 -336 48VIn
IOPIN 1232 -336 In
FLAG -544 -288 0
FLAG -320 -560 5VIn
IOPIN -320 -560 In
SYMBOL nmos 272 -80 R0
WINDOW 0 55 41 Left 0
SYMATTR InstName Q8
SYMATTR Value IRL530NS_L
SYMBOL voltage 1280 -256 R0
WINDOW 123 0 0 Left 0
WINDOW 39 24 132 Left 0
WINDOW 0 24 16 Invisible 0
SYMATTR InstName V2
SYMATTR Value 48V
SYMBOL nmos 272 -464 R0
WINDOW 0 58 41 Left 0
SYMATTR InstName Q6
SYMATTR Value IRL530NS_L
SYMBOL voltage -496 0 R0
WINDOW 3 24 104 Invisible 0
WINDOW 0 -29 -1 Left 0
SYMATTR Value PULSE(5 0 0 1p 1p 200m 400m)
SYMATTR InstName DIR1
SYMBOL nmos 720 -464 M0
WINDOW 0 59 37 Left 0
SYMATTR InstName Q5
SYMATTR Value IRL530NS_L
SYMBOL nmos 720 -64 M0
WINDOW 0 56 41 Left 0
SYMATTR InstName Q7
SYMATTR Value IRL530NS_L
SYMBOL Digital\\and -256 16 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -32 6 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U1-3
SYMBOL voltage -416 0 R0
WINDOW 3 24 104 Invisible 0
WINDOW 0 8 3 Left 0
WINDOW 123 0 0 Left 0
WINDOW 39 0 0 Left 0
SYMATTR Value PULSE(5 0 400m 1p 1p 50u 100u)
SYMATTR InstName PWM1
SYMBOL Digital\\and -272 -272 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -35 4 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U1-1
SYMBOL diode 448 -256 R180
WINDOW 0 42 32 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D03
SYMATTR Value 1N4148
SYMBOL diode 560 -256 R180
WINDOW 0 42 32 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D02
SYMATTR Value 1N4148
SYMBOL diode 448 112 R180
WINDOW 0 41 30 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D04
SYMATTR Value 1N4148
SYMBOL diode 560 112 R180
WINDOW 0 41 33 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D11
SYMATTR Value 1N4148
SYMBOL Digital\\and -48 16 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -28 8 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U1-2
SYMBOL res 976 -528 R0
WINDOW 0 37 46 Left 0
SYMATTR InstName R18
SYMATTR Value 2.2k
SYMBOL ind 544 -176 R90
WINDOW 0 5 56 VBottom 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName Motor1
SYMATTR Value 1.5m
SYMATTR SpiceLine Rser=4.2
SYMBOL res 880 32 R0
WINDOW 0 36 48 Left 0
SYMATTR InstName R03
SYMATTR Value 10k
SYMBOL res -32 -208 R90
WINDOW 0 -31 59 VTop 0
WINDOW 3 38 61 VTop 0
SYMATTR InstName R06
SYMATTR Value 100
SYMBOL res 848 0 R90
WINDOW 0 -28 54 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R14
SYMATTR Value 100
SYMBOL res 240 -16 R90
WINDOW 0 -31 56 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R32
SYMATTR Value 100
SYMBOL res 96 32 R0
WINDOW 0 34 46 Left 0
SYMATTR InstName R05
SYMATTR Value 10k
SYMBOL res 240 -400 R90
WINDOW 0 -30 57 VTop 0
WINDOW 3 37 60 VTop 0
SYMATTR InstName R22
SYMATTR Value 100
SYMBOL res 864 -400 R90
WINDOW 0 -34 52 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R15
SYMATTR Value 100
SYMBOL res 1152 -208 R90
WINDOW 0 -31 55 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R04
SYMATTR Value 100
SYMBOL diode 256 -208 R180
WINDOW 0 43 25 Left 0
WINDOW 3 27 -2 Left 0
SYMATTR InstName D05
SYMATTR Value 1N4148
SYMBOL diode 768 -208 R180
WINDOW 0 42 33 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D01
SYMATTR Value 1N4148
SYMBOL res -96 -528 R0
WINDOW 0 38 50 Left 0
SYMATTR InstName R20
SYMATTR Value 2.2k
SYMBOL res 1072 -528 R0
WINDOW 0 35 48 Left 0
SYMATTR InstName R19
SYMATTR Value 2.2k
SYMBOL res -608 -16 R0
WINDOW 0 35 48 Left 0
SYMATTR InstName R07
SYMATTR Value 10k
SYMBOL res -688 -16 R0
WINDOW 0 35 49 Left 0
SYMATTR InstName R01
SYMATTR Value 10k
SYMBOL res 112 -352 R0
WINDOW 0 34 47 Left 0
SYMATTR InstName R17
SYMATTR Value 100k
SYMBOL res 832 -352 R0
WINDOW 0 37 46 Left 0
SYMATTR InstName R16
SYMATTR Value 100k
SYMBOL res 0 -528 R0
WINDOW 0 36 50 Left 0
SYMATTR InstName R21
SYMATTR Value 2.2k
SYMBOL nmos 1040 -272 M0
WINDOW 0 60 40 Left 0
SYMATTR InstName Q2
SYMATTR Value IRL530NS_L
SYMBOL nmos -32 -272 R0
WINDOW 0 56 44 Left 0
SYMATTR InstName Q1
SYMATTR Value IRL530NS_L
SYMBOL nmos 272 -848 R0
WINDOW 0 55 41 Left 0
SYMATTR InstName Q12
SYMATTR Value IRL530NS_L
SYMBOL nmos 272 -1232 R0
WINDOW 0 58 41 Left 0
SYMATTR InstName Q10
SYMATTR Value IRL530NS_L
SYMBOL voltage -496 -768 R0
WINDOW 3 24 104 Invisible 0
WINDOW 0 -29 -1 Left 0
WINDOW 123 0 0 Left 0
WINDOW 39 0 0 Left 0
SYMATTR Value PULSE(5 0 0 1p 1p 200m 400m)
SYMATTR InstName DIR2
SYMBOL nmos 720 -1232 M0
WINDOW 0 59 37 Left 0
SYMATTR InstName Q9
SYMATTR Value IRL530NS_L
SYMBOL nmos 720 -832 M0
WINDOW 0 56 41 Left 0
SYMATTR InstName Q11
SYMATTR Value IRL530NS_L
SYMBOL Digital\\and -256 -752 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -32 6 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U2-1
SYMBOL voltage -416 -768 R0
WINDOW 3 24 104 Invisible 0
WINDOW 0 8 3 Left 0
WINDOW 123 0 0 Left 0
WINDOW 39 0 0 Left 0
SYMATTR Value PULSE(5 0 400m 1p 1p 200u 400u)
SYMATTR InstName PWM2
SYMBOL Digital\\and -272 -1040 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -35 4 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U2-2
SYMBOL diode 448 -1024 R180
WINDOW 0 42 32 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D08
SYMATTR Value 1N4148
SYMBOL diode 560 -1024 R180
WINDOW 0 42 32 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D07
SYMATTR Value 1N4148
SYMBOL diode 448 -656 R180
WINDOW 0 41 30 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D10
SYMATTR Value 1N4148
SYMBOL diode 560 -656 R180
WINDOW 0 41 33 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D12
SYMATTR Value 1N4148
SYMBOL Digital\\and -48 -752 R0
WINDOW 3 16 52 Invisible 0
WINDOW 0 -28 8 Left 0
SYMATTR Value vhigh=5
SYMATTR InstName U2-4
SYMBOL res 976 -1296 R0
WINDOW 0 37 46 Left 0
SYMATTR InstName R26
SYMATTR Value 2.2k
SYMBOL ind 544 -944 R90
WINDOW 0 5 56 VBottom 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName Motor2
SYMATTR Value 1.5m
SYMATTR SpiceLine Rser=4.2
SYMBOL res 880 -736 R0
WINDOW 0 36 48 Left 0
SYMATTR InstName R12
SYMATTR Value 10k
SYMBOL res -32 -976 R90
WINDOW 0 -31 59 VTop 0
WINDOW 3 38 61 VTop 0
SYMATTR InstName R09
SYMATTR Value 100
SYMBOL res 848 -768 R90
WINDOW 0 -28 54 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R31
SYMATTR Value 100
SYMBOL res 240 -784 R90
WINDOW 0 -31 56 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R11
SYMATTR Value 100
SYMBOL res 96 -736 R0
WINDOW 0 34 46 Left 0
SYMATTR InstName R8
SYMATTR Value 10k
SYMBOL res 240 -1168 R90
WINDOW 0 -30 57 VTop 0
WINDOW 3 37 60 VTop 0
SYMATTR InstName R29
SYMATTR Value 100
SYMBOL res 864 -1168 R90
WINDOW 0 -34 52 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R23
SYMATTR Value 100
SYMBOL res 1152 -976 R90
WINDOW 0 -31 55 VTop 0
WINDOW 3 32 56 VTop 0
SYMATTR InstName R13
SYMATTR Value 100
SYMBOL diode 256 -976 R180
WINDOW 0 43 25 Left 0
WINDOW 3 27 -2 Left 0
SYMATTR InstName D09
SYMATTR Value 1N4148
SYMBOL diode 768 -976 R180
WINDOW 0 42 33 Left 0
WINDOW 3 24 0 Left 0
SYMATTR InstName D06
SYMATTR Value 1N4148
SYMBOL res -96 -1296 R0
WINDOW 0 38 50 Left 0
SYMATTR InstName R24
SYMATTR Value 2.2k
SYMBOL res 1072 -1296 R0
WINDOW 0 35 48 Left 0
SYMATTR InstName R27
SYMATTR Value 2.2k
SYMBOL res -608 -784 R0
WINDOW 0 35 48 Left 0
SYMATTR InstName R02
SYMATTR Value 10k
SYMBOL res -688 -784 R0
WINDOW 0 35 49 Left 0
SYMATTR InstName R10
SYMATTR Value 10k
SYMBOL res 112 -1120 R0
WINDOW 0 34 47 Left 0
SYMATTR InstName R30
SYMATTR Value 100k
SYMBOL res 832 -1120 R0
WINDOW 0 37 46 Left 0
SYMATTR InstName R28
SYMATTR Value 100k
SYMBOL res 0 -1296 R0
WINDOW 0 36 50 Left 0
SYMATTR InstName R25
SYMATTR Value 2.2k
SYMBOL nmos 1040 -1040 M0
WINDOW 0 60 40 Left 0
SYMATTR InstName Q4
SYMATTR Value IRL530NS_L
SYMBOL nmos -32 -1040 R0
WINDOW 0 56 44 Left 0
SYMATTR InstName Q3
SYMATTR Value IRL530NS_L
SYMBOL polcap 1200 -80 R0
WINDOW 3 24 64 Left 0
SYMATTR Value 330µ
SYMATTR InstName C2
SYMATTR Description Capacitor
SYMATTR Type cap
SYMATTR SpiceLine V=100 Irms=10m Rser=43 Lser=0
SYMBOL voltage -480 -560 R0
WINDOW 123 0 0 Left 0
WINDOW 39 24 132 Left 0
WINDOW 0 24 16 Invisible 0
SYMATTR InstName V1
SYMATTR Value 5V
SYMBOL polcap -560 -432 R0
WINDOW 3 24 64 Left 0
SYMATTR Value 10µ
SYMATTR InstName C1
SYMATTR Description Capacitor
SYMATTR Type cap
SYMATTR SpiceLine V=100 Irms=10m Rser=43 Lser=0
TEXT -504 168 Left 0 !.tran 0 2 0 1000u uic
TEXT -400 -440 Left 0 ;For U1 and U2