Pololu 3pi+ 32U4 Quick start guide

PE6 (INT6/AIN0) 1
UVcc 2
D-
3
D+
4
UGnd
5
UCap 6
VBus
7
PB0 (SS/PCINT0)
8
PB1 (PCINT1/SCK)
9
PB2 (PDI/MOSI/PCINT2)
10
PB3 (PDO/MISO/PCINT3)
11
PB7 (OC0A/OC1C/PCINT7/RTS)
12
RESET
13
VCC 14
GND
15
XTAL2
16
XTAL1
17
PD0 (INT0/SCL/OC0B)
18
PD1 (INT1/SDA)
19
PD2 (INT2/RXD1)
20
PD3 (INT3/TXD1)
21
PD5 (XCK1/CTS)
22
GND
23
AVCC 24
PD4 (ICP1/ADC8)
25
PD6 (T1/OC4D/ADC9
26
PD7 (T0/OC4D/ADC10)
27
PB4 (PCINT4/ADC11)
28
PB5 (OC1A/OC4B/PCINT5/ADC12)
29
PB6 (OC1B/OC4B/PCINT6/ADC13)
30
PC6 (OC3A/OC4A) 31
PC7 (ICP3/CLK0/OC4A) 32
PE2 (HWB) 33
VCC 34
GND
35
PF7 (ADC7/TDI) 36
PF6 (ADC6/TDO) 37
PF5 (ADC5/TMS) 38
PF4 (ADC4/TCK) 39
PF1 (ADC1) 40
PF0 (ADC0) 41
AREF 42
GND
43
AVCC 44
PAD
45
ATmega32U4
VBUS 1
D- 2
D+ 3
ID 4
GND 5
NC
6NC 7NC 8NC 9NC
10 NC
11
USB Micro-B
1 uF
C2
5V
L1
10 uH
0.1 uF
C1
AVCC
5V AVCC
0.1 uF
C3
VBUS
22
R2
22
R3
nRESET
D14
D16
D15
PD5
D2
Green
1.5k
R6
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
5V
D4
Yellow
2.21k
R10
D13
AREF
PE2
A2
A3
A4
A5
D17
D3
Red
2.21k
R7
D17
5V
Y1 16 MHz
10 pF
C4
10 pF
C5
SW1
SW3
Button B
SW4
Button C
1kR8
3kR12 3kR13
1.5kR9
SW2
Button A
D14
1k
R11
BuzzerD1
Q1
100k
R14
5V
D6
20k
R4
VSW
BATLEV
10k
R5
A1BZCTRL
(SDA)
(SCL)
(MOSI)
(MISO)
(SCK)
AVR3V3
(RXL/SS)
(TXL)
5V
clockwise
R1
D0
D1
D14
D17
D13
PD5
Vss 1
VDD 2
Vo 3
RS 4
R/W 5
E6
DB0 7
DB1 8
DB2 9
DB3 10
DB4 11
DB5 12
DB6 13
DB7 14
LCD
3pi+ 32U4 Control Board
©2020 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and user interface
Page 1 of 4
R®
1 2
EMIT
D4
D5
D11
D12
A0
A2
A3
A4
BUMPL
BUMPR
DOWN1
DOWN2
DOWN3
DOWN4
DOWN5
1 2
1 2
1 2
1 2
1 2
1 2
1 2
1
2
3
1
2
3D2D3
5V
(SDA)(SCL)
3V3
D0 D1
D6A1
A5 PE2
1
2
4
3
5
6
7
D2D3 (SDA)(SCL) 1
2
4
3
5
6
7
5V 5V
MISO
1VCC 2
SCK
3
MOSI
4
RST
5GND 6
AVRISP
5V
nRESET
D14
D16
D15
Front expansion header Mid expansion header
PIBZ101
PIBZ102
COBZ1
PIC101
PIC102
COC1
PIC201
PIC202
COC2
PIC301 PIC302
COC3
PIC401
PIC402
COC4
PIC501
PIC502
COC5
PID101
PID102
COD1
PID201
PID202
COD2
PID301
PID302
COD3
PID401
PID402
COD4
PIJ101
PIJ102
PIJ103
PIJ104
PIJ105
PIJ106 PIJ107
PIJ108 PIJ109
PIJ1010 PIJ1011
COJ1
PIJ201 PIJ202
COJ2
PIJ301 PIJ302
COJ3
PIJ?01 PIJ?02
PIJ?03
PIJ?04
PIJ?05 PIJ?06
COJ?
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIJP?05
PIJP?06
PIJP?07
COJP?
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIJP?05
PIJP?06
PIJP?07
PIJP?01
PIJP?02
PIJP?03
PIJP?01
PIJP?02
PIJP?03
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIJP?01 PIJP?02
PIL101 PIL102
COL1
PILCD101
PILCD102
PILCD103
PILCD104
PILCD105
PILCD106
PILCD107
PILCD108
PILCD109
PILCD1010
PILCD1011
PILCD1012
PILCD1013
PILCD1014
COLCD1
PINT101 PINT102
CONT1
PINT201 PINT202
CONT2
PIQ101
PIQ102
PIQ103
COQ1
PIR101
PIR102
PIR103
COR1
PIR201 PIR202
COR2
PIR301 PIR302
COR3
PIR401
PIR402
COR4
PIR501
PIR502
COR5
PIR601
PIR602
COR6
PIR701
PIR702
COR7
PIR801 PIR802
COR8
PIR901 PIR902
COR9
PIR1001
PIR1002
COR10
PIR1101
PIR1102
COR11
PIR1201 PIR1202
COR12
PIR1301 PIR1302
COR13
PIR1401 PIR1402
COR14
PISW101 PISW102
COSW1
PISW201
PISW202
COSW2
PISW301
PISW302
COSW3
PISW401
PISW402
COSW4
PIU101
PIU102
PIU103
PIU104
PIU105
PIU106
PIU107
PIU108
PIU109
PIU1010
PIU1011
PIU1012
PIU1013
PIU1014
PIU1015
PIU1016
PIU1017
PIU1018
PIU1019
PIU1020
PIU1021
PIU1022
PIU1023
PIU1024
PIU1025
PIU1026
PIU1027
PIU1028
PIU1029
PIU1030
PIU1031
PIU1032
PIU1033
PIU1034
PIU1035
PIU1036
PIU1037
PIU1038
PIU1039
PIU1040
PIU1041
PIU1042
PIU1043
PIU1044
PIU1045
COU1
PIY101
PIY102
PIY103
PIY104
COY1
PIJP?02
PIBZ102
PID102
PIJ?02
PIJP?02
PIJP?06
PIL101
PILCD102
PIR101
PIR601 PIR701
PIU102
PIU1014
PIU1034
PIJP?01 PIJP?02
PIU1036
NLA0
NLDOWN2
PIJ201
PIJP?03
PINT101
PIU1037
NLA1
PIJP?01 PIJP?02
PIU1038
NLA2
NLDOWN3
PIJP?01 PIJP?02
PIU1039
NLA3
NLDOWN4
PIJP?01 PIJP?02
PIU1040
NLA4
NLDOWN5
PIJP?02
PIU1041
NLA5
PIC301 PIU1042
NLAREF
PIC102
PIL102
PIU1024
PIU1044
PIC201
PIU106
PIJ202
PINT102
PIR401
PIR502
NLBATLEV
PIJP?01 PIJP?02
PIU1025
NLBUMPL
NLD4
PIJP?01 PIJP?02
PIU1031
NLBUMPR
NLD5
PIJ302
PINT202
PIQ101
PIR1402
NLBZCTRL
PIJP?05
PILCD104
PIU1020
NLD0
PIJP?05
PILCD106
PIU1021
NLD1
PIJP?01
PIJP?03
PIU1019
NLD2
PIJP?01
PIJP?03
PIU1018
NLD3
PIJ301
PIJP?03
PINT201
PIU1027
NLD6
PIU101
NLD7
PIU1028
NLD8
PIU1029
NLD9
PIU1030
NLD10
PIJP?01 PIJP?02
PIU1012
NLD11
NLEMIT
PIJP?01 PIJP?02
PIU1026
NLD12
NLDOWN1
PILCD1013
PIR1001
PIU1032
NLD13
PIJ?01
PILCD1011
PISW201
PIU1011
NLD14
PIJ?03
PIU109
NLD15
PIJ?04
PIU1010
NLD16
PID302
PILCD1012
PIR1301
PIU108
NLD17
PIC101
PIC202
PIC302
PIC401 PIC501
PID402
PIJ105
PIJ?06
PIJP?01
PIJP?04
PIJP?07
PILCD101
PILCD105
PILCD107
PILCD108
PILCD109
PILCD1010
PIQ102
PIR103
PIR501
PIR1101
PIR1401
PISW101
PISW302 PISW402
PIU105 PIU1015 PIU1023 PIU1035 PIU1043 PIU1045
PIY102 PIY104
PIBZ101
PID101
PIQ103
PIC402
PIU1016
PIY101
PIC502
PIU1017 PIY103
PID201
PIR602
PIR801
PID301
PIR702
PIR901
PID401
PIR1002
PIJ102 PIR201
PIJ103 PIR301
PIJ104
PIJ106
PIJ107 PIJ108 PIJ109
PIJ1010 PIJ1011
PILCD103
PIR102
PIR202 PIU103
PIR302
PIU104
PIR802
PIR1202
PISW301
PIR902
PIR1302
PISW401
PIR1102
PISW202
PIJ?05
PISW102
PIU1013
NLnRESET
PID202
PILCD1014
PIR1201
PIU1022
NLPD5
PIJP?02
PIU1033
NLPE2
PIJ101
PIU107
PIR402

VM
5V
MLFRONT
MLREAR
0.1 uF
C12
0.1 uF
C13
VM VM
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
VM
5V
MRREAR
MRFRONT
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
0.1 uF
C10
0.1 uF
C11
5V 5V
5V
ERA
ERB
5V
ELA
ELB 1k
R24
1k
R23
ELX ERX
3.3 nF
C14
3.3 nF
C15
GND 3
VS 1
Q2
①
0.1 uF
C17
10k
R21
GND 3
VS 1
Q2
①10k
R22
ERBERA
GND 3
VS 1
Q2
①
0.1 uF
C16
10k
R19
5V
GND 3
VS 1
Q2
①10k
R20
ELBELA
5V 5V 5V 5V 5V
Left motor Right motor
D8 D7
PE2 A5
D9D10
D15D16
② ②
3pi+ 32U4 Control Board
©2020 Pololu Corporation
www.pololu.com
Schematic diagram
Motors and encoders
R®
②Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
①Hall effect sensor ICs in SOT-23 packages, e.g. DRV5013
Page 2 of 4
PIC1001
PIC1002
COC10
PIC1101
PIC1102
COC11
PIC1201
PIC1202
COC12
PIC1301
PIC1302
COC13
PIC1401
PIC1402
COC14
PIC1501
PIC1502
COC15
PIC1601
PIC1602
COC16
PIC1701
PIC1702
COC17
PIJ701
PIJ702
COJ7A
PIJ703
PIJ704
COJ7B
PIJ801 PIJ802
COJ8
PIJ901 PIJ902
COJ9
PIJ1001 PIJ1002
COJ10
PIJ1101 PIJ1102
COJ11
PINT1301 PINT1302
CONT13
PINT1401 PINT1402
CONT14
PINT1501 PINT1502
CONT15
PINT1601 PINT1602
CONT16
PIR1901
PIR1902
COR19
PIR2001
PIR2002
COR20
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PIR2301 PIR2302
COR23
PIR2401 PIR2402
COR24
PIU401
PIU402
PIU403 PIU404
PIU405
PIU406
PIU407
PIU408
PIU409
COU4
PIU501
PIU502
PIU503 PIU504
PIU505
PIU506
PIU507
PIU508
PIU509
COU5
PIU601
PIU602
PIU603
COU6
PIU701
PIU702
PIU703
COU7
PIU801
PIU802
PIU803
COU8
PIU901
PIU902
PIU903
COU9
PIU?01
PIU?02
PIU?03
PIU?07
PIU?014
COU?
PIU?01
PIU?02
PIU?03
PIU?07
PIU?014
PIC1002 PIC1102
PIC1602 PIC1702
PIR1902 PIR2002 PIR2102 PIR2202
PIU407
PIU408
PIU507
PIU508
PIU601 PIU701 PIU801 PIU901
PIU?014
PIJ902
PINT1402
NLA5
PIJ1002
PINT1502
NLD7
PIJ1102
PINT1602
NLD8
PIU505
NLD9
PIU405
NLD10
PIU506
NLD15
PIU406
NLD16
PIR1901
PIU602
PIU?01
NLELA
PIJ801
PINT1301
PIR2001
PIU702
PIU?02
NLELB
PIJ1101
PINT1601
PIR2402
NLELX
PIR2101
PIU802
PIU?01
NLERA
PIJ901
PINT1401
PIR2201
PIU902
PIU?02
NLERB
PIJ1001
PINT1501
PIR2302
NLERX
PIC1001 PIC1101
PIC1201 PIC1301
PIC1601 PIC1701
PIU404
PIU409
PIU504
PIU509
PIU603 PIU703 PIU803 PIU903
PIU?07
PIC1402
PIJ701
PIU402
NLMLFRONT
PIC1401
PIJ702
PIU403
NLMLREAR
PIC1501
PIJ703
PIU503
NLMRFRONT
PIC1502
PIJ704
PIU502
NLMRREAR
PIR2301 PIU?03 PIR2401 PIU?03
PIJ802
PINT1302
NLPE2
PIC1202 PIC1302
PIU401 PIU501

2.2nF
C48
220
R45
5V
2.2nF
C50
220
R49
5V
2.2nF
C52
220
R51
5V
U15
U17
U19
2.2nF
C49
220
R46
5V
2.2nF
C51
220
R50
5V
U16
U18
DOWN1
D9
IR
D10
IR
D8
EMITEMIT
5V
EMIT
10nF
C53
220
R52
5V
BUMPL
10nF
C54
220
R53
5V
BUMPR
220
R48
200
R44
100
R47
DOWN2
DOWN4DOWN3
DOWN5
Q10 Q11
Line (reflectance) sensors
3pi+ 32U4 Control Board
©2020 Pololu Corporation
www.pololu.com
Schematic diagram
Sensors
Page 3 of 4
R®
Bump sensors
3V3
1 uF
C6
0.1 uF
C7
0.1 uF
C8
5V
3V3
Q2
10k
R15
10k
R16
SCL D3
Q3
3V3
SDA D2
3V3 10k
R17
10k
R18
10k
R54
10k
R55
3V3
SCLLV
VDD_IO
6
SCL/SPC 1
GND
3
SDA/SDI/SDO 11
SDO/SA1 9
CS 10
RES(GND)
2INT 7
RES(GND)
12
VDD
5
C1
4
DRDY 8
LIS3MDL
VDDIO 1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5
INT2 6
INT1 7
RES(GND)
8
RES(GND)
9
RES(GND)
10
RES(GND)
11
GND
12
GND
13
NC 14
RES
15
VDD 16
LSM6DS33
SDALV
SA0
CS
0.1 uF
C9
Inertial sensors
PIC601
PIC602
COC6
PIC701
PIC702
COC7
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC4801
PIC4802
COC48
PIC4901
PIC4902
COC49
PIC5001
PIC5002
COC50
PIC5101
PIC5102
COC51
PIC5201
PIC5202
COC52
PIC5301
PIC5302
COC53
PIC5401
PIC5402
COC54
PID801
PID802
PID803
COD8
PID901
PID902
COD9
PID1001
PID1002
COD10
PIJ501 PIJ502
COJ5
PIJ601 PIJ602
COJ6
PINT1101 PINT1102
CONT11
PINT1201 PINT1202
CONT12
PIQ201
PIQ202 PIQ203
COQ2
PIQ301
PIQ302 PIQ303
COQ3
PIQ1001
PIQ1002
COQ10
PIQ1101
PIQ1102
COQ11
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801
PIR1802
COR18
PIR4401
PIR4402
COR44
PIR4501 PIR4502
COR45
PIR4601 PIR4602
COR46
PIR4701
PIR4702
COR47
PIR4801
PIR4802
COR48
PIR4901 PIR4902
COR49
PIR5001 PIR5002
COR50
PIR5101 PIR5102
COR51
PIR5201 PIR5202
COR52
PIR5301 PIR5302
COR53
PIR5401
PIR5402
COR54
PIR5501
PIR5502
COR55
PIU201
PIU202
PIU203
PIU204
PIU205
PIU206
PIU207
PIU208
PIU209
PIU2010
PIU2011
PIU2012
COU2
PIU301
PIU302
PIU303
PIU304
PIU305
PIU306
PIU307
PIU308
PIU309
PIU3010
PIU3011
PIU3012
PIU3013
PIU3014
PIU3015
PIU3016
COU3
PIU1501
PIU1502
PIU1503
PIU1504
COU15
PIU1601
PIU1602
PIU1603
PIU1604
COU16
PIU1701
PIU1702
PIU1703
PIU1704
COU17
PIU1801
PIU1802
PIU1803
PIU1804
COU18
PIU1901
PIU1902
PIU1903
PIU1904
COU19
PIC602 PIC702 PIC802
PIQ201
PIQ301
PIR1702 PIR1802
PIR5402 PIR5502
PIU205
PIU206
PIU301
PIU3016
PIC4802
PIC4902
PIC5002
PIC5102
PIC5202
PIC5302 PIC5402
PID902
PIR1502 PIR1602
PIR5201
NLBUMPL
PIR5301
NLBUMPR
PIR1801
PIU2010 PIU305
NLCS
PIJ602
PINT1202
NLD2
PIJ502
PINT1102
NLD3
PIR5101
NLDOWN1
PIR5001
NLDOWN2
PIR4901
NLDOWN3
PIR4601
NLDOWN4
PIR4501
NLDOWN5
PID801
PIR4702
PIU1504
NLEMIT
PIC601 PIC701 PIC801
PIC901
PIQ1001 PIQ1101
PIU202
PIU203
PIU2012
PIU308
PIU309
PIU3010
PIU3011
PIU3012
PIU3013
PIU3015
PIU1501
PIU1601
PIU1701
PIU1801
PIU1803
PIU1901
PIU1903
PIC902
PIU204
PIC4801
PIR4502
PIU1502
PIC4901
PIR4602
PIU1602
PIC5001
PIR4902
PIU1702
PIC5101
PIR5002
PIU1802
PIC5201
PIR5102
PIU1902
PIC5301
PIQ1002
PIR5202
PIC5401
PIQ1102
PIR5302
PID802
PIR4401
PID803
PID901
PID1002
PID1001
PIR4701
PIR4402
PIU1604
PIR4801
PIU1503
PIR4802
PIU1704
PIU207
PIU208
PIU306
PIU307
PIU3014
PIU1603
PIU1804
PIU1703
PIU1904
PIR1701
PIU209 PIU304
NLSA0
PIJ501
PINT1101
PIQ203
PIR1501
NLSCL
PIQ202
PIR5401
PIU201 PIU302
NLSCLLV
PIJ601
PINT1201
PIQ303
PIR1601
NLSDA
PIQ302
PIR5501
PIU2011 PIU303
NLSDALV

3pi+ 32U4 Control Board
©2020 Pololu Corporation
www.pololu.com
Schematic diagram
Power
R®
Page 4 of 4
Input structure of OFF and CTL inputs
47k
4.7k
CTL
Simplified switch schematic
1
2
VBATVBAT
1
2
OFF
1
VBAT
100k
VRP VSWVBAT
SW
100k
VBAT
Btn Jmp
BAT1 (2x AAA)
ON
Input structure of ON input
BAT2 (2x AAA)
OFF
1
2
3
4
3V3
1
2
3
4
5V
VM
ON
CTL
VSW
Latching Circuit
pushbutton
PWRBPWRA
1
2
3
1
2
4
3
5
PWRB
SW PWRA
ON
OFF
CTL
R5VVM VBUS 5V
20k
R35
2.21k
R36
1k
R58
1k
R59
5VR5V VBUS
STAT 1
EN
2
VSNS
3
ILIM 4
GND
5
IN2
6
OUT 7 IN1
8
PAD
9
TPS2113A
D6
Blue
D7
Green
D11
Blue
D12
Blue
STAT
10 uF
C23
10 uF
C24
0.1 uF
C25
100k
R40
270
R41 10 uF
C28
0.1 uF
C29
0.1 uF
C30
1 uF
C31
20k
R42
1STAT
L2
VMVSW
BST 8
SW 6
VDD
2
EN
1
FB 3
GND
5
VIN
10
MODE
9VOUT 7
GND
4
0.1 uF
C27
100k
R38
330 uF
C35
NP
C45
10 uF
C32
0.1 uF
C36
0.1 uF
C37
10 uF
C40
10 uF
C42
475k
R63
220 uF
C38
154k
R39
10 uF
C34
10 uF
C39
10 uF
C41
10 uF
C43
4.7k
R62
4.7 uF
C47 68.1k
R64
L3
VSW R5V
SW 9
FB 3
VOUT 2
VBAT
6
EN
1
GND
5
LBO 4 PS
8
LBI
7
PAD 11
PGND 10
100k
R60
2.2uF
C44 0.1
R56
10 uF
C26
10uF
C56
10uF
C57
10uF
C58
0.1 uF
C46
10 uF
C55
10uF
C59
10uF
C60
10uF
C61
5V 3V3 AVR3V3
IN
1
ON/OFF
3OUT 5
NC 4
GND
2
3.3V LDO
NP
R30
10 uF
C19
1 uF
C20
1 uF
C21
PI?01
PI?02
CO?
PIC1901
PIC1902
COC19
PIC2001
PIC2002
COC20
PIC2101
PIC2102
COC21
PIC2301
PIC2302
COC23
PIC2401
PIC2402
COC24
PIC2501
PIC2502
COC25
PIC2601
PIC2602
COC26
PIC2701
PIC2702
COC27
PIC2801
PIC2802
COC28
PIC2901
PIC2902
COC29
PIC3001
PIC3002
COC30
PIC3101
PIC3102
COC31
PIC3201
PIC3202
COC32
PIC3401
PIC3402
COC34
PIC3501
PIC3502
COC35
PIC3601
PIC3602
COC36
PIC3701
PIC3702
COC37
PIC3801
PIC3802
COC38
PIC3901
PIC3902
COC39
PIC4001
PIC4002
COC40
PIC4101
PIC4102
COC41
PIC4201
PIC4202
COC42
PIC4301
PIC4302
COC43
PIC4401
PIC4402
COC44
PIC4501
PIC4502
COC45
PIC4601
PIC4602
COC46
PIC4701
PIC4702
COC47
PIC5501
PIC5502
COC55
PIC5601
PIC5602
COC56
PIC5701
PIC5702
COC57
PIC5801
PIC5802
COC58
PIC5901
PIC5902
COC59
PIC6001
PIC6002
COC60
PIC6101
PIC6102
COC61
PID601
PID602
COD6
PID701
PID702
COD7
PID1101
PID1102
COD11
PID1201
PID1202
COD12
PIJ705
PIJ706
COJ7C
PIJ707
PIJ708
COJ7D
PIJ?01
PIJ?02
COJ?
PIJP?01
COJP?
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIJP?05
PIJP?01
PIJP?02
PIJP?03
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIJP?01
PIJP?01
PIJP?02
PIJP?01
PIJP?02
PIL201 PIL202
COL2
PIL301 PIL302
COL3
PINT?01
PINT?02
CONT?
PIQ401PIQ402
PIQ403
PIQ404 PIQ405PIQ406
COQ4
PIQ501PIQ502
PIQ503
PIQ504 PIQ505PIQ506
COQ5
PIQ?01
PIQ?02
PIQ?03
COQ?
PIQ?01
PIQ?02
PIQ?03
PIQ?01
PIQ?02
PIQ?03
PIR3001 PIR3002
COR30
PIR3501
PIR3502
COR35
PIR3601
PIR3602
COR36
PIR3801
PIR3802
COR38
PIR3901
PIR3902
COR39
PIR4001
PIR4002
COR40
PIR4101
PIR4102
COR41
PIR4201
PIR4202
COR42
PIR5601
PIR5602
COR56
PIR5801
PIR5802
COR58
PIR5901
PIR5902
COR59
PIR6001 PIR6002
COR60
PIR6201
PIR6202
COR62
PIR6301
PIR6302
COR63
PIR6401
PIR6402
COR64
PIR?01 PIR?02
COR?
PIR?01
PIR?02
PIR?01 PIR?02
PISW?01 PISW?02
COSW?
PIU1201
PIU1202
PIU1203 PIU1204
PIU1205
COU12
PIU1301
PIU1302
PIU1303
PIU1304
PIU1305
PIU1306
PIU1307 PIU1308
PIU1309
COU13
PIU1401 PIU1402
PIU1403
PIU1404
PIU1405
PIU1406
PIU1407
PIU1408
PIU1409
PIU14010
PIU14011
COU14
PIU2001
PIU2002 PIU2003
PIU2004
PIU2005
PIU2006
PIU2007
PIU2008
PIU2009
PIU20010
COU20
PIC1902 PIC2102
PIJP?01
PIR3002 PIU1205
PIC2002
PIC2302 PIC2402 PIC2502
PIC2802 PIC2902 PIC3002
PIJP?02
PIR5901
PIU1201
PIU1203
PIU1307
PIR3001
PI?01
PIJP?05
PIQ?03
PIR?01
PIR?02
NLCTL
NLCTRL
PIC1901
PIC2001 PIC2101
PIC2301 PIC2401 PIC2501
PIC2601
PIC2801 PIC2901 PIC3001
PIC3101
PIC3201
PIC3401
PIC3501 PIC3601 PIC3701
PIC3801
PIC3901
PIC4001
PIC4101
PIC4201
PIC4301
PIC4401
PIC4501
PIC4601
PIC4701
PIC5501
PIC5601 PIC5701 PIC5801
PIC5901
PIC6001 PIC6101
PID602 PID702 PID1102 PID1202
PIJ708
PIJP?01
PIJP?02
PIJP?03
PIJP?04
PIQ?02
PIR3902
PIR4102
PIR4201
PIR6201
PIR6401
PIR?01
PIU1202
PIU1302
PIU1305
PIU1309
PIU1405
PIU1407
PIU1408
PIU14010
PIU14011
PIU2004
PIU2005
PIU2009
PI?02
PIC2701
PIU2008
PIC2702
PIL202
PIU2006
PIC4702
PIU2002
PIC5602 PIC5702 PIC5802
PIC5902
PIC6002 PIC6102
PIR5601
PID601
PIR3501
PID701
PIR3602
PID1101
PIR5802
PID1201
PIR5902
PIJ706
PIJ707
PIJ?01
PINT?01
PIJP?03
PIL302
PIU1409
PIQ403
PIQ?01 PIR?02
PIQ?03
PIR3802
PIR3901
PIU2001
PIR4001
PIR4202
PIU1303
PIR4101
PIU1304
PIR6002 PIU1401
PIR6301
PIR6402
PIU2003
PISW?02
PIU1204
PIU1403
PIU1404
PIJP?04
PIQ?01
NLOFF
PIJP?03
PIQ?01
NLON
PIJP?02
PISW?01
NLPWRA
PIJP?01
NLPWRB
PIC4402
PIR4002
PIR5602
PIR5801
PIU1308
PIU1402
PIJP?01
PIU1301
NLSTAT
PIJ?02
PIJP?02
PINT?02
PIQ503
PIR?01
NLSW
PIJ705
PIJP?01
PIQ401PIQ402PIQ405PIQ406
PIC3102
PIR3601
PIU1306
PIC3402
PIC3702
PIC3802
PIC4002
PIC4102
PIC4202 PIC4502
PIJP?03
PIR3502
PIR6202
PIR6302
PIU2007
PIQ404 PIQ504
PIR?02
PIC2602
PIC3202
PIC3502 PIC3602
PIC3902
PIC4302
PIC4602
PIC5502
PIJP?04
PIL201
PIL301
PIQ501PIQ502PIQ505PIQ506
PIR3801
PIR6001
PIU1406
PIU20010