Stepper driver
About the Stepper driver PCB
Stepper driver is an open source STM32 PCB design by bluesatunsw, published on GitHub under the Apache-2.0 license. It is a 6-layer board measuring 62 × 55.5 mm, with 204 components from 55 distinct parts.
Its main chip is the STM32G474, from the STM32 family. Other key parts include the TCAN1462V, ZD24C128A, ZD25WQ16C, ISM330DLC and MP2459GJ-Z-MS. By type, the board carries 120 capacitors, 32 resistors, 21 ICs, 15 diodes, 8 connectors and 3 inductors.
It belongs with the robotics & motion and sensors designs in this gallery.
From the project
This repo includes all software necessary to operate the Test Rover Platform that is being designed and developed in the 502 project.
A device to drive up to four high-current (10A peak, 5A continuous) bipolar stepper motors or eight brushed DC motors/solenoids. External sensors/low power devices may also be attached. It complies with the common device specification 2025-04.
Each stepper motor channel is driven by a TMC5160 controller. These controllers operate by driving two external full bridges, allowing for significantly more current to be delivered compared to devices with internal MOSFETs (such as the TMC2160).
Main components on the Stepper driver
Stepper driver bill of materials (BOM)
204 components, 55 distinct parts.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | STM32G474 | LQFP-64-0.5 | U101 |
| 1 | TCAN1462V | SOIC-8_3.9x4.9mm_P1.27mm | U102 |
| 1 | ZD24C128A | TSSOP-8_4.4x3.0-0.65 | U103 |
| 2 | ZD25WQ16C | Winbond_USON-8-1EP_3x2mm_P0.5mm_EP0.2x1.6mm | U105, U106 |
| 1 | ISM330DLC | LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U107 |
| 1 | MP2459GJ-Z-MS | TSOT-23-6 | U220 |
| 1 | AP62200TWU | TSOT-23-6 | U230 |
| 1 | HX4002 | SOT-23-6 | U240 |
| 8 | DMHT6016LFJ | VDFN5045-12 | U301, U303, U401, U403, U501, U503, U601, U603 |
| 4 | TMC5160A-TA | TQFP-48-0.5-EP | U302, U402, U502, U602 |
| 1 | 24Mhz | Crystal_SMD_2016-4Pin_2.0x1.6mm | Y101 |
| 1 | SM02B-PASS | SM02B-PASS | J101 |
| 1 | BM24B-ZPDSS | BM24B-ZPDSS | J102 |
| 1 | IDC_6P | IDC6 | J103 |
| 1 | XT30M | AMASS_XT30PW-M_1x02_P2.50mm_Horizontal | J210 |
| 4 | B4P-VH | B4P-VH | J301, J401, J501, J601 |
| 4 | 10k | R_0402_1005Metric | TH301, TH401, TH501, TH601 |
| 6 | WS2812B-2020 | WS2812B-2020 | D101, D103, D301, D402, D502, D602 |
| 5 | 3V3 | Diodes_UDFN-10_1.0x2.5mm_P0.5mm | D104, D105, D106, D107, D108 |
| 1 | 30V | D_SOD-123F | D210 |
Show 35 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | SBR0560S1-7 | D_SOD-123 | D220 |
| 2 | SBR0240LP-7 | D_SOD-882 | D221, D230 |
| 1 | 15u | L_Changjiang_FNR5040S | L221 |
| 1 | 4u7 | L_Changjiang_FNR4020S | L230 |
| 1 | 600R | R_0402_1005Metric | L250 |
| 2 | 10p | C_0402_1005Metric | C101, C102 |
| 10 | 10n | C_0402_1005Metric | C103, C210, C303, C314, C404, C416, C504, C516 +2 |
| 1 | 2u2-H | C_1206_3216Metric | C104 |
| 24 | 220n | C_0402_1005Metric | C105, C108, C109, C110, C111, C116, C117, C118 +16 |
| 1 | 1u-M | C_0805_2012Metric | C106 |
| 3 | 10u | C_1206_3216Metric | C112, C240, C242 |
| 12 | 2u2 | C_0603_1608Metric | C113, C114, C241, C250, C304, C305, C406, C407 +4 |
| 9 | 4u7-H | C_1210_3225Metric | C222, C316, C317, C424, C425, C524, C525, C624 +1 |
| 5 | 100n-M | C_0402_1005Metric | C224, C301, C402, C502, C602 |
| 2 | 33p | C_0402_1005Metric | C225, C232 |
| 1 | 68u | CP_Elec_6.3x7.7 | C227 |
| 1 | 4u7-M | C_1206_3216Metric | C230 |
| 1 | 22u | C_1210_3225Metric | C233 |
| 4 | 33n | C_0402_1005Metric | C302, C403, C503, C603 |
| 16 | 330n-M | C_0603_1608Metric | C306, C307, C308, C313, C408, C409, C410, C415 +8 |
| 16 | 1n | C_0402_1005Metric | C309, C310, C311, C312, C411, C412, C413, C414 +8 |
| 4 | 270u | CP_Elec_10x10 | C315, C422, C522, C622 |
| 4 | 100n-H | C_0603_1608Metric | C318, C401, C501, C601 |
| 4 | 4u7-M | C_1210_3225Metric | C319, C421, C521, C621 |
| 1 | 1k | R_0402_1005Metric | R101 |
| 1 | 470R | R_0402_1005Metric | R102 |
| 7 | 10k | R_0402_1005Metric | R103, R105, R106, R211, R222, R231, R232 |
| 1 | 22R | R_0402_1005Metric | R104 |
| 3 | 100k | R_0402_1005Metric | R107, R108, R220 |
| 1 | 220k | R_0402_1005Metric | R210 |
| 1 | 47k | R_0402_1005Metric | R221 |
| 1 | 22k | R_0402_1005Metric | R230 |
| 4 | 2R2 | R_0402_1005Metric | R301, R407, R507, R607 |
| 8 | 20m | R_2512_6332Metric | R302, R303, R408, R415, R508, R515, R608, R615 |
| 4 | 2k2 | R_0402_1005Metric | R304, R417, R517, R617 |
Stepper driver design files
The KiCad project lives in the bluesatunsw/owr repository on GitHub; these links point at the commit this page was built from.
Stepper driver: common questions
What microcontroller does the Stepper driver use?
The Stepper driver is built around the STM32G474, from the STM32 family.
How big is the Stepper driver PCB?
The Stepper driver measures 62 × 55.5 mm, has 6 copper layers and is 0.8244 mm thick.
How many components are on the Stepper driver?
204 components, from 55 distinct parts. The full bill of materials is listed on this page.
Where can I download the Stepper driver design files?
From the bluesatunsw/owr repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.
Can I use the Stepper driver design in my own project?
Yes, under the terms of its Apache-2.0 license, which bluesatunsw chose for the repository.
Can I test firmware for the Stepper driver without the hardware?
Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.
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