${DOC TYPE} Document
${DOC TYPE} Document is an open source STM32 PCB design by EPFLXplore: a 6-layer, 69.7 × 76.7 mm board with 253 components (71 distinct parts). It is built around the STM32G474RET3, LMR36503MSC5RPERQ1, LMR36006FSCQRNXTQ1, TPS62172DSGR and more. Filed under robotics & motion.
PCB designs for Xplore Research's robot dog project
ΛMULET is a high-power brushless motor controller, compatible with the moteus firmware. It was specifically designed to be integrated in EPFL Xplore's Legged Robot actuators.
Associated firmware is forked from the moteus repository.
Schematic is hugely inspired by the moteus controllers designed by Josh Pieper. They were modified to meet our own specifications, and to follow what I personally consider good layout practices.
Built around
Parts list
253 components, 71 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | STM32G474RET3 STMicroelectronics | LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | LMR36503MSC5RPERQ1 LMR36506MSC5RPERQ1 Texas Instruments | LMR36503 | U2 |
| 1 | LMR36006FSCQRNXTQ1 LMR36006FSCQ Texas Instruments | LMR36006 | U3 |
| 1 | TPS62172DSGR TPS62172DSG Texas Instruments | WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm_ThermalVias | U4 |
| 1 | LP2992IM5-3.3/NOPB Texas Instruments | SOT95P280X145-5N | U5 |
| 1 | DRV8353FSRTAR DRV8353FS Texas Instruments | WQFN-40-1EP_6x6mm_P0.5mm_EP4.15x4.15mm_ThermalVias | U6 |
| 1 | AS5047P-ATSM AS5047P ams-OSRAM USA INC. | SOP-14_4.4x5mm_P0.65mm_H1.2mm | U7 |
| 1 | AS5048B-HTSP-500 AS5048B ams-OSRAM USA INC. | SOP-14_4.4x5mm_P0.65mm_H1.2mm | U8 |
| 1 | SN65HVD35DR Texas Instruments | SOIC-14 5.4mm | U9 |
| 1 | TCAN1051HGVDRBRQ1 Texas Instruments | HVSON-8-1EP_3x3mm_P0.65mm_EP1.6x2.4mm_ThermalVias | U10 |
| 1 | DGD0216WT-7 Diodes Incorporated | SOT-23-5 | U11 |
| 6 | TPW1R306PL,L1Q Toshiba Semiconductor and Storage | 2-5S1A | Q1, Q2, Q3, Q4, Q5, Q6 |
| 3 | PMV90ENER Nexperia USA Inc. | SOT-23-3 | Q7, Q8, Q9 |
| 1 | XT60PW-F AMASS | AMASS_XT60PW-F_1x02_P7.20mm_Horizontal | J1 |
| 1 | XT60PW-M AMASS | AMASS_XT60PW-M_1x02_P7.20mm_Horizontal | J2 |
| 1 | SM08B-GHS-TB JST Sales America Inc. | JST_GH_SM08B-GHS-TB_1x08-1MP_P1.25mm_Horizontal | J6 |
| 1 | SM07B-GHS-TB JST Sales America Inc. | JST_GH_SM07B-GHS-TB_1x07-1MP_P1.25mm_Horizontal | J7 |
| 2 | S2B-PH-SM4-TB JST Sales America Inc. | JST_PH_S2B-PH-SM4-TB_1x02-1MP_P2.00mm_Horizontal | J8, J9 |
| 1 | SM06B-GHS-TB JST Sales America Inc. | JST_GH_SM06B-GHS-TB_1x06-1MP_P1.25mm_Horizontal | J10 |
| 2 | 1054301203 Nano-Fit 1x03 Molex | 1054301203 | J12, J13 |
Show 51 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | SM05B-GHS-TB JST Sales America Inc. | JST_GH_SM05B-GHS-TB_1x05-1MP_P1.25mm_Horizontal | J14 |
| 1 | CAS-220TA Nidec Components Corporation | CAS-220A_NDC-L | SW1 |
| 1 | NCP15WB473F03RC 47k 1% NTC Murata Electronics | R_0402_1005_DensityHigh | TH1 |
| 2 | SMBJ51CD-M3/H Vishay | DIOM4336X24N | D1, D2 |
| 15 | BAT41KFILM STMicroelectronics | D_SOD-523 | D3, D4, D5, D6, D7, D8, D9, D10 +7 |
| 1 | SM1206NYC-IL YELLOW Bivar Inc. | LED_SM1206 | D12 |
| 1 | SM1206NPGC-IL GREEN Bivar Inc. | LED_SM1206 | D13 |
| 2 | PESD4USB5B-TBSX Nexperia USA Inc. | SOT1176D | D16, D17 |
| 2 | PESD4USB3U-TBSX Nexperia USA Inc. | SOT1176D | D18, D26 |
| 2 | CDSOT23-SM712 Bourns Inc. | SOT95P230X110-3N | D23, D27 |
| 2 | PESD2CANFD24V-UX Nexperia USA Inc. | SOT95P230X117-3N | D24, D25 |
| 4 | 742792096 1k @ 100MHz Würth Elektronik | R_0805_2012_DensityHigh | FB1, FB2, FB3, FB4 |
| 2 | LPS4018-223MRC 22u Coilcraft | L_Coilcraft_LPS4018 | L1, L2 |
| 1 | LPS3314-222MRC 2u2 Coilcraft | L_Coilcraft_LPS3314 | L3 |
| 3 | GRM188Z71C475KE21J 4u7 X7R 16V Murata Electronics | C_0603_1608_DensityHigh | C1, C84, C110 |
| 5 | GRM155Z71A105KE01J 1u X7R 10V Murata Electronics | C_0402_1005_DensityHigh | C2, C6, C9, C24, C26 |
| 26 | GCM155R71H104KE02J 100n X7R 50V Murata Electronics | C_0402_1005_DensityHigh | C3, C4, C5, C8, C10, C11, C27, C28 +18 |
| 1 | 04023D475MAT2A 4u7 X5R 25V KYOCERA AVX | C_0402_1005_DensityHigh | C7 |
| 3 | AC0402KRX7R8BB102 1n X7R 25V YAGEO | C_0402_1005_DensityHigh | C12, C13, C14 |
| 7 | CGA4J1X7R2A225K125AC 2u2 X7R 100V TDK Corporation | R_0805_2012_DensityHigh | C15, C16, C17, C18, C20, C45, C52 |
| 50 | GRJ31CZ72A475KE01L 4u7 X7R 100V Murata Electronics | C_1206_3216_DensityHigh | C19, C21, C31, C32, C33, C34, C35, C36 +42 |
| 2 | HMK107B7104KAHT 100n X7R 100V Taiyo Yuden | C_0603_1608_DensityHigh | C22, C92 |
| 2 | HMK107C7224KAHTE 220n X7S 100V Taiyo Yuden | C_0603_1608_DensityHigh | C23, C25 |
| 2 | CGA6M3X7R1E156M200AB 15u X7R 25V TDK Corporation | C_1210_3225_DensityHigh | C30, C38 |
| 2 | GRM21BZ71A226ME15L 22u X7R 10V Murata Electronics | C_0805_2012_DensityHighest | C37, C83 |
| 2 | GRM21BZ71E106KE15L 10u X7R 25V Murata Electronics | C_0805_2012_DensityHighest | C56, C106 |
| 3 | TMK107AB7105KAHT 1u X7R 25V Taiyo Yuden | C_0603_1608_DensityHigh | C60, C88, C93 |
| 1 | HMR105B7103KV-F 10n X7R 100V Taiyo Yuden | C_0402_1005_DensityHigh | C76 |
| 4 | GRJ31CZ72A475KE01L 4u7 X7R 100V Murata Electronics | C_1206_3216_DensityHighest | C89, C96, C98, C100 |
| 1 | GCM155R71C104KA55D 100n X7R 16V Murata Electronics | C_0402_1005_DensityHigh | C90 |
| 1 | C0603C473K1RECAUTO 47n X7R 100V KEMET | C_0603_1608_DensityHigh | C91 |
| 1 | GRT155R70J105KE01D 1u X7R 6.3V Murata Electronics | C_0402_1005_DensityHigh | C94 |
| 3 | C1206C104K1RACAUTO 100n X7R 100V KEMET | C_1206_3216_DensityHighest | C95, C97, C99 |
| 1 | GCM155R72A472KA37D 4n7 X7R 100V Murata Electronics | C_0402_1005_DensityHigh | C129 |
| 3 | C0603V102KDRAC7867 1n X7R 1kV KEMET | C_0603_1608_DensityHigh | C130, C131, C132 |
| 6 | GRM155R72A332KA01D 3n3 X7R 100V Murata Electronics | C_0402_1005_DensityHigh | C133, C134, C135, C136, C137, C138 |
| 3 | ERJ-2RKF22R0X 22R 1% Panasonic Electronic Components | R_0402_1005_DensityHigh | R1, R2, R3 |
| 3 | ERJ-2GE0R00X 0R Panasonic Electronic Components | R_0402_1005_DensityHigh | R4, R31, R32 |
| 6 | RT0402FRE07100KL 100k 1% YAGEO | R_0402_1005_DensityHigh | R5, R19, R20, R21, R24, R29 |
| 1 | RT0402FRE079K09L 9k09 1% YAGEO | R_0402_1005_DensityHigh | R6 |
| 3 | RT0402FRE0710KL 10k 1% YAGEO | R_0402_1005_DensityHigh | R7, R27, R33 |
| 7 | ERJ-2RKF2001X 2k 1% Vishay | R_0402_1005_DensityHigh | R8, R9, R28, R44, R45, R46, R47 |
| 6 | CRCW08057R50FKEAHP 7R5 1% 1/2W Vishay | R_0805_2012_DensityHigh | R10, R11, R13, R14, R16, R17 |
| 3 | HCS1206FTL500 0m5 1% 2W Stackpole Electronics Inc | HCS1206FTL500 | R12, R15, R18 |
| 14 | RCS0402100RFKED 100R 1% 1/5W Vishay | R_0402_1005_DensityHigh | R22, R23, R25, R35, R36, R37, R38, R39 +6 |
| 1 | CRCW0402150RFKEDHP 150R 1% 1/5W Vishay | R_0402_1005_DensityHigh | R26 |
| 1 | RT0402FRE134K7L 4k7 1% YAGEO | R_0402_1005_DensityHigh | R30 |
| 1 | CRCW060310R0FKEAHP 10R 1% Vishay | R_0603_1608_DensityHigh | R34 |
| 2 | ESR03EZPF60R4 60R4 1% 1/4W Rohm Semiconductor | R_0603_1608_DensityHigh | R50, R51 |
| 1 | CRCW06030000Z0EAHP 0R Vishay | R_0603_1608_DensityHigh | R53 |
| 6 | CSRT0603FT5R00 5R 1% 0.4W Stackpole Electronics Inc | R_0603_1608_DensityHigh | R55, R56, R57, R58, R59, R60 |
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