HardLabs

URC

spikonado·URC·pcb_design/URC.kicad_pcb

URC PCB layout, top view — open source ESP32 board by spikonado

About the URC PCB

URC is an open source ESP32 PCB design by spikonado, published on GitHub under the CERN-OHL-W-2.0 license. It is a 4-layer board measuring 110 × 90 mm, with 150 components from 51 distinct parts.

Its main chip is the ESP32-S3-WROOM-1-N16R8, from the ESP32 family. Other key parts include the USBLC6-2P6, CP2102N-A02-GQFN24, LMR51635YDDCR, LD39200PU33R and SN74LVC1G125DBVR. By type, the board carries 65 capacitors, 31 resistors, 18 connectors, 15 ICs, 14 diodes and 3 transistors.

It belongs with the robotics & motion designs in this gallery.

From the project

Universal Robot Controller

- Can precisely control up to 4 Brushed DC Motors with or without quadrature encoders. - Can precisely control Serial Bus Servos from Feetech, Waveshare, etc. - Communicate with and control a variety of 2D LiDARs. - Communicate with and control other robotics hardware through CAN FD. - Supports voltages up to 36V. - Incredible support for ROS 2.

1. An ESP32-S3 module, specifically the ESP32-S3-WROOM-1-N16R8, which comes with 16 MB flash and 8 MB PSRAM. 2. An STM32G431KBU6 being used specifically for motor control.

URC, from the project README
From the project README

Main components on the URC

USBLC6-2P6CP2102N-A02-GQFN24ESP32-S3-WROOM-1-N16R8LMR51635YDDCRLD39200PU33RSN74LVC1G125DBVRSN74LVC1G126DBVRMCP2518FDT-E/QBBMCP2562-E/SNSTM32G431KBU6DRV8256PRGER

URC bill of materials (BOM)

150 components, 51 distinct parts — part numbers from the project's BOM.

QtyPartRefs
2
USBLC6-2P6
STMicroelectronics
U1, U2
1
CP2102N-A02-GQFN24
Silicon Labs
U3
1
ESP32-S3-WROOM-1-N16R8
ESP32-S3-WROOM-1
Espressif Systems
U4
1
LMR51635YDDCR
Texas Instruments
U5
1
LD39200PU33R
STMicroelectronics
U6
1
SN74LVC1G125DBVR
SN74LVC1G125DBV
Texas Instruments
U7
1
SN74LVC1G126DBVR
SN74LVC1G126DBV
Texas Instruments
U8
1
MCP2518FDT-E/QBB
MCP2518FD-xQBB
Microchip Technology
U9
1
MCP2562-E/SN
MCP2562-E-SN
Microchip Technology
U10
1
STM32G431KBU6
STMicroelectronics
U11
4
DRV8256PRGER
Texas Instruments
U12, U13, U14, U15
2
MMBT3904LT1G
MMBT3904
onsemi
Q1, Q2
1
MMBT3906LT1G
onsemi
Q3
1
0153G2-40.000F18HPLJK
40 MHz
SUZHOU HANGJING ELEC&TECH CO., LTD
Y1
2
USB4105-GF-A
USB_C_Receptacle_USB2.0_16P
GCT
J1, J2
2
XT60-M
Conn_01x02_Socket
Changzhou Amass Elec
J3, J6
2
TS-102-T-A
Conn_01x02_Socket
Samtec Inc.
J4, J5
1
22-03-5035
5267-03A
Molex
J7
1
TB007-508-05BE
Screw_Terminal_01x05
Same Sky
J8
1
5-146278-6
Conn_01x06_Pin
TE Connectivity AMP Connectors
J9
Show 31 more
QtyPartRefs
4
TB007-508-06BE
Screw_Terminal_01x06
Same Sky
J10, J11, J12, J13
1
M20-7830446
Conn_02x04_Odd_Even
Harwin Inc.
J14
1
SM04B-SRSS-TB
Conn_01x04_MountingPin
JST
J15
2
5-534237-4
Conn_01x06_Socket
TE Connectivity AMP Connectors
J16, J17
1
TS-103-T-A
Conn_01x03_Pin
Samtec Inc.
J18
2
KMR223G LFG
SW_Push
C&K
SW1, SW2
13
SS14
onsemi
D1, D2, D3, D5, D7, D8, D9, D10 +5
1
NUP2105LT1G
D_TVS_Dual_AAC
onsemi
D6
1
SRR1210-3R3Y
3.3 µH
Bourns
L1
9
GRT188R61C106KE13D
10µF, 16V
Murata Electronics
C1, C3, C5, C6, C14, C15, C17, C18 +1
16
CL05B104KO5NNNC
100nF, 16V
Samsung Electro-Mechanics
C2, C4, C7, C8, C9, C13, C16, C19 +8
2
GRT21BR61H475KE13L
4.7µF, 50V
Murata Electronics
C10, C11
8
GRM155R61H104KE14D
100nF, 50V
Murata Electronics
C12, C23, C26, C36, C41, C47, C53, C59
14
GRM21BR61H106KE43L
10µF, 50V
Murata Electronics
C21, C22, C24, C25, C34, C35, C42, C43 +6
1
CC0402KRX7R9BB471
470pF, 50V
YAGEO
C27
1
A768KE107M1VLAS036
100µF
KEMET
C28
2
GRT1555C1H100FA02D
10pF, 1%
Murata Electronics
C30, C31
4
GRM155R71H223JA12D
22nF, 50V
Murata Electronics
C39, C48, C54, C60
4
CL10B224KO8NNNC
220nF, 16V
Samsung Electro-Mechanics
C40, C49, C55, C61
4
GRM155R71A474KE01D
470nF, 10V
Murata Electronics
C44, C50, C56, C62
4
ERA-2AEB512X
5.1 kΩ, 0.1%
Panasonic
R1, R2, R3, R4
1
RC0402JR-071KL
1 kΩ, 5%
YAGEO
R5
1
ERJ-2RKF2212X
22.1 kΩ, 1%
Panasonic
R6
1
RC0402FR-0747K5L
47.5 kΩ, 1%
YAGEO
R7
14
RC0402JR-0710KL
10kΩ, 5%
YAGEO
R8, R11, R12, R15, R17, R19, R20, R23 +6
1
RT0402BRE07100KL
100kΩ, 0.1%
YAGEO
R9
1
RT0402BRD0719K1L
19.1 kΩ, 0.1%
YAGEO
R10
1
RC0402JR-0720KL
20kΩ, 5%
YAGEO
R13
2
ERJ-PA2J101X
100Ω, 5%
Panasonic
R14, R16
1
ERJ-UP6F1200V
120Ω, 5%
Panasonic
R18
4
RC0402FR-07330KL
330kΩ, 5%
YAGEO
R21, R22, R25, R28

URC design files

The KiCad project lives in the spikonado/URC repository on GitHub; these links point at the commit this page was built from.

URC: common questions

What microcontroller does the URC use?

The URC is built around the ESP32-S3-WROOM-1-N16R8, from the ESP32 family.

How big is the URC PCB?

The URC measures 110 × 90 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the URC?

150 components, from 51 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the URC design files?

From the spikonado/URC repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the URC design in my own project?

Yes, under the terms of its CERN-OHL-W-2.0 license, which spikonado chose for the repository.

Can I test firmware for the URC without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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