4 layers82.6 × 76 mm
4 layers80 × 80 mm
FocDrive
01binary/foc1Field-Oriented Control Board
- Size
- 80 × 80 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 125
- Nets
- 91
- Pads
- 473
- Tracks, vias
- 1,438, 208
- Pours
- 6
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 3 Aug 2026
- Updated
- 13 Aug 2026
Overview
FocDrive is an open-source printed circuit board by 01binary, from the 01binary/foc repository on GitHub. It is a 4-layer board of 80 × 80 mm with 125 parts on 91 nets, routed with 1,438 tracks and 208 vias.
It is built around the STM32G474RBT3, MCP2562FDT-E/MF and AS5047D-ATSM, with the MP1584EN-LF-Z, BSZ0901NSATMA1 and HC-PM254-8.5H-1X6PZ among its other parts. Its parts include 45 capacitors, 33 resistors, 23 ICs, 3 diodes and 1 connector. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
STM32G474RBT3
LQFP-64(10x10)-40℃~+125℃ 1.71V~3.6V 128KB 128KB 12bit 12bit 170MHz 32 Bit 52 ARM Cortex-M4F Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
MCP2562FDT-E/MF
DFN-8(3x3)-40℃~+125℃ 1 15uA 4.5V~5.5V 45mA 8Mbps CAN FD Transceiver Low-power mode、Wake-up function、TXD dominant timeout、ESD protection、Undervoltage Protection、Thermal shutdown protection、Short-Circuit Protection、Integrated level shifting DFN-8(3x3) CAN Transceivers ROHSMicrochip TechnologyCAN Transceivers
AS5047D-ATSM
TSSOP-14-40℃~+125℃ 0°~360° 1.2mm 15mA 4.4mm 4.5V~5.5V 5mm Magnetic rotary position sensor No SPI TSSOP-14 Position Sensors ROHSAdvanced Monolithic SystemsPosition SensorsMP1584EN-LF-Z
SOIC-8-EP-20℃~+85℃@(TA) 1 100kHz~1.5MHz 100uA 3A 4.5V~28V 800mV~25V Adjustable Buck Buck Built-in No SOIC-8-EP DC-DC Converters ROHSMonolithic Power SystemsDC-DC Converters
BSZ0901NSATMA1
TSDSON-8-55℃~+150℃@(Tj) 1 N-channel 2.1W、50W 2.2V@250uA 2.85nF@15V 22A、40A 2mΩ@20A,10V 30V 45nC@10V TSDSON-8 MOSFETs ROHSInfineon TechnologiesMOSFETs
HC-PM254-8.5H-1X6PZ
插件,P=2.54mm-40℃~+105℃ 1 1x6P 2.54mm 3A 3mm 6P 8.5mm Brass Gold Square Hole Through Hole Top 插件,P=2.54mm Female Headers ROHSHong ChengFemale Headers
RT9193-33GB
SOT-23-5-40℃~+125℃@(Tj) -50dB@(10kHz) 1 100uVrms 220mV@(300mA) 3.3V 300mA 5.5V 90uA Fixed Over Current Protection、Over Temperature Protection、Enable Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSRICHTEKVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
C0603B104K160NT
0603100nF 16V X7R ±10% 0603 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSTORCHMultilayer Ceramic Capacitors MLCC - SMD/SMT
LC150LGCT
1206-40℃~+85℃ 100mW 130° 20mA 3.1V 300mcd 518nm 525nm Discrete Diode Emerald Green Water Clear 1206 LED Indication - Discrete ROHSPARALIGHTLED Indication - Discrete
10114830-11108LF
SMD,P=1.25mm,卧贴Pin HeadersAmphenol
KH-BM2.54-3P
插件,P=2.54mm-20℃~+70℃ 100mA 2,000 cycles 2.54mm 24V 3 PC Pin Red Slide, Rocked 插件,P=2.54mm DIP Switches ROHSShenzhen Kinghelm ElecDIP Switches
SS14
SMA(DO-214AC)-55℃~+150℃ 1A 25A 300uA@40V 40V 550mV@1A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
README
README.mdField-Oriented Control Drive
A board that controls BLDC motors in robot joints, based on SimpleFOC Drive Shield.
| Feature | Description |
|---|---|
| Current | 20A continuous, 30A peak, 75A max |
| Voltage | 30V max |
| Encoders | AS5047D (Onboard), ASKIM2 (External) |
| Driver | DRV8320HRTVT Triple Half-Bridge Gate Driver |
| Communication | MCP2562FDT-E/MF CAN-FD Transceiver |
| Power | 12V from XT60PW-F |
Microcontroller
This board uses STM32G474RBT3 MCU.
| Specification | Value |
|---|---|
| Power | 3.3V |
| Memory | 512 KB Flash, 96 KB SRAM |
| ADC | 5x 12-bit ADC, up to 16-bit |
| DAC | 7x 12-bit DAC |
| Timers | 17x |
| Interfaces | CAN-FD, I2C, UART, SPI, USB 2.0 |
| Capabilities | CORDIC for Trigonometric Function, FMAC Filter Mathematical Accelerator |
Motor Driver
The DRV8320HRTVT Triple Half-Bridge Gate Driver with Hardare interface is used to drive three N-channel power MOFSETs.
1.8V,3.3V, and5VLogic Inputs- Adjustable Slew Rate Control
- Up to 100% PWM Duty Cycle
- High-Side Charge Pump
- Low-SIde Linear Regulator
4Vto6 VOperating Voltage0.8mAto600mAOutput Capability
MOSFETs
The BSZ0904NSI 30V 60A N-channel power MOSFETs are used to drive a single 3-phase brushless DC motor.
Current Sense
Current is sensed by using the 3-Shunt, Amplified Current Sensing scheme from STM32 user guide:
| Component | Description |
|---|---|
| HoJLR2512-3W-2mR-1% | 2mΩ 3W Current Sense Resistor SMD ±1% 2512 Current Sense Resistors / Shunt Resistors |
| INA240A1PWR | Op-Amps |
Encoders
The board supports dual encoders:
- AS5047D on the motor (before gearbox)
- ASKIM-2 mounted on the drive (after gearbox)
Onboard Encoder
The onboard AS5047D high-resolution encoder with SPI interface is mounted on the board:
| Pin | Signal |
|---|---|
| 1 | CS |
| 2 | CLK |
| 3 | MISO |
| 4 | MOSI |
| 11 | 5V |
External Encoder
The external absolute AKSIM-2 encoder with SPI interface uses a 10-pin FCI connector:
| Pin | Signal |
|---|---|
| 1 | 5V |
| 2 | GND |
| 3 | External Temperature Sensor Pin 1 (Pass-Thru) |
| 4 | External Temperature Sensor Pin 2 (Pass-Thru) |
| 5 | SCK |
| 6 | CS |
| 7 | MISO |
| 8 | MOSI |
Pin Mapping
| Pin | Net |
|---|---|
VBAT | +3.3V |
PC13 | Status LED |
OSC32_IN | 32.768kHz Crystal Oscillator In |
OSC32_OUT | 32.768kHz Crystal Oscillator Out |
OSC_IN | 8MHz Crystal Oscillator In |
OSC_OUT | 8Mhz Crystal Oscillator Out |
RESET | ARM JTAG Programmer Reset Pin |
Parts
125| Qty | Value | Footprint | References |
|---|---|---|---|
| 14 | 100nF | C0603 | C16, C17, C22, C23, C24, C25, C26, C27, C28, C29, C32, C35, C38, C39 |
| 9 | 1uF | C0603 | C2, C3, C4, C6, C8, C21, C30, C31, C37 |
| 6 | 10kΩ | R0603 | R12, R28, R29, R33, R35, R36 |
| 6 | BSZ0901NSATMA1 | DFN-8_L3.3-W3.3-P0.65-BL-2 | U8, U9, UB1, UB2, UC1, UC2 |
| 5 | C0603B104K160NT | C0603 | C1, C5, CB1, CB2, CB3 |
| 4 | 10uF | C1210 | C18, C19, U11, U13 |
| 4 | HOLEHOLE COPY | HOLEHOLE | H1, H2, H3, H4 |
| 3 | 0Ω | R0402 | R24, R25, R26 |
| 3 | 100nF | C0201 | U10, U20, U22 |
| 3 | 100Ω | R0603 | R13, R34, R37 |
| 3 | 2.2nF | C1206 | C33, C36, C40 |
| 3 | 2mΩ | RES-SMD_L6.4-W3.2-R2512 | R30, R31, R32 |
| 3 | 4.7k | R0603 | R1, R6, R7 |
| 3 | INA240A1PWR | TSSOP-8_L4.4-W3.0-P0.65-LS6.4-BL | U7, U21, U23 |
| 3 | M2 PLATED HOLE WITH MINI HOLES | M2 PLATED HOLE WITH MINI HOLES | M_A, M_B, M_C |
| 2 | 100kΩ | R1206 | R20, R21 |
| 2 | 18k | R0603 | R9, R18 |
| 2 | 18pF | C0402 | C14, C15 |
| 2 | 2.54-4P TPGT | SW-SMD_8P-L10.2-W6.2-P2.54-LS9.4 | IDRIVE, VDS |
| 2 | 20pF | C0201 | C12, C13 |
| 2 | 20Ω | R0402 | U14, U15 |
| 2 | 220uF | CAP-SMD_BD8.0-L8.3-W8.3-LS9.5-FD | C9, C10 |
| 2 | 4.7kΩ | R0603 | R11, R17 |
| 2 | 510Ω | R0603 | R14, R15 |
| 2 | 75k | R0603 | R8, R19 |
| 2 | LC150LGCT | LED1206-RD | DBG, PWR_LED |
| 2 | LED-0603_R | LED0603_RED | D1, D2 |
| 1 | 10114830-11108LF | CONN-SMD_8P-P1.25_AMPHENOL_10114830-11108LF | EX-ENC |
| 1 | 10kΩ | R0402 | R16 |
| 1 | 10nF | C0603 | C34 |
| 1 | 118kΩ | R0603 | U18 |
| 1 | 120Ω | R0402 | R27 |
| 1 | 1nF | C0603 | CF3 |
| 1 | 2.2UH,20% | IND-SMD_L4.0-W4.0_C9900022260 | L1 |
| 1 | 22kΩ | R0603 | R23 |
| 1 | 22nF | C0603 | C11 |
| 1 | 250kΩ | R0805 | R22 |
| 1 | 32.768kHz | CRYSTAL-SMD_L3.2-W1.5-1 | U16 |
| 1 | 47k | R0603 | R10 |
| 1 | 47nF | C0603 | C7 |
| 1 | 47uF | C0603 | C20 |
| 1 | 8MHz | CRYSTAL-SMD_L3.2-W2.5_3225-8MHZ | X1 |
| 1 | AS5047D-ATSM | TSSOP-14_L5.0-W4.4-P0.65-LS6.4-BL | U17 |
| 1 | Conn_ARM_JTAG_SWD_10 | Connector_PinHeader_1.27mm:PinHeader_2x05_P1.27mm_Vertical | J1 |
| 1 | DRV8320HRTVT | WQFN-32_L5.0-W5.0-P0.50-TL-EP | U2 |
| 1 | HC-PM254-8.5H-1X6PZ | HDR-TH_HC-PM254-8.5H-1X6PZ | U1 |
| 1 | HX 5.2X5.2X1.5H SWITCH TACTILE | SW-SMD_4P-L5.2-W5.2-P3.7-LS6.4-1 | RESET |
| 1 | HX USB-MICR XNJ ZB | MICRO-USB-SMD_HX-USB-MICRO-XNJ-JB | USB1 |
| 1 | KH-BM2.54-3P | SW-TH_KH-BM2.54-3P | SW3 |
| 1 | MCP2562FDT-E/MF | DFN-8_L3.0-W3.0-P0.65-BL-EP | U19 |
| 1 | MP1584EN-LF-Z | SOIC-8_L5.0-W4.0-P1.27-LS6.0-BL-EP2.0 | U6 |
| 1 | RT9193-33GB | SOT-23-5_L3.0-W1.7-P0.95-LS2.8-BL | U12 |
| 1 | SS14 | SMA_L4.2-W2.6-LS5.0-RD_1 | D3 |
| 1 | STM32G474RBT3 | LQFP-64_L10.0-W10.0-P0.50-LS12.0-BL | U5 |
| 1 | WJ500V-5.08 | CONN-TH_3P-P5.00_WJ500V-5.08-3P | CAN |
| 1 | XT30PW-M | CONN-TH_XT30PW-M | PWR |
Questions
How big is the FocDrive PCB?
It measures 80 × 80 mm and has 4 copper layers, 1.6 mm thick.
What parts does the FocDrive use?
125 parts, built around the STM32G474RBT3, MCP2562FDT-E/MF, AS5047D-ATSM and MP1584EN-LF-Z. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the FocDrive KiCad files?
From the 01binary/foc repository on GitHub, at the commit this page was made from: the board is FocDrive.kicad_pcb and its schematic FocDrive.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the FocDrive design in my own project?
Its repository states no licence, so its author keeps all rights: ask 01binary before reusing the design.
Similar boards
- 4 layers35 × 50 mm
- 4 layers30 × 48 mm
Esp32 as5047d
HeyPCB/esp32-sensors-2
ESP32-S3 boards, one sensor each: KiCad 10, JLCPCB-ready, CERN-OHL-S-2.0
23 partsCERN-OHL-S-2.0 - 4 layers186.9 × 129.8 mm
BLDC 4
ansh1113/e-bike-conversion-kit
A 4-layer PCB-based e-bike conversion kit featuring an STM32-based VESC ESC, power management circuits, wireless throttle, GSM, GPS, and more.
179 parts1 - 4 layers60.5 × 100.5 mm
VCU
matatma23-gento/embedded-portfolio
This repository collects KiCad hardware design projects. Project specifications, validation results, and individual contributions are being documented; the presence of design files does not imply production readiness or…
166 parts - 4 layers54 × 106 mm
- 4 layers38 × 38 mm
- 4 layers93.5 × 81 mm
