2 layers43 × 23 mm
2 layers42 × 42 mm
OpenJoint V0.1
Shrijal2410/OpenJointOpenJoint by Shrijal is licensed under CC BY-NC-SA 4.0
- Size
- 42 × 42 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 43
- Nets
- 54
- Pads
- 222
- Tracks, vias
- 0, 0
- Routed
- Not yet
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 26 Apr 2025
- Updated
- 24 Jun 2025
Overview
OpenJoint V0.1 is an open-source printed circuit board by Shrijal2410, from the Shrijal2410/OpenJoint repository on GitHub. It is a 2-layer board of 42 × 42 mm with 43 parts on 54 nets.
It is built around the ESP32-C3-MINI-1-H4, SN65HVD230D and AMS1117-3.3, with the NUP2105L, SS210 and TYPE-C-31-M-12 among its other parts. Its parts include 12 capacitors, 12 resistors, 4 ICs, 4 connectors and 3 diodes. It belongs with the ESP32 and RISC-V boards of this library.
Main components
6
ESP32-C3-MINI-1-H4
SMD,16.6x13.2mm-40℃~+105℃ -96dBm 2.4GHz 20.5dBm 3.3V On-board PCB Antenna SPI SMD,16.6x13.2mm WiFi Modules ROHSEspressif SystemsWiFi Modules
SN65HVD230D
SOIC-8-40℃~+85℃ 1 17mA 1Mbps 370uA 3V~3.6V CAN Transceiver Low-power mode、Wake-up function、ESD protection、Thermal shutdown protection、Bus fault protection、Hot-swap protection SOIC-8 CAN Transceivers ROHSTexas InstrumentsCAN Transceivers
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
NUP2105L
SOT-23-55℃~+150℃ 100nA 2 24V 30pF 32V 350W@8/20us 44V 8A@8/20us Bidirectional IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 TVS SOT-23 ESD and Surge Protection (TVS/ESD) ROHSonsemiESD And Surge Protection (TVS/ESD)
SS210
SMA(DO-214AC)-55℃~+150℃ 1 Independent 100V 2A 500uA@100V 850mV@2A SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
TYPE-C-31-M-12
SMD-30℃~+80℃ 1 10,000 cycles 16P 20V 5A 7.35mm Female Surface Mount, Right Angle Type-C SMD USB Connectors ROHSHRO ElectronicsUSB Connectors
README
readme.mdOpenJoint
OpenJoint is an open-source modular joint controller designed for robots, automation projects, and creative motion systems.
It enables precise control of stepper motors with integrated feedback, easy programming, and scalable connectivity.
✨ Features
-
Stepper Motor Control
- Drive stepper motors via TMC drivers (e.g., TMC2209, TMC5160, etc.).
- Closed-loop feedback with magnetic encoders (like AS5048A, AS5600).
-
Programmable via USB Type-C
- Plug-and-play programming using standard USB Type-C interface.
- Compatible with ESP32 and STM32 microcontrollers.
-
Daisy Chain Architecture
- Connect up to 10 nodes on a single bus.
- Shared power and communication across nodes.
- Built-in CAN FD support for fast and robust communication.
-
Expandable Interfaces
- Additional ports for extra sensors (IMU, force sensors, etc.) or custom communication modules (UART, SPI, I2C).
🛠 Hardware Overview
| Component | Details |
|---|---|
| MCU Options | ESP32 (Wi-Fi/Bluetooth) or STM32 (robust, RT) |
| Motor Driver | TMC series stepper motor driver (configurable) |
| Feedback Sensor | Magnetic encoders (12-bit+ resolution) |
| Power Supply | 24V nominal, shared across all nodes |
| Communication | CAN FD bus with daisy-chain connectors |
| Programming Port | USB Type-C (programming and debugging) |
📦 Planned Deliverables
- Firmware examples for ESP32 and STM32.
- Open-source hardware schematics (KiCad, Altium, etc.).
- Driver libraries for encoder reading and motor control.
- Example project: 3-joint robotic arm using OpenJoint modules.
License
OpenJoint by Shrijal is licensed under CC BY-NC-SA 4.0 
Parts
43| Qty | Value | Footprint | References |
|---|---|---|---|
| 6 | 1u | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C3, C4, C5, C8, C9, C11 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H1, H2, H3, H4 |
| 3 | 0 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R2, R5, R7 |
| 3 | 0.1u | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C2, C6, C12 |
| 3 | 10k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1, R6, R8 |
| 3 | 10u | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C7, C10 |
| 3 | 4.7k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R10, R11, R12 |
| 2 | 5.1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R3, R4 |
| 2 | SW_Push | SamacSys_Parts:SW_SPST_PTS810 | SW1, SW2 |
| 2 | TestPoint | TestPoint:TestPoint_Pad_1.0x1.0mm | 3V, 5V |
| 1 | 1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R9 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | AS5600 | SamacSys_Parts:SOIC127P600X175-8N | U3 |
| 1 | ESP32-C3-MINI-1-H4 | SamacSys_Parts:ESP32C3MINI1H4 | U1 |
| 1 | LED_Small | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D3 |
| 1 | NUP2105L | Package_TO_SOT_SMD:SOT-23_Handsoldering | D2 |
| 1 | SN65HVD230 | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U4 |
| 1 | SS210 | Diode_SMD:D_SOD-123F | D1 |
| 1 | Screw_Terminal_01x04 | footprint:TerminalBlock_Xinya_2.54-4P_1x04_P2.54mm_Horizontal | J4 |
| 1 | Screw_Terminal_01x06 | footprint:TerminalBlock_Xinya_2.54-6P_1x06_P2.54mm_Horizontal | J1 |
| 1 | Screw_Terminal_01x08 | footprint:TerminalBlock_Xinya_2.54-8P_1x08_P2.54mm_Horizontal | J2 |
| 1 | TYPE-C-31-M-12 | footprint:USB-TYPE-C-31-M-12 | J3 |
Similar boards
- 2 layers31.2 × 52.3 mm
GroundMonitor
crnicholson/Plant-Monitor
Plant Monitor is a way to view data from a remote humidity sensor on web interface, which then tells you when you need to water your plants plus the air humidity, soil humidity, air temp, and air pressure.
26 parts2 - 2 layers90 × 50 mm
SensactHsLed3
klaus-liebler/sensact
Es gibt vier Namespaces für Nachrichten "REQUEST" und "RESPONSE", "EVENT" und "ACKNOWLEDGE". Dies wird mit den beiden LSB des Versions-Namespace-Bytes erklärt (Somit bleiben 64 Versionierungsmöglichkeiten) Alle vier…
96 parts4Apache-2.0 - 4 layers110 × 160 mm
- 2 layers86 × 54 mm
- 2 layers72 × 46 mm
Gpsspeed
bocaj88/gpsspeed
Open-source GPS replacement for the PerfectPass paddlewheel speed sensor (ESP32-C3 + GPS board, firmware, research). Built for a 2008 MasterCraft X2.
67 partsMIT - 4 layers75.2 × 99.5 mm
FOC
nordstream3/FOC
Date | Manufacturer | amount | includes | shipping & tax | price | -------- | -------- | -------- | -------- | -------- | -------- | 2024-01-17 | JLCPCB | 10 boards | All assembled excl fets and caps | YES, to EU |…
261 parts81 - 2 layers137.2 × 83.8 mm
PWA REV2
PubInv/krake
The Krake™ is a Wi-Fi–enabled server using an MQTT broker, which means it can be controlled remotely by other devices ("clients") via the internet.
215 parts9AGPL-3.0
Questions
How big is the OpenJoint V0.1 PCB?
It measures 42 × 42 mm and has 2 copper layers, 1.6 mm thick.
What parts does the OpenJoint V0.1 use?
43 parts, built around the ESP32-C3-MINI-1-H4, SN65HVD230D, AMS1117-3.3 and NUP2105L. 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 OpenJoint V0.1 KiCad files?
From the Shrijal2410/OpenJoint repository on GitHub, at the commit this page was made from: the board is hardware/OpenJoint-V0.1.kicad_pcb and its schematic hardware/OpenJoint-V0.1.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the OpenJoint V0.1 design in my own project?
Its repository states no licence, so its author keeps all rights: ask Shrijal2410 before reusing the design.