2 layers120 × 90 mm
2 layers171.5 × 142.6 mm
Robot controller
amstan/tr22DeltaBot software
- Size
- 171.5 × 142.6 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 328
- Nets
- 237
- Pads
- 1,054
- Tracks, vias
- 3,848, 702
- Pours
- 39
- Routed
- Yes
- KiCad
- KiCad 6 (file 20211014)
- Created
- 2 Oct 2013
- Updated
- 26 Jan 2022
Overview
Robot controller is an open-source printed circuit board by amstan, from the amstan/tr2 repository on GitHub. It is a 2-layer board of 171.5 × 142.6 mm with 328 parts on 237 nets, routed with 3,848 tracks and 702 vias.
It is built around the LMZ14201HTZ, MAX6675ISA+ and FT232RL, with the 1SS295, NJT4031NT1G and RSX501L-20TE25 among its other parts. Its parts include 110 capacitors, 85 resistors, 34 diodes, 17 connectors and 13 transistors. It belongs with the robots and motor control boards of this library.
Main components
6
LMZ14201HTZ
TO-PMOD-7-40℃~+125℃ 1 10.16mm 1A 5V~30V 6V~42V 8mVp-p 9.85mm 97% Buck Short Circuit Protection、Overheat protection、Over Current Protection、Overvoltage protection、Under Voltage Protection TO-PMOD-7 DC-DC Power Modules ROHSTexas InstrumentsDC-DC Power Modules
MAX6675ISA+
SOIC-8-20℃~+85℃ 3V~5.5V SPI SOIC-8 Interface - Specialized ROHSMaxim Integrated (Analog Devices)Interface - Specialized
FT232RL
SSOP-28-208mil-40℃~+85℃ 3.3V~5.25V、4V~5.25V USB 2.0 USB to UART SSOP-28-208mil USB Converters ROHSFTDIUSB Converters
1SS295
SOT23-3SOT23-3 New Arrivals ROHSToshibaUncategorised
NJT4031NT1G
SOT-223-55℃~+150℃ 1 NPN 100nA 200 215MHz 2W 300mV 3A 40V 6V NPN SOT-223 Bipolar (BJT) ROHSonsemiBipolar (BJT)
RSX501L-20TE25
SMA20V 390mV@3A 500uA@20V 5A 70A Independent SMA Schottky Diodes ROHSROHM SemiconductorSchottky Diodes
README
README.mdtr2
Overview
The goal of this project is to develop a hardware and accompanying software platform for controlling robots from a high level programming language such as Python.
Hardware
The hardware will consist of a multi-axis motor control board, industrial strength GPIO for controlling alarms, incandescent lamps, driving fans and more.
Software
The software will provide an abstract interface to the hardware platform. The first robot that will be tailored to this project will be a 3-axis Delta Robot.
Project Structure
Here is the folder structure for the project:
- blender/
- 3D models of target robots
- board/
- The first hardware platform for this project
- board/bomParser/
- Some pretty untested code to do mass changes in schematics/BOMs
- datasheets/
- Component datasheets
- doc/
- Notes, logo
- firmware/
- Bare metal bring up of STM32F4 and code for the robot controller
- pictures/
- Various pictures of the project
- python/
- The python software interfaces
- ui/
- A user interface to all of this
Parts
328| Qty | Value | Footprint | References |
|---|---|---|---|
| 36 | 100nF | SMD_Packages:SM0603_Capa | C107, C110, C111, C112, C113, C114, C115, C116, C117, C118, C119, C120, C121, C122, C123, C124 +20 |
| 18 | 10k | SMD_Packages:SM0603_Resistor | R108, R109, R110, R111, R112, R113, R114, R115, R116, R117, R118, R119, R120, R124, R2306, R2406 +2 |
| 17 | 100nF | Capacitors_SMD:c_1808 | C109, C2307, C2308, C2309, C2310, C2407, C2408, C2409, C2410, C2507, C2508, C2509, C2510, C2607, C2608, C2609 +1 |
| 12 | 100pF | SMD_Packages:SM0603_Capa | C2312, C2313, C2314, C2412, C2413, C2414, C2512, C2513, C2514, C2612, C2613, C2614 |
| 12 | 39k | SMD_Packages:SM0603_Resistor | R2302, R2304, R2305, R2402, R2404, R2405, R2502, R2504, R2505, R2602, R2604, R2605 |
| 9 | 100 | SMD_Packages:SM0603_Resistor | R101, R102, R104, R106, R107, R2307, R2407, R2507, R2607 |
| 9 | 3.3k | SMD_Packages:SM2010 | R126, R701, R801, R901, R1001, R1101, R1201, R1301, R1401 |
| 9 | MountingHole_2-5mm_RevA_Date21Jun2010 | components:MountingHole_4mm | MH, MH, MH, MH, MH, MH, MH, MH, MH |
| 8 | 10uF | SMD_Packages:SM0603_Capa | C101, C102, C103, C104, C2304, C2404, C2504, C2604 |
| 8 | 1SS295 | components:SOT23-EXTRASPECIAL | D701, D801, D901, D1001, D1101, D1201, D1301, D1401 |
| 8 | 1nF | SMD_Packages:SM0603_Capa | C701, C801, C901, C1001, C1101, C1201, C1301, C1401 |
| 8 | 470 | SMD_Packages:SM0603_Resistor | R1501, R1601, R1701, R1801, R1901, R2001, R2101, R2201 |
| 8 | NJT4031NT1G | components:SOT223-EXTRASPECIAL | Q1501, Q1601, Q1701, Q1801, Q1901, Q2001, Q2101, Q2201 |
| 8 | RSX501L-20TE25 | Diodes_SMD:Diode-SMA_Handsoldering | D1501, D1601, D1701, D1801, D1901, D2001, D2101, D2201 |
| 6 | 1k | SMD_Packages:SM0603_Resistor | R103, R105, R402, R403, R502, R503 |
| 5 | 100uF | Capacitors:CP_13x21mm | C108, C2311, C2411, C2511, C2611 |
| 5 | 10nF | SMD_Packages:SM0603_Capa | C128, C2302, C2402, C2502, C2602 |
| 5 | 220 | SMD_Packages:SM0603_Resistor | R121, R2303, R2403, R2503, R2603 |
| 5 | 316 | SMD_Packages:SM0603_Resistor | R123, R2301, R2401, R2501, R2601 |
| 4 | 220nF | SMD_Packages:SM0805 | C2301, C2401, C2501, C2601 |
| 4 | 4.7k | SMD_Packages:SM0603_Resistor | R129, R130, R131, R132 |
| 4 | 47uF | SMD_Packages:SM0805 | C2306, C2406, C2506, C2606 |
| 4 | Busy | LEDs:LED-0603 | D2303, D2403, D2503, D2603 |
| 4 | DOUBLE_SCHOTTKY | SMD_Packages:SOT23-SPECIAL | D2301, D2401, D2501, D2601 |
| 4 | Error | LEDs:LED-0603 | D2302, D2402, D2502, D2602 |
| 4 | GND | components:MINI_TP | TP114, TP115, TP116, TP117 |
| 4 | L6470 | components:POWERSO-36 | U2301, U2401, U2501, U2601 |
| 4 | MMBT5962 | SMD_Packages:SOT23_INV | Q401, Q402, Q501, Q502 |
| 2 | 1.1k | SMD_Packages:SM0603_Resistor | R125, R603 |
| 2 | 18pF | SMD_Packages:SM0603_Capa | C105, C106 |
| 2 | 2.2uF | SMD_Packages:SM0603_Capa | C134, C135 |
| 2 | 200 | SMD_Packages:SM0603_Resistor | R401, R501 |
| 2 | 22nF | SMD_Packages:SM0603_Capa | C601, C604 |
| 2 | 3.3V | LEDs:LED-0603 | D108, D109 |
| 2 | JUMPER | components:SOLDER_BRIDGE | JP101, JP102 |
| 2 | MAX6675 | SOIC_Packages:SOIC-8_N | U201, U301 |
| 1 | +24V | components:SCONN_2 | J102 |
| 1 | +3.3V | components:SCONN_2 | J101 |
| 1 | 100uF | SMD_Packages:SM1206 | C602 |
| 1 | 100uH | SMD_Packages:SM0603 | L101 |
| 1 | 10uF | Capacitors_SMD:c_elec_8x10 | C603 |
| 1 | 15k | SMD_Packages:SM0603_Resistor | R122 |
| 1 | 1uF | SMD_Packages:SM0603_Capa | C127 |
| 1 | 22k | components:TRIMMER_POT | R127 |
| 1 | 3.3k | SMD_Packages:SM0603_Resistor | R601 |
| 1 | 33nF | SMD_Packages:SM0603_Capa | C136 |
| 1 | 4.7uF | SMD_Packages:SM0603_Capa | C130 |
| 1 | 62k | SMD_Packages:SM0603_Resistor | R602 |
| 1 | 820 | SMD_Packages:SM0603_Resistor | R128 |
| 1 | 8MHZ | Crystals:Crystal_HC49-SD_SMD | X101 |
| 1 | AUX-USART6 | Pin_Headers:Pin_Header_Straight_1x04 | J110 |
| 1 | BOOT | components:PB | SW106 |
| 1 | CTS | components:MINI_TP | TP120 |
| 1 | FT232RL | SSOP_Packages:SSOP-28 | U102 |
| 1 | FTDI-USB | components:USB_B | J106 |
| 1 | GND | components:SCONN_2 | J103 |
| 1 | Industrial Inputs | components:SCONN_8 | J107 |
| 1 | Industrial Outputs | components:SCONN_8 | J108 |
| 1 | JTAG-ARM | components:SHROUDED_20 | J104 |
| 1 | LED0 | LEDs:LED-0603 | D101 |
| 1 | LED1 | LEDs:LED-0603 | D102 |
| 1 | LED2 | LEDs:LED-0603 | D103 |
| 1 | LED3 | LEDs:LED-0603 | D104 |
| 1 | LED_DATA0 | components:MINI_TP | TP122 |
| 1 | LED_DATA1 | components:MINI_TP | TP123 |
| 1 | LMZ14201 | components:PFM7 | U601 |
| 1 | LOGO | components:resistornetwork | G*** |
| 1 | LOGO | components:roboteurs | G*** |
| 1 | LOGO | components:hypertriangle | G*** |
| 1 | Limit 0 | components:SCONN_2 | J2302 |
| 1 | Limit 1 | components:SCONN_2 | J2402 |
| 1 | Limit 2 | components:SCONN_2 | J2502 |
| 1 | Limit 3 | components:SCONN_2 | J2602 |
| 1 | MCU-USB | components:USB_B | J109 |
| 1 | MISO | components:MINI_TP | TP124 |
| 1 | Motor 0 | components:CONN_STEPPER | J2301 |
| 1 | Motor 1 | components:CONN_STEPPER | J2401 |
| 1 | Motor 2 | components:CONN_STEPPER | J2501 |
| 1 | Motor 3 | components:CONN_STEPPER | J2601 |
| 1 | PNP | components:SOT23-EXTRASPECIAL | Q101 |
The 292 most common of 328 parts.
Questions
How big is the Robot controller PCB?
It measures 171.5 × 142.6 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Robot controller use?
328 parts, built around the LMZ14201HTZ, MAX6675ISA+, FT232RL and 1SS295. 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 Robot controller KiCad files?
From the amstan/tr2 repository on GitHub, at the commit this page was made from: the board is board/robot_controller.kicad_pcb and its schematic board/3v3_regulator.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Robot controller design in my own project?
Its repository states no licence, so its author keeps all rights: ask amstan before reusing the design.
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