4 layers64.1 × 72.8 mm
BeeFASYER SPARROW
beewarden/BeeFASYER_SPARROW
Each BEEFASYER monitoring network is centered on exactly one Sparrow.
142 parts1CERN-OHL-S-2.0
4 layers75 × 35 mm
Custom ESC
BenjaminM25/UiActuatorProject1Closed-loop BLDC linear-actuator with custom pcb (STM32G4, DRV8316) — UiA bachelor project
- Size
- 75 × 35 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 118
- Nets
- 99
- Pads
- 350
- Tracks, vias
- 887, 173
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 22 May 2026
- Updated
- 22 May 2026
Overview
Custom ESC is an open-source printed circuit board by BenjaminM25, from the BenjaminM25/UiActuatorProject repository on GitHub, published under the MIT licence. It is a 4-layer board of 75 × 35 mm with 118 parts on 99 nets, routed with 887 tracks and 173 vias.
It is built around the DRV8316RQRGFRQ1, TPS62903RPJR and AP2112K-3.3, with the USBLC6-2SC6 and NCE3407 among its other parts. Its parts include 34 capacitors, 30 resistors, 21 connectors, 6 ICs and 5 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
5DRV8316RQRGFRQ1
VQFN(RGF)-40-40℃~+125℃ 3、3 8A 95mΩ SPI Three Phase、Three Phase Yes VQFN(RGF)-40 Brushless DC (BLDC) Motor Driver ROHSTexas InstrumentsBrushless DC (BLDC) Motor Driver
TPS62903RPJR
VQFN-9-HR(1.5x2)-40℃~+150℃@(TJ) 1 1MHz、2.5MHz 3A 3V~17V 400mV~5.5V Adjustable Buck Buck Built-in Yes VQFN-9-HR(1.5x2) DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
AP2112K-3.3
SOT253.3V 600mA CMOS Low Dropout Linear Regulator with EnableDiodes IncorporatedUncategorised
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
NCE3407
SOT-23-55℃~+150℃ 1 P-Channel 1.4W 1.5V 105pF 12.5nC@10V 30V 4.1A 650pF 65pF 95mΩ@4.5V P-Channel SOT-23 MOSFETs ROHSWuxi NCE Power SemiconductorMOSFETs
README
README.mdClosed-Loop Linear Actuator
Bachelor project, University of Agder (UiA), 2026 Custom BLDC motor controller for a leadscrew linear actuator with closed-loop position control.
Overview
This project contains code and production files for a small linear actuator using the lead screw principle with a custom pcb. The system consists of a 12 mm BLDC motor with a 1:24 gearbox, integrated hall- sensors for motor commutation, a AS5600L magnetic encoder module for position/velocity control. It also supports communication over CAN and USB-C.
A demonstration video of the actuator can be found here:
Features
- Trapezoidal 3-PWM/6-PWM commutation (Hall-sensor based)
- Closed-loop position control (profiled trajectory + PID)
- Phase current sensing via ADC
- On-chip temperature monitoring with thermal protection
- CAN (FDCAN) communication
- Live telemetry over USB CDC (Teleplotter)
Hardware
| Component | Part |
|---|---|
| MCU | STM32G473RC |
| Gate driver | DRV8316 (SPI) |
| Position encoder | AS5600L (I2C) |
| Commutation | Hall sensors |
| CAN transceiver | TCAN3403 |
| Motor | 12 mm BLDC, 1:24 |
Third Party
The DRV8316 BLDC Driver has been adapted from theSIMPLEFOC GitHub library.
Building & flashing
The CubeIDE project contains custom files for the actuator within Core/Actuator. The DRV8316 driver, hall encoder and magnetic encoder is found in Drivers/DRV8316.
The .elf file generated in Debug after building the project is uploaded to the pcb using STM32CubeProgrammer. First time use of the pcb requires either a ST-Link debugger using swd or programming USB-C by setting the mcu in the DFU(device firmware upgrade) mode.
Disclaimer
Portions of this firmware were developed with the assistance of AI-generated code. All such content has been reviewed, tested, and adapted by the author.
License
This project is licensed under the MIT License — see the LICENSE file.
Parts
118| Qty | Value | Footprint | References |
|---|---|---|---|
| 15 | A | Connector_Wire:SolderWirePad_1x01_SMD_1x2mm | J4, J5, J6, J7, J9, J11, J12, J13, J14, J15, J16, J17, J18, J19, J20 |
| 10 | TestPoint | TestPoint:TestPoint_Pad_D1.0mm | TP1, TP2, TP3, TP4, TP5, TP6, TP7, TP8, TP9, TP10 |
| 8 | 0.1uF | PCM_JLCPCB:C_0402 | C17, C18, C19, C20, C21, C23, C25, C26 |
| 6 | 10k | PCM_JLCPCB:R_0402 | R6, R8, R17, R18, R19, R20 |
| 5 | 1uF | PCM_JLCPCB:C_0402 | C1, C14, C15, C22, C24 |
| 4 | MountingHole | MountingHole:MountingHole_2.2mm_M2 | H1, H2, H3, H4 |
| 3 | 0.1 uF | PCM_JLCPCB:C_0402 | C3, C5, C7 |
| 3 | 1000 Ohm | PCM_JLCPCB:R_0402 | R2, R3, R4 |
| 3 | 100k | PCM_JLCPCB:R_0402 | R7, R9, R10 |
| 3 | 100nF | PCM_JLCPCB:C_0402 | C32, C33, C34 |
| 3 | 1k | PCM_JLCPCB:C_0603 | R21, R22, R23 |
| 3 | 30pF | PCM_JLCPCB:C_0402 | C8, C9, C10 |
| 3 | 5.1k | PCM_JLCPCB:R_0402 | R1, R28, R29 |
| 3 | C_Small | PCM_JLCPCB:C_0603 | C27, C30, C31 |
| 3 | green | LED_SMD:LED_0603_1608Metric | D1, D2, D4 |
| 2 | 100 | PCM_JLCPCB:R_0402 | R12, R16 |
| 2 | 100uF | newfootprints:CAP_T55D_VIS | C28, C29 |
| 2 | 10uF | Capacitor_SMD:C_0603_1608Metric | C12, C16 |
| 2 | 2.2k | PCM_JLCPCB:R_0402 | R25, R26 |
| 2 | 22uF | Capacitor_SMD:C_0603_1608Metric | C11, C13 |
| 2 | A | Connector_Wire:SolderWirePad_1x01_SMD_2x4mm | J8, J10 |
| 2 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm | JP1, JP2 |
| 1 | 1 uF | PCM_JLCPCB:C_0402 | C4 |
| 1 | 10 uF | Capacitor_SMD:C_0603_1608Metric | C2 |
| 1 | 120 | PCM_JLCPCB:R_0603 | R24 |
| 1 | 13 | PCM_JLCPCB:D_SOD-123FL | D5 |
| 1 | 1uH | Inductor_SMD:L_Coilcraft_XxL4020 | L1 |
| 1 | 22 | PCM_JLCPCB:R_0402 | R5 |
| 1 | 32.4k | PCM_JLCPCB:R_0402 | R13 |
| 1 | 330R | PCM_JLCPCB:L_0603 | FB1 |
| 1 | 33k | PCM_JLCPCB:R_0402 | R27 |
| 1 | 3A | newfootprints:FUSE_SMDF050-2 | F1 |
| 1 | 47 nF | PCM_JLCPCB:C_0402 | C6 |
| 1 | 470 | PCM_JLCPCB:R_0402 | R11 |
| 1 | 520 | PCM_JLCPCB:R_0402 | R15 |
| 1 | 76.8k | PCM_JLCPCB:R_0402 | R14 |
| 1 | 82k | PCM_JLCPCB:R_0402 | R30 |
| 1 | AP2112K-3.3 | Package_TO_SOT_SMD:SOT-23-5 | U3 |
| 1 | DRV8316RQRGFRQ1 | footprints:RGF0040E-IPC_A | U1 |
| 1 | EVQ-PLHA15 | newfootprints:EVQPLHA15_pushbutton | S1 |
| 1 | NCE3407 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | SG-7050CAN | X1G0044810014:X1G004481009712_EPS | Y1 |
| 1 | STM32G473RCTx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U4 |
| 1 | TCAN3403 | Package_TO_SOT_SMD:SOT-23-8_Handsoldering | U5 |
| 1 | TPS62903RPJR | TPS609032_Buck:TPS62903RPJRRPJ0009A | U2 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U6 |
| 1 | USB_C_Receptacle_USB2.0_14P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J21 |
| 1 | com | TestPoint:TestPoint_Pad_D1.0mm | J2 |
| 1 | nc | TestPoint:TestPoint_Pad_D1.0mm | J1 |
| 1 | no | TestPoint:TestPoint_Pad_D1.0mm | J3 |
| 1 | red | LED_SMD:LED_0603_1608Metric | D3 |
Questions
How big is the Custom ESC PCB?
It measures 75 × 35 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Custom ESC use?
118 parts, built around the DRV8316RQRGFRQ1, TPS62903RPJR, AP2112K-3.3 and USBLC6-2SC6. 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 Custom ESC KiCad files?
From the BenjaminM25/UiActuatorProject repository on GitHub, at the commit this page was made from: the board is KiCad/Custom_ESC.kicad_pcb and its schematic KiCad/Connectors.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Custom ESC design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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