4 layers49.5 × 29 mm
4 layers49.5 × 29 mm
The xESC is an easy to use, low cost electronic speed controller (ESC) design for sensored brushless DC (BLDC) motors.
- Size
- 49.5 × 29 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 114
- Nets
- 113
- Pads
- 469
- Tracks, vias
- 984, 293
- Pours
- 24
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 2 Nov 2021
- Updated
- 25 Aug 2026
Overview
XESC2 is an open-source printed circuit board by ClemensElflein, from the ClemensElflein/xESC repository on GitHub. It is a 4-layer board of 49.5 × 29 mm with 114 parts on 113 nets, routed with 984 tracks and 293 vias.
It is built around the SN65HVD232D, LMR51606XDBVR-MS and TMC6200-TA, with the XC6220B331MR, YJG20N06A and FNR4030S680MT among its other parts. Its parts include 43 resistors, 42 capacitors, 10 connectors, 6 transistors and 5 ICs. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
8
SN65HVD232D
SOIC-8-40℃~+85℃ 17mA 1Mbps 3.3V CAN Transceiver SOIC-8 CAN Transceivers ROHSTexas InstrumentsCAN Transceivers
LMR51606XDBVR-MS
SOT-23-6SOT-23-6 DC-DC Converters ROHSMSKSEMIDC-DC ConvertersTMC6200-TA
TQFP-48-EP(7x7)-40℃~+125℃ 100A 3 8V~60V Interleaved conduction protection No SPI Three Phase TQFP-48-EP(7x7) Brushless DC (BLDC) Motor Driver ROHSTRINAMIC Motion Control GmbHBrushless DC (BLDC) Motor Driver
XC6220B331MR
SOT-23-5-40℃~+85℃@(Ta) 1 25uA 3.3V 400mV@(800mA) 5.5V 50dB@(10kHz) 900mA Fixed Over Current Protection、Over Temperature Protection Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTECH PUBLICVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
YJG20N06A
PDFN5060-8L-55℃~+150℃ 1 N-channel 1.018nF 14W 2.5V 20A 26nC@10V 47mΩ@4.5V 60V 62pF 70pF N-Channel PDFN5060-8L MOSFETs ROHSYangzhou Yangjie Electronic TechnologyMOSFETs
FNR4030S680MT
SMD,4x4mm1.128Ω 570mA 68uH 800mA Magnetic Shielded Inductor ±20% SMD,4x4mm Power Inductors ROHScjiangPower Inductors
LCK-TCF833-L50WL-G1
SMD-25℃~+85℃ 1 10,000 cycles 16P 5.5mm 5A 5V Black Female Surface Mount,Vertical Type-C USB 2.0 SMD USB Connectors ROHSLCKELECUSB Connectors
SD103ATW
SOT-363-65℃~+125℃ 2A 3 Independent 350mA 40V 5uA@30V 600mV@200mA SOT-363 Schottky Diodes ROHSGOODWORKSchottky Diodes
README
README.md
Join the Discord server for xESC discussion: HERE
If you want to be notified about updates and availability, star :star: and watch :eyes: this repository!
Looking for xESC2040? It was moved to its own repo HERE.
xESC2
The xESC2 is an easy to use, low cost electronic speed controller (ESC) design for brushless DC (BLDC) motors. It can drive BLDC motors in sensored and sensorless modes. The controller supports FOC control mode. The firmware is based on the open source VESC firmware and implements torque, speed and position control. The current state of the motor controller (current, voltage, speed, position) can be read back through a serial interface.
This ESC was designed from ground up to be suited for robotics use:
- It has pin headers to make it easy to integrate into existing designs.
- It is small compared to a VESC
- It is much cheaper than a VESC
- It is much lower power than a VESC (but enough to drive robots)
I also have a customized ROS driver for this ESC.
To-Do
- Add an emergency shutdown pin to the design.
- Add pinout to the silkscreen if enough space
Comparison
But how does the xESC compare to other brushless ESCs on the market? Is it the right ESC for your current needs?
| xESC2 mini (this repo) | xESC | xESC2 | VESC 6 | Cheap Hobby ESCs | |
|---|---|---|---|---|---|
| Technical Data | |||||
| Intended Use | Robotics | Robotics | Robotics | Electromobility | RC Cars / Planes |
| Max Current (continuous) | 10A / 40V | 10A / 40V | 10A / 40V | >80A / 60V | Depends on Model |
| Size | 50x30 mm | 60x30 mm | 85x42 mm | 75x70mm | Depends on Model |
| Supported Firmware | xESC2 firmware (VESC based) | xESC firmware (SimpleFOC based) | xESC2 firmware (VESC based) | VESC firmware | / |
| Open Source | HW+SW | HW+SW | HW+SW | SW | / |
| Features | |||||
| Interfaces | USB, UART, CAN, PWM, Analog | UART, PWM | USB, UART, CAN, PWM, Analog | USB, UART, CAN, PWM, Analog and more | PWM only |
| Motor Commutation | FOC | BLDC | FOC | FOC | BLDC |
| Control Modes | Current, Position, Speed | Current | Current, Position, Speed | Current, Position, Speed | None |
| Sensored | :white_check_mark: | :white_check_mark: | :white_check_mark: | :white_check_mark: | Some |
| Feedback Channel | :white_check_mark: | :white_check_mark: | :white_check_mark: | :white_check_mark: | :x: |
| Low Cost Design | :white_check_mark: | :white_check_mark: | :white_check_mark: | :x: | :white_check_mark: |
| BEC (internal 5V regulator) | :x: | :white_check_mark: | :white_check_mark: | :white_check_mark: | :white_check_mark: |
| Pin headers for easy connection to PCBs | :white_check_mark: | :x: | :x: | :x: | :x: |
| Status | Working Prototypes | Obsolete | Working Prototypes | Mass Production | Mass Production |
PCB Design
| Front | Back |
|---|---|
 |  |
Firmware Features
The xESC2 firmware is based off the current version of the VESC firmware. Therefore it is able to do everything you'd wish your brushless ESC had. Including: FOC, speed control, current limiting, ...
Where can I buy one?
The xESC2 mini is officially not for sale (yet), since I don't really have the capabilities to produce larger quantities right now (I'm making some for my own robotics projects at the moment). However if you really like to get your hands on them, just message me (e.g. open an issue or something).
You can, of course build your own ESCs (that's kind of the idea to open source it ;-)), but please don't mass produce the design and sell them without my permission.
License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Feel free to use the design in your projects, but don't try to sell the design or products based on it without getting my consent first.
Parts
114| Qty | Value | Footprint | References |
|---|---|---|---|
| 12 | 100nF/16V | Capacitor_SMD:C_0402_1005Metric | C5, C6, C7, C13, C18, C34, C37, C40, C41, C42, C43, C44 |
| 6 | 2R2 | Resistor_SMD:R_0603_1608Metric | R1, R2, R5, R6, R9, R10 |
| 6 | YJG20N06A | Package_TO_SOT_SMD:TDSON-8-1 | Q1, Q2, Q3, Q4, Q5, Q6 |
| 5 | 10R | Resistor_SMD:R_0603_1608Metric | R4, R8, R12, R15, R18 |
| 5 | 1k5 | Resistor_SMD:R_0402_1005Metric | R13, R14, R17, R19, R21 |
| 4 | 10k | Resistor_SMD:R_0402_1005Metric | R29, R30, R41, R42 |
| 4 | 1k5 | Resistor_SMD:R_0603_1608Metric | R24, R26, R28, R40 |
| 4 | 22k | Resistor_SMD:R_0603_1608Metric | R23, R25, R27, R39 |
| 3 | 100nF/100V | Capacitor_SMD:C_0805_2012Metric | C12, C14, C17 |
| 3 | 10uF/50V | Capacitor_SMD:C_1206_3216Metric | C1, C2, C3 |
| 3 | 1nF/100V | Capacitor_SMD:C_0603_1608Metric | C24, C25, C26 |
| 3 | 2.2uF | Capacitor_SMD:C_0402_1005Metric | C4, C38, C39 |
| 3 | 220R | Resistor_SMD:R_0402_1005Metric | R16, R37, R38 |
| 3 | 25mR | Resistor_SMD:R_2512_6332Metric | R3, R7, R11 |
| 3 | 2k2 | Resistor_SMD:R_0402_1005Metric | R33, R34, R35 |
| 3 | 470nF/16V | Capacitor_SMD:C_0603_1608Metric | C8, C9, C10 |
| 3 | Conn_01x06_Male | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J1, J9, J10 |
| 3 | Conn_02x02_Counter_Clockwise | Connector_PinHeader_2.54mm:PinHeader_2x02_P2.54mm_Vertical | J6, J7, J8 |
| 3 | DNP | Capacitor_SMD:C_0603_1608Metric | C29, C30, C31 |
| 3 | DNP | Capacitor_SMD:C_0402_1005Metric | C45, C46, C47 |
| 2 | 10uF | Capacitor_SMD:C_0603_1608Metric | C20, C21 |
| 2 | 15pF | Capacitor_SMD:C_0402_1005Metric | C32, C33 |
| 2 | 2.2uF/16V | Capacitor_SMD:C_0603_1608Metric | C35, C36 |
| 2 | 22R | Resistor_SMD:R_0402_1005Metric | R31, R32 |
| 2 | 5k1 | Resistor_SMD:R_0402_1005Metric | R44, R45 |
| 2 | Conn_01x05_Male | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | J3, J4 |
| 2 | LED Red | LED_SMD:LED_0603_1608Metric | D2, D5 |
| 1 | 120 | Resistor_SMD:R_0402_1005Metric | R36 |
| 1 | 140k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R43 |
| 1 | 2.2uF/50V | Capacitor_SMD:C_0805_2012Metric | C16 |
| 1 | 22nF/100V | Capacitor_SMD:C_0603_1608Metric | C11 |
| 1 | 22uF 25V | Capacitor_SMD:C_0805_2012Metric | C19 |
| 1 | Conn_01x03_Male | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J5 |
| 1 | Crystal_GND24 | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | D_Schottky | Diode_SMD:D_SOD-123 | D3 |
| 1 | FNR4030S680MT | easyeda2kicad:IND-SMD_L4.0-W4.0_FNR40XXS | L1 |
| 1 | LCK-TCF833-L50WL-G1 | nlbn:LCK-TCF833-L50WL-G1_C54950857 | J2 |
| 1 | LED White | LED_SMD:LED_0603_1608Metric | D4 |
| 1 | LMR51606XDBVR | easyeda2kicad:SOT-23-6_L2.9-W1.6-P0.95-LS2.8-BR | U3 |
| 1 | SD103ATW | Package_TO_SOT_SMD:SOT-363_SC-70-6 | D6 |
| 1 | SN65HVD232 | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U5 |
| 1 | STM32F405RGTx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U4 |
| 1 | TMC6200-TA | footprints:TMC6200-TA | U1 |
| 1 | Thermistor_NTC | Resistor_SMD:R_0603_1608Metric | TH1 |
| 1 | XC6220B331MR | Package_TO_SOT_SMD:SOT-23-5 | U2 |
Questions
How big is the XESC2 PCB?
It measures 49.5 × 29 mm and has 4 copper layers, 1.6 mm thick.
What parts does the XESC2 use?
114 parts, built around the SN65HVD232D, LMR51606XDBVR-MS, TMC6200-TA and XC6220B331MR. 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 XESC2 KiCad files?
From the ClemensElflein/xESC repository on GitHub, at the commit this page was made from: the board is PCB/xESC2.kicad_pcb and its schematic PCB/MCU.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the XESC2 design in my own project?
Its repository states no licence, so its author keeps all rights: ask ClemensElflein before reusing the design.
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