2 layers280 × 205 mm
4 layers203.1 × 107.7 mm
Axes controller board
DEDALUS-5x/axes-controller-boardMotherboard schematic design dedicated to motors control
- Size
- 203.1 × 107.7 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 193
- Nets
- 303
- Pads
- 783
- Tracks, vias
- 1,337, 531
- Pours
- 16
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 24 Jan 2026
- Updated
- 16 Oct 2026
Overview
Axes controller board is an open-source printed circuit board by DEDALUS-5x, from the DEDALUS-5x/axes-controller-board repository on GitHub, published under the CERN-OHL-S-2.0 licence. It is a 4-layer board of 203.1 × 107.7 mm with 193 parts on 303 nets, routed with 1,337 tracks and 531 vias.
It is built around the STM32H723ZGT6, TPS5450QDDARQ1 and ACS37800KMACTR-030B3-SPI, with the UA9637ACD, LM1117MP-3.3/TR and TLMS1000-GS15 among its other parts. Its parts include 58 capacitors, 58 resistors, 46 connectors, 9 ICs and 6 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
7
STM32H723ZGT6
LQFP-144(20x20)-40℃~+85℃ 1.71V~3.6V 114 12bit 12bit、16bit 1MB 32 Bit 550MHz 564KB ARM Cortex-M7 Built-in FLASH LQFP-144(20x20) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)TPS5450QDDARQ1
SOIC-8-EP-40℃~+125℃@(TJ) 1 1.221V~32.04V 5.5V~36V 500kHz 5A Adjustable Buck Buck Built-in No SOIC-8-EP DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
ACS37800KMACTR-030B3-SPI
SOIC-16-40℃~+125℃ 12mA 2.97V~3.63V No No Power Supervisor SOIC-16 Supervisor and Reset ICs ROHSAllegro MicroSystems, LLCSupervisor And Reset ICs
UA9637ACD
SOIC-80 0℃~+70℃ 2 4.75V~5.25V 50mA Receiver SOP-8 RS-485 / RS-422 ICs ROHSTexas InstrumentsRS-485 / RS-422 ICs
LM1117MP-3.3/TR
SOT-223-3L-40℃~+125℃@(Tj) 0.003%Vout 1 1.3V@(1A) 10mA 15V 1A 3.3V 75dB@(120Hz) Fixed Over Current Protection、Thermal shutdown Positive SOT-223-3L Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSHGSEMIVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
TLMS1000-GS15
0603LED Indication - DiscreteVishay Intertechnology
B540C
SMC(DO-214AB)-55℃~+150℃ 1 Independent 100A 40V 500uA@40V 550mV@5A 5A SMC(DO-214AB) Schottky Diodes ROHSDiodes IncorporatedSchottky Diodes
README
README.mdAxes Controller Board (ACB)
KiCad design files of the Axes Controller Board, the STM32H723-based motion controller of the DEDALUS five-axis printer. The board drives three brushed DC servo axes through external H-bridges and six stepper drivers in StepStick sockets, reads differential incremental and SPI absolute encoders, and carries a Raspberry Pi 5 as a daughterboard.
Firmware: https://github.com/DEDALUS-5x/axes-controller-fw
Contents
| File | Description |
|---|---|
axes-controller-board.kicad_pro | KiCad 8 project |
axes-controller-board.kicad_sch, mcu.kicad_sch, sensors.kicad_sch | Schematics (root, MCU, sensors) |
axes-controller-board.kicad_pcb | Four-layer layout, 203 x 108 mm, 1.6 mm |
libs/footprints.pretty/ | Footprints that can be redistributed with the design |
sym-lib-table | Project symbol libraries (third-party, see below) |
outputs/ACB_schematic.pdf | Schematic, PDF |
outputs/ACB_gerbers.zip | Gerber and Excellon drill files (four layers) |
outputs/ACB_bom.csv | BOM of the SMT-assembled parts, with LCSC codes |
outputs/ACB_positions.csv | Placement of the SMT-assembled parts (top side, mm) |
The files in outputs/ were exported from the KiCad project with kicad-cli
(KiCad 9). For JLCPCB assembly, the
Fabrication Toolkit plug-in
generates the BOM and placement files in the required format, using the LCSC
codes and rotation offsets stored in the schematic.
Third-party library parts
The symbols, footprints and 3D models of the parts below are SamacSys ECAD models or vendor models. Their terms allow using them in board designs without restriction, but not redistributing them as library components, so they are not included in this repository.
The schematics and the PCB embed a copy of every symbol and footprint they
use: the project opens and fabrication outputs can be generated without these
libraries. Download them only to edit the parts, free of charge, and place them
at the paths below, which match sym-lib-table and the footprint names in the
layout.
| Part | Use | Expected location | Source |
|---|---|---|---|
| STM32H723ZGT6 | IC5, microcontroller | libs/STM32H7/STM32H723ZGT6/ | Component Search Engine (SamacSys) |
| TPS5450QDDARQ1 | IC1, 5 V buck converter | libs/TPS5450/ | Component Search Engine (SamacSys) |
| ACS37800KMACTR-030B3-SPI | IC2-IC4, current monitors (optional) | libs/ACS/ | Component Search Engine (SamacSys) |
| Phoenix Contact 1985205, 1985234, 1985250 | Terminal blocks | libs/morsetto/, libs/footprints.pretty/, libs/3dmodels/ | Component Search Engine (SamacSys) |
| Samtec FTSH-107-01-L-DV-K-TR | J1, STDC14 debug connector | libs/footprints.pretty/ | Samtec |
| Raspberry Pi 4 Model B | 3D model only | libs/3dmodels/ | Raspberry Pi Ltd |
Revision 1.0.0 notes
On the prototype the following signals were re-routed with wires, because the STEP lines of five driver sockets reach pins without timer outputs and the Raspberry Pi chip select reaches a pin without the SPI3 hardware NSS function. The firmware uses the re-routed pins.
| Signal | Destination | Routed to | Re-routed to |
|---|---|---|---|
| STEP Z1 | J9 pin 7 | PE0 | PB9 (TIM17 CH1) |
| STEP Z2 | J12 pin 7 | PE3 | PB5 (TIM3 CH2), J5 pin 7 |
| STEP A1 | J15 pin 7 | PD0 | PC12 (TIM15 CH1) |
| STEP A2 | J18 pin 7 | PD3 | PB6 (TIM16 CH1N), J5 pin 6 |
| STEP C | J21 pin 7 | PD11 | PC7 (TIM8 CH2), J4 pin 2 |
| Raspberry Pi CE0 | J27 pin 24 | PB1 | PA4 (SPI3 NSS) |
License
Copyright 2026 Leonardo Pasquato.
This source describes Open Hardware and is licensed under the CERN-OHL-S v2.
You may redistribute and modify this source and make products using it under the terms of the CERN-OHL-S v2 (https://ohwr.org/cern_ohl_s_v2.txt).
This source is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN-OHL-S v2 for applicable conditions.
Source location: https://github.com/DEDALUS-5x/axes-controller-board
As per CERN-OHL-S v2 section 4, should You produce hardware based on this source, You must where practicable maintain the Source Location visible on the external case of the Gizmo or other products you make using this source.
Exceptions: libs/footprints.pretty/MountingHole_3.2mm_M3_ISO14580.kicad_mod
and libs/footprints.pretty/raspberrypi.kicad_mod are derived from the
KiCad libraries and remain under
CC-BY-SA 4.0 with the KiCad library exception.
Parts
193| Qty | Value | Footprint | References |
|---|---|---|---|
| 30 | 33R | Resistor_SMD:R_0603_1608Metric | R3, R12, R19, R20, R21, R22, R23, R24, R25, R26, R27, R28, R29, R30, R31, R32 +14 |
| 14 | 100n | Capacitor_SMD:C_0603_1608Metric | C7, C8, C9, C16, C17, C18, C19, C20, C21, C22, C23, C27, C57, C59 |
| 13 | Conn_01x08 | Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical | J5, J9, J10, J12, J14, J15, J17, J18, J20, J21, J23, J24, J26 |
| 9 | 100nF | Capacitor_SMD:C_0603_1608Metric | C6, C32, C33, C34, C39, C40, C41, C46, C47 |
| 9 | 10n | Capacitor_SMD:C_0603_1608Metric | C12, C13, C15, C30, C31, C37, C38, C44, C45 |
| 8 | MountingHole | Local:MountingHole_3.2mm_M3_ISO14580 | H3, H4, H5, H6, H7, H8, H9, H10 |
| 6 | 120R | Resistor_SMD:R_0603_1608Metric | R13, R14, R35, R36, R49, R50 |
| 6 | 1k8 | Resistor_SMD:R_0603_1608Metric | R15, R16, R37, R38, R51, R52 |
| 6 | 220p | Capacitor_SMD:C_0603_1608Metric | C35, C36, C42, C43, C49, C50 |
| 6 | 3k3 | Resistor_SMD:R_0603_1608Metric | R17, R18, R39, R40, R53, R54 |
| 6 | 470u | Connector_PinHeader_1.00mm:PinHeader_1x02_P1.00mm_Vertical | C51, C52, C53, C54, C55, C56 |
| 6 | Conn_01x04 | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J11, J13, J16, J19, J22, J25 |
| 6 | Conn_01x04 | Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical | J6, J7, J8, J44, J45, J46 |
| 5 | 1k | Resistor_SMD:R_0603_1608Metric | R2, R10, R11, R41, R42 |
| 5 | Conn_01x08 | Local:1985250 | J31, J32, J34, J35, J36 |
| 5 | ENDSTOP | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J37, J38, J39, J41, J42 |
| 4 | Conn_01x03 | Local:1985205 | J2, J3, J4, J40 |
| 3 | 10k | Resistor_SMD:R_0603_1608Metric | R8, R33, R34 |
| 3 | 10u | Capacitor_SMD:C_0603_1608Metric | C1, C2, C3 |
| 3 | 1u | Capacitor_SMD:C_0805_2012Metric | C28, C29, C58 |
| 3 | 4.7u | Capacitor_SMD:C_0805_2012Metric | C10, C11, C24 |
| 3 | ACS37800KMACTR-030B3-SPI | Local:SOIC127P1030X265-16N | IC2, IC3, IC4 |
| 3 | UA9637A | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U3, U5, U7 |
| 2 | 15pF | Capacitor_SMD:C_0603_1608Metric | C4, C5 |
| 2 | 2.2u | Capacitor_SMD:C_0805_2012Metric | C25, C26 |
| 2 | DC1 | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J28, J33 |
| 2 | LED_Small | LED_SMD:LED_0603_1608Metric | D5, D6 |
| 2 | LED_Small | Diode_SMD:D_0603_1608Metric | D1, D2 |
| 2 | MountingHole_Pad | Local:TestPoint_GNDedge | H1, H2 |
| 1 | 15u | Inductor_SMD:L_12x12mm_H6mm | L2 |
| 1 | 16MHz | Crystal:Crystal_SMD_EuroQuartz_MT-4Pin_3.2x2.5mm | Y1 |
| 1 | 2k | Resistor_SMD:R_0603_1608Metric | R1 |
| 1 | 3.16k | Resistor_SMD:R_0603_1608Metric | R9 |
| 1 | 330u | Capacitor_THT:CP_Radial_D10.0mm_P5.00mm | C14 |
| 1 | 750mA | Fuse:Fuse_0603_1608Metric | F1 |
| 1 | B540C | Diode_SMD:D_SMC_Handsoldering | D3 |
| 1 | BOOT0 | Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm | JP1 |
| 1 | Conn_01x06 | Local:1985234 | J43 |
| 1 | Conn_ST_STDC14 | Local:SAMTEC_FTSH-107-01-L-DV-K-TR | J1 |
| 1 | DC2 | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J29 |
| 1 | DC3 | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J30 |
| 1 | LM1117MP-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U1 |
| 1 | RESET | Button_Switch_SMD:SW_SPST_FSMSM | SW1 |
| 1 | Raspberry_Pi_2_3 | Local:raspberrypi | J27 |
| 1 | STM32H723ZGT6 | Local:QFP50P2200X2200X160-144N | IC5 |
| 1 | SolderJumper_3_Open | Jumper:SolderJumper-3_P1.3mm_Open_RoundedPad1.0x1.5mm | JP2 |
| 1 | TPS5450QDDARQ1 | Local:SOIC127P600X170-9N | IC1 |
| 1 | TVS | Diode_SMD:D_SOD-523 | D7 |
Questions
How big is the Axes controller board PCB?
It measures 203.1 × 107.7 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Axes controller board use?
193 parts, built around the STM32H723ZGT6, TPS5450QDDARQ1, ACS37800KMACTR-030B3-SPI and UA9637ACD. 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 Axes controller board KiCad files?
From the DEDALUS-5x/axes-controller-board repository on GitHub, at the commit this page was made from: the board is axes-controller-board.kicad_pcb and its schematic axes-controller-board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Axes controller board design in my own project?
Its repository publishes it under the CERN-OHL-S-2.0 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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