4 layers100 × 68 mm
4 layers187.9 × 60.2 mm
MotionModuleSTM32F103R8
griffotron/MotionModuleSTM32R813PCB design and code for the STM32 powered Motion Module that controls 14 stepper motors
- Size
- 187.9 × 60.2 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 246
- Nets
- 313
- Pads
- 993
- Tracks, vias
- 2,348, 309
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 17 Sep 2026
- Updated
- 18 Sep 2026
Overview
MotionModuleSTM32F103R8 is an open-source printed circuit board by griffotron, from the griffotron/MotionModuleSTM32R8 repository on GitHub, published under the MIT licence. It is a 4-layer board of 187.9 × 60.2 mm with 246 parts on 313 nets, routed with 2,348 tracks and 309 vias.
It is built around the STM32F103R8T6, TMC2209-LA-T and AMS1117-3.3, with the CC0603KRX7R9BB104, PT1206FR-7W0R2L and RST47UF25V035 among its other parts. Its parts include 141 capacitors, 46 resistors, 31 connectors, 17 ICs and 3 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
STM32F103R8T6
LQFP-64(10x10)-40℃~+85℃ 12bit 20KB 2V~3.6V 32 Bit 51 64KB 72MHz ARM Cortex-M3 Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
TMC2209-LA-T
QFN-28-EP(5x5)-40℃~+125℃ 2 256、8、16、32、64 2A 340mΩ 4.75V~29V 4.75V~29V Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Motor step-out prevention function、Built-in charge pump、Thermal warning STEP/DIR、UART Yes QFN-28-EP(5x5) Stepper Motor Driver ROHSTRINAMIC Motion Control GmbHStepper Motor Driver
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
CC0603KRX7R9BB104
0603100nF 50V X7R ±10% 0603 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSYAGEOMultilayer Ceramic Capacitors MLCC - SMD/SMT
PT1206FR-7W0R2L
1206-55℃~+155℃ 200mΩ 500mW Thick Film Resistor ±1% ±75ppm/℃ 1206 Chip Resistor - Surface Mount ROHSYAGEOChip Resistor - Surface Mount
RST47UF25V035
SMD,D5xL5.4mm-40℃~+105℃ 2000hrs@105℃ 25V 46mA@120Hz 47uF 5.4mm 5mm ±20% SMD,D5xL5.4mm Aluminum Electrolytic Capacitors - SMD ROHSKNSCHAAluminum Electrolytic Capacitors - SMD
B4B-PH-K-S(LF)(SN)
插件,P=2mm-25℃~+85℃ 1 100V 1x4P 2A 2mm 4 4.5mm 4P 6mm 9.9mm Brass K Pin PA66 PH Through Hole Tin UL94V-0 White 插件,P=2mm Wire To Board Connector ROHSJSTWire To Board Connector0603CG300J500NT
060330pF 50V C0G ±5% 0603 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSGuangdong Fenghua Advanced Tech (FH)Multilayer Ceramic Capacitors MLCC - SMD/SMT
SPT1EM101E05TRVZC
SMD,D6.3xL6.1mm-55℃~+105℃ 100uF 2.4mm 2000hrs@105℃ 25V 5mm 6.3mm Polarized SMD ±20% SMD,D6.3xL6.1mm Polymer Aluminum Capacitors ROHSYunxingPolymer Aluminum Capacitors
FZ10UF25V90RV0144
SMD,D4xL5.7mm-55℃~+105℃ 10uF 2000hrs@105℃ 25V 4mm 5.7mm 80mA@120Hz ±20% SMD,D4xL5.7mm Aluminum Electrolytic Capacitors - SMD ROHSKNSCHAAluminum Electrolytic Capacitors - SMD
A-SP192YR6C-A02-4T
0603-40℃~+85℃ 120° 2.35V 20mA 360mcd 60mW 617.5nm~633.5nm 632nm Discrete Diode Red Water Clear 0603 LED Indication - Discrete ROHSAmiccLED Indication - DiscreteA-SP192GS1C-A01-4T
0603LED Indication - DiscreteAmicc
README
README.mdIntroduction
This repository contains the PCB design files and source code for the STM32 based Motion Module used in my Mechanical Display.
The Motion Module uses an STM32F103R8 microcontroller to run 14 Trinamic TMC2209 stepper drivers. It recieves motor movement commands via CAN Bus from the ESP32 based Motion Controller. Please see the related repos for the ESP32 Controller and CAD Designs.
Build Video
Click below to watch the full build video on YouTube
Getting Started
PCB
You'll need at least KiCad 8 to view and modify the PCB design files. The PCB/production folder contains files suitable for production with JLC PCB, including a zip containing the Gerbers for fabrication and bom.csv and positions.csv for SMT assembly. The bom.csv uses components from LCSC.com. If any components are no longer be available/out of stock you'll need to select an alternative.
Code
The code uses PlatformIO (I used the VSCode plugin) and the Arduino framework.
CAN Bus library is from https://github.com/pazi88/CANBus
Parts
246| Qty | Value | Footprint | References |
|---|---|---|---|
| 65 | 0.1u 50V | Capacitor_SMD:C_0603_1608Metric | C1, C10, C11, C12, C101, C103, C106, C107, C109, C111, C114, C115, C117, C119, C122, C123 +49 |
| 28 | 0R11 | Resistor_SMD:R_1206_3216Metric | R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25 +12 |
| 28 | 10u 35V | Capacitor_SMD:C_0603_1608Metric | C16, C17, C24, C25, C32, C33, C40, C41, C48, C49, C104, C105, C112, C113, C120, C121 +12 |
| 15 | 4.7u 10v | Capacitor_SMD:C_0603_1608Metric | C6, C22, C30, C38, C46, C54, C62, C70, C78, C86, C94, C102, C110, C118, C126 |
| 15 | 47u | Capacitor_SMD:CP_Elec_5x5.4 | C2, C128, C129, C130, C131, C132, C133, C134, C135, C136, C137, C138, C139, C140, C141 |
| 14 | 22n 50V | Capacitor_SMD:C_0603_1608Metric | C20, C28, C36, C44, C52, C60, C68, C76, C84, C92, C100, C108, C116, C124 |
| 14 | Conn_01x04_Pin | Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical | J3, J5, J7, J9, J11, J13, J15, J17, J19, J21, J26, J28, J30, J32 |
| 14 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J4, J6, J8, J10, J12, J14, J16, J18, J20, J23, J24, J25, J27, J29 |
| 14 | R | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R33, R34, R35, R36, R37, R38, R39, R40, R41, R42, R43, R44, R45, R46 |
| 14 | TMC2209 | TMC2209:QFN28_5X5_TRI | U4, U5, U6, U7, U8, U9, U10, U11, U12, U13, U14, U15, U16, U17 |
| 2 | 30pf | Capacitor_SMD:C_0603_1608Metric | C14, C15 |
| 2 | 500 | Resistor_SMD:R_0603_1608Metric | R2, R4 |
| 2 | Screw_Terminal_01x02 | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J1, J22 |
| 1 | 100u | Capacitor_SMD:CP_Elec_6.3x4.9 | C3 |
| 1 | 10k | Resistor_SMD:R_0603_1608Metric | R3 |
| 1 | 10u | Capacitor_SMD:CP_Elec_4x5.7 | C4 |
| 1 | 12v PWR LED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | 2k | Resistor_SMD:R_0603_1608Metric | R1 |
| 1 | 3.3v PWR LED | LED_SMD:LED_0603_1608Metric | D2 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U1 |
| 1 | BOOT0 TP | TestPoint:TestPoint_Pad_D2.0mm | TP1 |
| 1 | Conn_01x05_Pin | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | J2 |
| 1 | Crystal | Crystal:Crystal_SMD_5032-2Pin_5.0x3.2mm | Y1 |
| 1 | DIAG | TestPoint:TestPoint_Pad_D2.0mm | TP30 |
| 1 | INDEX | TestPoint:TestPoint_Pad_D2.0mm | TP58 |
| 1 | MCP2562-E-SN | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U2 |
| 1 | MS1 | TestPoint:TestPoint_Pad_D2.0mm | TP16 |
| 1 | MS2 | TestPoint:TestPoint_Pad_D2.0mm | TP2 |
| 1 | RESET | Button_Switch_SMD:SW_Tactile_SPST_NO_Straight_CK_PTS636Sx25SMTRLFS | SW1 |
| 1 | STATUS LED | LED_SMD:LED_0603_1608Metric | D3 |
| 1 | STM32F103R8Tx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U3 |
| 1 | UART | TestPoint:TestPoint_Pad_D2.0mm | TP44 |
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Questions
How big is the MotionModuleSTM32F103R8 PCB?
It measures 187.9 × 60.2 mm and has 4 copper layers, 1.6 mm thick.
What parts does the MotionModuleSTM32F103R8 use?
246 parts, built around the STM32F103R8T6, TMC2209-LA-T, AMS1117-3.3 and CC0603KRX7R9BB104. 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 MotionModuleSTM32F103R8 KiCad files?
From the griffotron/MotionModuleSTM32R8 repository on GitHub, at the commit this page was made from: the board is PCB/MotionModuleSTM32F103R8/MotionModuleSTM32F103R8.kicad_pcb and its schematic PCB/MotionModuleSTM32F103R8/MotionModuleSTM32F103R8.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the MotionModuleSTM32F103R8 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).