2 layers133 × 35 mm
Stepperdriver front panel
harp-tech/device.stepperdriver
A stepper motor controller device for four motors including individual quadrature encoders.
23 parts1
4 layers124.4 × 80.4 mm
Stepper driver
harp-tech/device.stepperdriver1A stepper motor controller device for four motors including individual quadrature encoders.
- Size
- 124.4 × 80.4 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 212
- Nets
- 228
- Pads
- 876
- Tracks, vias
- 2,011, 900
- Pours
- 24
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 19 May 2023
- Updated
- 23 Apr 2026
Overview
Stepper driver is an open-source printed circuit board by harp-tech, from the harp-tech/device.stepperdriver repository on GitHub. It is a 4-layer board of 124.4 × 80.4 mm with 212 parts on 228 nets, routed with 2,011 tracks and 900 vias.
It is built around the ATXMEGA128A1U-AU, SN74LVC07APW and TMC2210ATJ+, with the FT232RL-REEL, MCP16301H-E/CH and AD5248BRMZ50 among its other parts. Its parts include 93 capacitors, 67 resistors, 21 ICs, 10 transistors and 7 diodes. It belongs with the robots and motor control boards and the AVR (ATmega, ATtiny) boards of this library.
Main components
12
ATXMEGA128A1U-AU
TQFP-100(14x14)-40℃~+85℃ 1.6V~3.6V 128KB 12bit 12bit 2KB 32MHz 78 8/16 Bit 8KB AVR Built-in FLASH TQFP-100(14x14) Microcontrollers (MCU/MPU/SOC) ROHSMicrochip TechnologyMicrocontrollers (MCU/MPU/SOC)
SN74LVC07APW
TSSOP-14-40℃~+125℃ 1 1.65V~5.5V 10uA 2.6ns@5V,50pF 24mA 6 74LVC Open-drain Unidirectional TSSOP-14 Buffers, Drivers, Receivers, Transceivers ROHSTexas InstrumentsBuffers, Drivers, Receivers, Transceivers
TMC2210ATJ+
TQFN-32(5x5)-40℃~+125℃ 2 2.2V~5.5V 230mΩ 256 4.5V~36V 5A Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Overvoltage protection、Motor step-out prevention function STEP/DIR Yes TQFN-32(5x5) Stepper Motor Driver ROHSTRINAMIC Motion Control GmbHStepper Motor Driver
FT232RL-REEL
SSOP-28-208mil-40℃~+85℃ 15mA 3.3V~5.25V 3Mbps 70uA USB 2.0 USB to UART SSOP-28-208mil USB Converters ROHSFTDIUSB Converters
MCP16301H-E/CH
SOT-23-6-40℃~+125℃ 1 2V~15V 4.7V~36V 500kHz 600mA 7.5uA Adjustable Buck Built-in No Overcurrent Protection、Cycle-by-cycle current limiting Step-down type SOT-23-6 DC-DC Converters ROHSMicrochip TechnologyDC-DC Converters
AD5248BRMZ50
MSOP-10-40℃~+125℃ 100kHz 2 2.7V~5.5V 256 35ppm/℃ 50kΩ I2C Linear ±20% MSOP-10 Digital Potentiometers ROHSAnalog DevicesDigital Potentiometers
MIC5504-3.3YM5-TR
SOT-23-5-40℃~+125℃@(Tj) 1 160mV@(300mA) 175uVrms 3.3V 300mA 38uA 5.5V 60dB@(1kHz) Fixed Over Current Protection Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSMicrochip TechnologyVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
SI8642BC-B-IS1
SOIC-16Digital IsolatorsSkyworks Solutions
TPS73801DCQR
SOT-223-6-40℃~+125℃@(Tj) 1 1.21V~20V 1A 1mA 20V 300mV@(1A) 45uVrms 55dB@(120Hz) Adjustable Over Current Protection、Over Temperature Protection、Enable Positive SOT-223-6 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTexas InstrumentsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
CGA2B3X7R1H104K050BB
0402100nF 50V X7R ±10% 0402 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSTDKMultilayer Ceramic Capacitors MLCC - SMD/SMT
RC0402JR-070RL
UncategorisedUnknown maker
EEU-FR2A101B
插件,D10xL20mm-40℃~+105℃ 1.05A@120Hz 10000hrs@105℃ 100V 100uF 10mm 20mm 5mm 84mΩ ±20% 插件,D10xL20mm Aluminum Electrolytic Capacitors - Leaded ROHSPanasonicAluminum Electrolytic Capacitors - Leaded
README
README.mdHarp Stepper Driver
A stepper motor controller device for four motors including individual quadrature encoders..
Key Features
- Individual control of maximum output current for each motor
- Individual motor current up to 2A
- Two control modes
-
- Position set
-
- Speed control
Connectivity
- 1 USB Mini port
- 1 Motor supply input voltage (up to 35V)
- 4 motors
- 4 quadrature encoders
Interface
The interface with the Harp Behavior can be done through Bonsai
Licensing
Each subdirectory will contain a license or, possibly, a set of licenses if it involves both hardware and software.
Parts
212| Qty | Value | Footprint | References |
|---|---|---|---|
| 46 | 100nF | Capacitor_SMD:C_0402_1005Metric | C1, C3, C10, C11, C12, C13, C18, C19, C21, C24, C25, C27, C29, C31, C36, C37 +30 |
| 22 | 10k | Resistor_SMD:R_0402_1005Metric | R1, R2, R3, R14, R22, R23, R24, R26, R27, R30, R31, R32, R33, R34, R38, R39 +6 |
| 16 | 470pF | Capacitor_SMD:C_0402_1005Metric | C59, C60, C61, C62, C63, C64, C65, C66, C86, C87, C88, C89, C90, C91, C92, C93 |
| 10 | DMN63D8L-7 | Package_TO_SOT_SMD:SOT-23 | Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10 |
| 8 | 24k | Resistor_SMD:R_0402_1005Metric | R46, R47, R48, R49, R58, R59, R60, R61 |
| 8 | DNI | Resistor_SMD:R_0402_1005Metric | R50, R51, R54, R55, R62, R63, R66, R67 |
| 6 | 2.4k | Resistor_SMD:R_0402_1005Metric | R18, R19, R20, R21, R28, R29 |
| 6 | 2.7k | Resistor_SMD:R_0402_1005Metric | R8, R9, R36, R37, R40, R41 |
| 5 | 0R | Resistor_SMD:R_0402_1005Metric | R10, R52, R53, R64, R65 |
| 5 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C15, C22, C28, C34, C35 |
| 5 | TPPAD1-13 | TestPoint:TestPoint_THTPad_D2.0mm_Drill1.0mm | +3V3_TP1, +5V_TP1, GND_TP1, GND_TP2, VEE_TP1 |
| 4 | 100uF | Capacitor_THT:CP_Radial_D6.3mm_P2.50mm | C46, C51, C69, C74 |
| 4 | 12k | Resistor_SMD:R_0402_1005Metric | R44, R45, R56, R57 |
| 4 | 1uF | Capacitor_SMD:C_0603_1608Metric | C52, C53, C79, C80 |
| 4 | 2.2uF | Capacitor_SMD:C_0402_1005Metric | C54, C55, C81, C82 |
| 4 | 22n | Capacitor_SMD:C_0603_1608Metric | C57, C58, C84, C85 |
| 4 | 4.7nF | Capacitor_SMD:C_0402_1005Metric | C14, C16, C23, C30 |
| 4 | 4POS R/A 3.5mm Socket | Connector_Phoenix_MC:PhoenixContact_MC_1,5_4-G-3.5_1x04_P3.50mm_Horizontal | U4, U8, U10, U13 |
| 4 | TMC2210ATJ+ | Package_DFN_QFN:TQFN-32-1EP_5x5mm_P0.5mm_EP3.1x3.1mm_ThermalVias | U6, U7, U11, U12 |
| 3 | 10u | Capacitor_SMD:C_1206_3216Metric | C17, C20, C26 |
| 3 | 47pF | Capacitor_SMD:C_0402_1005Metric | C2, C32, C33 |
| 2 | 2POS R/A 3.5mm Socket | Connector_Phoenix_MC:PhoenixContact_MC_1,5_2-G-3.5_1x02_P3.50mm_Horizontal | J1, J3 |
| 2 | 3.5mm jack | stepper driver:JACK_35RASMT2BHNTRX | CLKIN1, CLKOUT1 |
| 2 | 5.1k | Resistor_SMD:R_0402_1005Metric | R16, R17 |
| 2 | AD5248 | Package_SO:MSOP-10_3x3mm_P0.5mm | U5, U9 |
| 2 | B140-13-F | Diode_SMD:D_SMA | D3, D5 |
| 2 | MIC5504-3.3YM5-TR | Package_TO_SOT_SMD:SOT-23-5 | IC3, IC5 |
| 2 | SN74LVC1G125DBVT | Package_TO_SOT_SMD:SOT-23-5 | IC6, IC7 |
| 1 | 10R | Resistor_SMD:R_0402_1005Metric | R25 |
| 1 | 140k | Resistor_SMD:R_0402_1005Metric | R13 |
| 1 | 1M | Resistor_SMD:R_0402_1005Metric | R15 |
| 1 | 1N4148WX | Diode_SMD:D_SOD-323 | D1 |
| 1 | 26 pins | stepper driver:Omron_XF2M-2615-1A_1x26-1MP_P0.5mm_Horizontal | J4 |
| 1 | 3.16k | Resistor_SMD:R_0402_1005Metric | R12 |
| 1 | 3k3 | Resistor_SMD:R_0603_1608Metric | R35 |
| 1 | 56uH 1.75A | Inductor_SMD:L_Bourns_SRN8040TA | L1 |
| 1 | 9.76k | Resistor_SMD:R_0402_1005Metric | R11 |
| 1 | ATXMEGA128A1U-AU | stepper driver:AVR-7_TQFP100_100_14x14mm_P0.5mm | IC2 |
| 1 | FT232RL | Package_SO:SSOP-28_5.3x10.2mm_P0.65mm | U3 |
| 1 | MCP16301H | Package_TO_SOT_SMD:SOT-23-6 | U2 |
| 1 | MM3Z3V6B | Diode_SMD:D_SOD-323F | D7 |
| 1 | O 32,0-JT32C-A-K-3,3-LF | stepper driver:Oscillator_SMD_4Pin_3.2x2.5mm | X1 |
| 1 | PROG HEADER | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | PDI1 |
| 1 | SBRT20M60SP5-7 | Diode_SMD:D_PowerDI-5 | D4 |
| 1 | SI8610EC-B-ISR | Package_SO:SO-8_3.9x4.9mm_P1.27mm | IC8 |
| 1 | SI8642BC-B-IS1 | Package_SO:SOIC-16_3.9x9.9mm_P1.27mm | IC4 |
| 1 | SMAZ7V5-13-F | Diode_SMD:D_SMA | D2 |
| 1 | SN74LVC07APW | Package_SO:TSSOP-14_4.4x5mm_P0.65mm | IC1 |
| 1 | TPD4E05U06DQA | Package_SON:USON-10_2.5x1.0mm_P0.5mm | D6 |
| 1 | TPS73801DCQR | Package_TO_SOT_SMD:SOT-223-6_TabPin3 | U1 |
| 1 | USB4105-GF-A | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J2 |
Questions
How big is the Stepper driver PCB?
It measures 124.4 × 80.4 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Stepper driver use?
212 parts, built around the ATXMEGA128A1U-AU, SN74LVC07APW, TMC2210ATJ+ and FT232RL-REEL. 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 Stepper driver KiCad files?
From the harp-tech/device.stepperdriver repository on GitHub, at the commit this page was made from: the board is Hardware/PCB/stepper driver/stepper driver.kicad_pcb and its schematic Hardware/PCB/stepper driver front panel/stepperdriver front panel.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Stepper driver design in my own project?
Its repository states no licence, so its author keeps all rights: ask harp-tech before reusing the design.
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