4 layers38 × 38 mm
6 layers56 × 56 mm
Moteus x1
mjbots/moteus1.4kBrushless DC motor controller
- Size
- 56 × 56 mm
- Copper layers
- 6
- Thickness
- 1.55 mm
- Parts
- 187
- Nets
- 130
- Pads
- 743
- Tracks, vias
- 1,470, 1,087
- Pours
- 101
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 8 Mar 2019
- Updated
- 7 Nov 2026
Overview
Moteus x1 is an open-source printed circuit board by mjbots, from the mjbots/moteus repository on GitHub, published under the Apache-2.0 licence. It is a 6-layer board of 56 × 56 mm with 187 parts on 130 nets, routed with 1,470 tracks and 1,087 vias.
It is built around the STM32G474CEU6, TCAN1057AEVDRQ1 and DRV8353SRTAR, with the MAX17760ATC+, MA600GQE-0000 and GRJ31CC72A475KE01K among its other parts. Its parts include 82 capacitors, 44 resistors, 11 diodes, 8 ICs and 6 transistors. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
STM32G474CEU6
UFQFPN-48(7x7)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 170MHz 32 Bit 38 512KB ARM Cortex-M4F Built-in FLASH UFQFPN-48(7x7) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
TCAN1057AEVDRQ1
SOIC-8-40℃~+150℃ 2.1mA 4.5V~5.5V 80mA 8Mbps CAN FD Transceiver SOIC-8 CAN Transceivers ROHSTexas InstrumentsCAN Transceivers
DRV8353SRTAR
WQFN-40-EP(6x6)-40℃~+125℃ 1.5V 1A 20uA 2A 6 800mV 9V~75V Enable shutdown、Interleaved conduction protection、Dead-time control、Charge pump boost MOSFET Three Phase WQFN-40-EP(6x6) Gate Drivers ROHSTexas InstrumentsGate DriversMAX17760ATC+
TDFN-12-EP(3x3)-40℃~+125℃@(TA) 1 200kHz、300kHz、400kHz、600kHz 300mA 4.5V~76V 800mV~66.88V Adjustable Buck Buck Built-in Yes TDFN-12-EP(3x3) DC-DC Converters ROHSMaxim Integrated (Analog Devices)DC-DC ConvertersMA600GQE-0000
QFN16_3X3QFN16_3X3 New Arrivals ROHSMonolithic Power SystemsUncategorised
GRJ31CC72A475KE01K
1206100V 4.7uF X7S ±10% 1206 Multilayer Ceramic Capacitors MLCC - SMD/SMT ROHSMurataMultilayer Ceramic Capacitors MLCC - SMD/SMT
BAT41KFILM
SOD-5231 Independent 100V 100nA@50V 1A 1V@0.2A 200mA SOD-523 Schottky Diodes ROHSSTMicroelectronicsSchottky Diodes
FDMT80080DC
DualCool-88-8-55℃~+150℃ 1 N-channel 1.35mΩ@10V 20.72nF 273nC@10V 3.2W、156W 36A、254A 4V 80V DualCool-88-8 MOSFETs ROHSonsemiMOSFETs
18121C104MAT2A
1812Multilayer Ceramic Capacitors MLCC - SMD/SMTKyocera AVX
WSLF2512L5000FEA
2512-65℃~+170℃ 0.5mΩ 6W ±1% ±200ppm/℃ 2512 Chip Resistor - Surface Mount ROHSVishay IntertechnologyChip Resistor - Surface Mount
RC0402FR-07100KL
UncategorisedUnknown makerRC0402FR-0710KL
UncategorisedUnknown maker
README
README.mdmoteus brushless servo
This contains full designs for the moteus brushless servo actuator, including firmware and PCBs.
WARNING: This is not just a software project. It includes designs for moderately high power electronics. It has not yet burned down my (or anyone's that I know of) house, but there are no guarantees.
Specifications
| Name | r4.11 | c1 | n1 | x1 |
|---|---|---|---|---|
| Voltage Input | 10-44V | 10-51V | 10-54V | 10-54V |
| Peak Electrical Power | 900W @ 30V | 250W @ 28V | 1.3kW @ 36V | 1kW @ 36V |
| Mass | 14.2g | 8.9g | 14.6g | 23.8g |
| Control Rate | 15-30kHz | - | - | - |
| PWM Switching Rate | 15-60kHz | - | - | - |
| CPU | STM32G4 | - | - | - |
| Uncooled phase current | 12A | 5A | 9A | 25A |
| Cooled phase current | 32A | 14A | 26A | 62A |
| Peak phase current | 100A | 20A | 100A | 120A |
| Communications | 5Mbps CAN-FD | - | - | - |
| Dimensions | 46x53mm | 38x38x9mm | 46x46x8mm | 56x56x10mm |
Assembled and tested boards can be purchased at: https://mjbots.com
Directory structure
- hw/ - hardware (mechanical and electrical designs)
- controller/ - PCB design for moteus-r4.11
- c1/ - PCB design for moteus-c1
- n1/ - PCB design for moteus-n1
- x1/ - PCB design for moteus-x1
- fw/ - firmware for brushless controller
- lib/ - client side software
- utils/ - diagnostic tools
- tools/ - bazel build configure
- docs/ - documentation
Documentation
Misc
How to support moteus development
The easiest way to support development the moteus hardware and firmware is as follows:
- Buy things from https://mjbots.com
- Build awesome machines!
That's it! If for some reason you want to go above and beyond, you can sponsor mjbots through github: https://github.com/sponsors/mjbots
License
All files contained in this repository, unless otherwise noted, are available under an Apache 2.0 License: https://www.apache.org/licenses/LICENSE-2.0
Trademark
mjbots Robotic Systems LLC owns and protects the "mjbots" and "moteus" trademarks in many jurisdictions.
If you want to use these names in your project or product, please read the Trademark Policy
Parts
187| Qty | Value | Footprint | References |
|---|---|---|---|
| 36 | 4.7uF 100V | Capacitor_SMD:C_1206_3216Metric | C45, C46, C47, C48, C49, C50, C51, C52, C53, C54, C55, C56, C57, C58, C59, C60 +20 |
| 12 | 0.1uF | Capacitor_SMD:C_0402_1005Metric | C11, C13, C15, C16, C17, C30, C31, C32, C33, C34, C44, C81 |
| 11 | 100 | Resistor_SMD:R_0402_1005Metric | R26, R27, R28, R30, R32, R33, R34, R35, R36, R43, R44 |
| 9 | 1uF | Capacitor_SMD:C_0402_1005Metric | C3, C6, C14, C20, C35, C36, C41, C42, C43 |
| 7 | 2k | Resistor_SMD:R_0402_1005Metric | R9, R12, R13, R29, R31, R37, R38 |
| 7 | BAT41KFILM | moteus:SOD-523_STM | D4, D5, D6, D7, D8, D9, D10 |
| 6 | FDMT80080DC | Package_TO_SOT_SMD:PQFN_8x8 | Q1, Q2, Q3, Q4, Q5, Q6 |
| 6 | NetTie_2 | moteus:NetTie-2_SMD_Pad0.2 | NT2, NT3, NT4, NT5, NT6, NT7 |
| 5 | Conn_01x01 | moteus:POWER_M2.5 | VN1, VP1, X1, X2, X3 |
| 5 | DNP | Capacitor_SMD:C_0402_1005Metric | C8, C37, C38, C39, C40 |
| 4 | 22 | Resistor_SMD:R_0402_1005Metric | R4, R17, R18, R19 |
| 4 | Conn_01x01_Pin | moteus:M3_MOUNT_CORNER | M1, M2, M3, M4 |
| 3 | 0.1uF 100V | Capacitor_SMD:C_1812_4532Metric | C24, C25, C26 |
| 3 | 0.5mOhm | Resistor_SMD:R_2512_6332Metric | R14, R15, R16 |
| 3 | 1000pF | Capacitor_SMD:C_0402_1005Metric | C27, C28, C29 |
| 3 | 22uF | Capacitor_SMD:C_1210_3225Metric | C4, C7, C9 |
| 3 | TestPoint | TestPoint:TestPoint_THTPad_D1.5mm_Drill0.7mm | TP1, TP2, TP3 |
| 2 | 0.1uF 100V | Capacitor_SMD:C_0603_1608Metric | C2, C19 |
| 2 | 100k 1% | Resistor_SMD:R_0402_1005Metric | R11, R21 |
| 2 | 10k 1% | Resistor_SMD:R_0402_1005Metric | R24, R25 |
| 2 | 120 | Resistor_SMD:R_0402_1005Metric | R41, R42 |
| 2 | 1uF | Capacitor_SMD:C_0603_1608Metric | C18, C23 |
| 2 | 2.2uH | moteus:IND_DFE252012_MUR | L1, L3 |
| 2 | 560 | Resistor_SMD:R_0402_1005Metric | R39, R40 |
| 2 | DNP | Resistor_SMD:R_0402_1005Metric | R8, R10 |
| 2 | LED | LED_SMD:LED_0603_1608Metric | D1, D2 |
| 2 | S3B-PH-SM4-TB(LF)(SN) | moteus:JST_S3B-PH-SM4-TB(LF)(SN) | CAN1, CAN2 |
| 2 | TPS629203DRLR | moteus:SOT-5x3_DRL0008A_TEX | U2, U3 |
| 1 | 100uH | moteus:IND_6028-WE-LQS_WRE | L2 |
| 1 | 10uF | Capacitor_SMD:C_1206_3216Metric | C10 |
| 1 | 120 | Resistor_SMD:R_0603_1608Metric | R20 |
| 1 | 16.2k 1% | Resistor_SMD:R_0402_1005Metric | R7 |
| 1 | 1uF 100V | Capacitor_SMD:C_0805_2012Metric | C1 |
| 1 | 1uF 25V | Capacitor_SMD:C_0603_1608Metric | C21 |
| 1 | 226k 1% | Resistor_SMD:R_0402_1005Metric | R6 |
| 1 | 4.7k 1% | Resistor_SMD:R_0402_1005Metric | R22 |
| 1 | 4.7uF | Capacitor_SMD:C_1206_3216Metric | C82 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C12 |
| 1 | 42.2k 1% | Resistor_SMD:R_0402_1005Metric | R1 |
| 1 | 47k NTC | Resistor_SMD:R_0402_1005Metric | R23 |
| 1 | 47nF 100V | Capacitor_SMD:C_0603_1608Metric | C22 |
| 1 | 52.3k 1% | Resistor_SMD:R_0402_1005Metric | R5 |
| 1 | 5600pF | Capacitor_SMD:C_0402_1005Metric | C5 |
| 1 | 69.8k 1% | Resistor_SMD:R_0402_1005Metric | R2 |
| 1 | 80.6k 1% | Resistor_SMD:R_0402_1005Metric | R3 |
| 1 | Conn_01x02_Pin | Connector_PinHeader_2.00mm:PinHeader_1x02_P2.00mm_Vertical | J4 |
| 1 | Conn_01x02_Pin | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | TEMP1 |
| 1 | Conn_01x03_Pin | Connector_PinHeader_2.00mm:PinHeader_1x03_P2.00mm_Vertical | CAN_DBG1 |
| 1 | Conn_01x04 | Connector_PinHeader_1.27mm:PinHeader_1x04_P1.27mm_Vertical | AUX1_S1 |
| 1 | Conn_01x04_Pin | Connector_PinSocket_2.54mm:PinSocket_2x02_P2.54mm_Vertical | FAN1 |
| 1 | Conn_02x04_Odd_Even | Connector_PinHeader_1.27mm:PinHeader_2x04_P1.27mm_Vertical | AUX2H1 |
| 1 | DRV8353SRTAR | moteus:RTA0040B | U5 |
| 1 | MA600 | Package_DFN_QFN:QFN-16-1EP_3x3mm_P0.5mm_EP1.75x1.75mm | U7 |
| 1 | MAX17760ATC+ | moteus:21-0664E_1233-1C_MXM | U1 |
| 1 | NetTie_2 | moteus:NetTie-2_SMD_Pad0.254mm | NT1 |
| 1 | S6B-ZR-SM4A-TF(LF)(SN) | moteus:JST_S6B-ZR-SM4A-TF(LF)(SN) | SWD1 |
| 1 | SM06B-GHS-TB | moteus:CONN_SM06B-GHS-TB_JST | J3 |
| 1 | SM07B-GHS-TB(LF)(SN) | moteus:JST_SM07B-GHS-TB(LF)(SN) | AUX2 |
| 1 | SM08B-GHS-TB | moteus:CONN_SM08B-GHS-TB_JST | AUX1 |
| 1 | SMBJ51D-M3/I | Diode_SMD:D_SMB | D3 |
| 1 | SN65HVD35DR | moteus:D14 | U8 |
| 1 | STM32G474CEU6 | moteus:UFQFPN-48_7X7X0P55MM | U4 |
| 1 | TCAN1057AEV-Q1 | moteus:SOIC-8_3.9x4.9mm_P1.27mm | U6 |
| 1 | TestPoint | TestPoint:TestPoint_THTPad_D1.0mm_Drill0.5mm | TP4 |
| 1 | US1B | Diode_SMD:D_SMA | D13 |
| 1 | XT30PW-M | moteus:AMASS_XT30PW-M | J1 |
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Questions
How big is the Moteus x1 PCB?
It measures 56 × 56 mm and has 6 copper layers, 1.55 mm thick.
What parts does the Moteus x1 use?
187 parts, built around the STM32G474CEU6, TCAN1057AEVDRQ1, DRV8353SRTAR and MAX17760ATC+. 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 Moteus x1 KiCad files?
From the mjbots/moteus repository on GitHub, at the commit this page was made from: the board is hw/x1/moteus_x1.kicad_pcb and its schematic docs/guides/images/aux2-hall-sample/aux2-hall-sample.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Moteus x1 design in my own project?
Its repository publishes it under the Apache-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).