2 layers64.9 × 66.2 mm
2 layers48.4 × 52.1 mm
Tentacle board
rc-sr/tentacle1Modular robotic tentacle
- Size
- 48.4 × 52.1 mm
- Copper layers
- 2
- Thickness
- 1 mm
- Parts
- 80
- Nets
- 81
- Pads
- 359
- Tracks, vias
- 688, 90
- Pours
- 7
- Routed
- Yes
- KiCad
- KiCad 7 (file 20221018)
- Created
- 12 Sep 2023
- Updated
- 7 Nov 2023
Overview
Tentacle board is an open-source printed circuit board by rc-sr, from the rc-sr/tentacle repository on GitHub, published under the MIT licence. It is a 2-layer board of 48.4 × 52.1 mm with 80 parts on 81 nets, routed with 688 tracks and 90 vias.
It is built around the RP2040, DRV8825PWP and W25Q32JVZPIQ, with the ABM8-12.000MHZ-20-B1U-T and TC33X-2-103E among its other parts. Its parts include 37 capacitors, 13 resistors, 8 connectors, 8 inductors and 5 ICs. It belongs with the RP2040 boards of this library.
Main components
5
RP2040
LQFN-56(7x7)12bit 133MHz 30 LQFN-56(7x7) Microcontrollers (MCU/MPU/SOC) ROHSRaspberry PiMicrocontrollers (MCU/MPU/SOC)
DRV8825PWP
HTSSOP-28-EP-40℃~+85℃ 2 2.5A 200mΩ 32 8.2V~45V Bipolar Driver STEP/DIR Yes HTSSOP-28-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
W25Q32JVZPIQ
WSON-8-EP(5x6)-40℃~+85℃ 100,000 cycles 10uA 133MHz 2.7V~3.6V 20 Years 32Mbit 3ms SPI WSON-8-EP(5x6) NOR FLASH ROHSWinbondNOR FLASH
ABM8-12.000MHZ-20-B1U-T
SMD3225-4P-20℃~+70℃ 120Ω 12MHz 20pF ±10ppm ±10ppm SMD3225-4P Crystals ROHSAbraconCrystals
TC33X-2-103E
SMD-3P,3.8x3.6mm1 10kΩ 150mW ±25% ±250ppm/℃ SMD-3P,3.8x3.6mm Potentiometers, Variable Resistors ROHSBournsPotentiometers & Variable Resistors
README
hardware/pcb/dev-board/README.mdDevelopment Board
TODO: Add more details about the board
Pinout
Microstep Configuration
Both motors share microstep configuration pins
| DRV8825 Pin | Pico Pin |
|---|---|
| MODE 0 | GPIO2 |
| MODE 1 | GPIO3 |
| MODE 2 | GPIO4 |
Motor 1
| DRV8825 Pin | Pico Pin |
|---|---|
| DIR | GPIO7 |
| STEP | GPIO6 |
| ENABLE | GND |
| SLEEP | GPIO8 |
| RESET | GND |
| FAULT | GND |
Motor 2
| DRV8825 Pin | Pico Pin |
|---|---|
| DIR | GPIO10 |
| STEP | GPIO9 |
| ENABLE | GND |
| SLEEP | GPIO8 |
| RESET | GND |
| FAULT | GND |
Motor 3
| DRV8825 Pin | Pico Pin |
|---|---|
| DIR | GPIO13 |
| STEP | GPIO12 |
| ENABLE | GND |
| SLEEP | GPIO11 |
| RESET | GND |
| FAULT | GND |
Motor 4
| DRV8825 Pin | Pico Pin |
|---|---|
| DIR | GPIO16 |
| STEP | GPIO15 |
| ENABLE | GND |
| SLEEP | GPIO14 |
| RESET | GND |
| FAULT | GND |
Motor Connectors
All motor connectors map to the same pins of their corresponding DRV8825 modules
| Connector Pin | DRV8825 Pin |
|---|---|
| 1 | B2 |
| 2 | B1 |
| 3 | A1 |
| 4 | A2 |
Parts
80| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 100nF | Capacitor_SMD:C_0402_1005Metric | C8, C14, C15, C25, C27, C28, C29, C31, C32, C34 |
| 8 | 1nF | Capacitor_SMD:C_0805_2012Metric | C2, C5, C6, C7, C20, C22, C23, C36 |
| 8 | L_Ferrite | Inductor_SMD:L_0805_2012Metric | L1, L2, L3, L4, L5, L6, L7, L8 |
| 6 | 0.1uf | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C3, C13, C16, C18, C21 |
| 4 | 0.1 | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R3, R4, R6, R10 |
| 3 | 1.5k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R8, R9, R13 |
| 3 | 10uF | Capacitor_SMD:C_0805_2012Metric | C10, C30, C37 |
| 3 | Fiducial | Fiducial:Fiducial_0.5mm_Mask1mm | FID1, FID2, FID3 |
| 3 | MountingHole | MountingHole:MountingHole_2.2mm_M2_ISO7380_Pad_TopBottom | H1, H2, H3 |
| 2 | 0.47uF | Capacitor_SMD:C_0603_1608Metric | C17, C35 |
| 2 | 100uF | tentacle-board:CAPAE660X800N | C9, C24 |
| 2 | 10k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R7, R12 |
| 2 | 10nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C4, C19 |
| 2 | 1M | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R1, R5 |
| 2 | 1uF | Capacitor_SMD:C_0402_1005Metric | C11, C12 |
| 2 | 30pF | Capacitor_SMD:C_0402_1005Metric | C26, C33 |
| 2 | DRV8825PWP | tentacle-board:IC_TPS61196PWPRQ1 | U1, U2 |
| 2 | Motor | Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical | J1, J4 |
| 1 | 10k | Resistor_SMD:R_0402_1005Metric | R2 |
| 1 | 1k | Capacitor_SMD:C_0402_1005Metric | R11 |
| 1 | ABM8-12.000MHZ-20-B1U-T | tentacle-board:ABM810000MHZ12D2W | Y1 |
| 1 | AUX1 | Connector_JST:JST_SH_BM05B-SRSS-TB_1x05-1MP_P1.00mm_Vertical | J5 |
| 1 | AUX2 | Connector_JST:JST_SH_BM05B-SRSS-TB_1x05-1MP_P1.00mm_Vertical | J2 |
| 1 | CTRL | Connector_JST:JST_SH_BM05B-SRSS-TB_1x05-1MP_P1.00mm_Vertical | J7 |
| 1 | Conn_01x02 | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J8 |
| 1 | DEBUG | Connector_JST:JST_SH_BM03B-SRSS-TB_1x03-1MP_P1.00mm_Vertical | J6 |
| 1 | NCP1117-3.3_SOT223 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U3 |
| 1 | RP2040 | RP2040_minimal:RP2040-QFN-56 | U4 |
| 1 | TC33X-2-103E | tentacle-board:TC33X2503E | VR1 |
| 1 | UART0 | Connector_JST:JST_SH_BM03B-SRSS-TB_1x03-1MP_P1.00mm_Vertical | J3 |
| 1 | W25Q32JVZPIQ | tentacle-board:SON127P600X500X80-9N-D | IC1 |
The 79 most common of 80 parts.
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Questions
How big is the Tentacle board PCB?
It measures 48.4 × 52.1 mm and has 2 copper layers, 1 mm thick.
What parts does the Tentacle board use?
80 parts, built around the RP2040, DRV8825PWP, W25Q32JVZPIQ and ABM8-12.000MHZ-20-B1U-T. 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 Tentacle board KiCad files?
From the rc-sr/tentacle repository on GitHub, at the commit this page was made from: the board is hardware/pcb/tentacle-board/tentacle-board.kicad_pcb and its schematic hardware/pcb/dev-board/dev-board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Tentacle board 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).