4 layers40 × 40 mm Moco pg4, the printed circuit board in 3D

Moco pg4

Q: How big is the Moco pg4 PCB?

It measures 40 × 40 mm and has 4 copper layers, 1.6 mm thick.

Q: What parts does the Moco pg4 use?

101 parts, built around the STSPIN32G4, TCAN337D and STPS0560Z. 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.

Q: Where can I download the Moco pg4 KiCad files?

From the ziteh/moco repository on GitHub, at the commit this page was made from: the board is hardware/moco-pg4/moco-pg4.kicad_pcb and its schematic hardware/moco-bkd8316/moco-bkd8316.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Q: Can I use the Moco pg4 design in my own project?

Its repository publishes it under the CERN-OHL-P-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).

ziteh/moco24

PMSM/BLDC motor controller/driver PCBs

Open in PCBKit

Size: 40 × 40 mm
Copper layers: 4
Thickness: 1.6 mm
Parts: 101
Nets: 90
Pads: 589
Tracks, vias: 410, 81
Pours: 14
Routed: Yes
KiCad: KiCad 7 (file 20221018)
Created: 7 Dec 2022
Updated: 18 May 2024

Overview

Moco pg4 is an open-source printed circuit board by ziteh, from the ziteh/moco repository on GitHub, published under the CERN-OHL-P-2.0 licence. It is a 4-layer board of 40 × 40 mm with 101 parts on 90 nets, routed with 410 tracks and 81 vias.

It is built around the STSPIN32G4, TCAN337D and STPS0560Z. Its parts include 35 capacitors, 32 resistors, 8 connectors, 6 transistors and 3 ICs. It belongs with the robots and motor control boards and the STM32 boards of this library.

Main components

README

hardware/moco-rd321/readme.md

moco-RD321

6.7V~35V, 12A
3-Phase low-side current sensing. OP-Amp Gain=6.74, Shunt resistor=20mΩ
Overcurrent detection. Ith=30A @ OC_COMPth=500mV
Input voltage sensing
32x32mm square PCB, 4xM2 mounting holes
STSPIN32F0A 3-phase gate driver with embdded MCU SiP
- STM32F031C6 48MHz, 4KB SRAM, 32KB Flash
- 600mA sink/source gate drivers, integrated bootstrap diodes
- 12V LDO and 3.3V buck
SiZ250DT Dual N-MOSFET, 60V, 38A, 3.3x3.3mm
MA702 magnetic encoder, SPI
2x04 2.54mm Pin header for debug, JST SM03B-SRSS-TB 1x03 for Serial and I2C

Pinmap

Description	Analog IC	STM32	STM32 Func
High-side U	HS1	PA8	TIM1_CH1
High-side V	HS2	PA9	TIM1_CH2
High-side W	HS3	PA10	TIM1_CH3
Low-side U	LS1	PB13	TIM1_CH1N
Low-side V	LS2	PB14	TIM1_CH2N
Low-side W	LS3	PB15	TIM1_CH3N
OC threshold select 1	OC_TH_STBY1	PF7	Push-pull output
OC threshold select 2	OC_TH_STBY2	PF6	Push-pull output
OC protection selection	OC_SEL	PA11	Push-pull output
OC comparator output	OC_COMP_INT	PB12	TIM1_BKIN
OC comparator output	OC_COMP_INT2	PA12	TIM1_ETR
Current sense U	OP3O	PA0	ADC_IN0
Current sense V	OP2O	PA1	ADC_IN1
Current sense W	OP1O	PB1	ADC_IN9
VM sense	--	PA4	ADC_IN4
SPI SCLK	--	PA5	SPI1
SPI MISO	--	PA6	SPI1
SPI MOSI	--	PA7	SPI1
SPI nCS MA702	--	PA15
USART Tx	--	PA2	USART1
USART Rx	--	PA3	USART1
I2C SCL	--	PB6	I2C1
I2C SDA	--	PB7	I2C1
SWDIO	--	PA13
SWCLK	--	PA14
Connected to GND	--	BOOT0
User LED (Red)	--	PF0	Active HIGH
12V indicator LED (Blue)	--	--

Unused GPIOs inside the package should be config to output low: PB0, PB2, PB3, PB4, PB5, PB8, PB9, PB10, PB11, PC13, PC14, PC15.

OC_TH_STBY1 and OC_TH_STBY2 should be HIGH for 500mV OC threshold.

For analog IC, the GPIO input config without pull-up or -down is always allowed.

PCB

Jumper

If input voltage (i.e. VM)<15V then close SB1 to connect VM pin and VREG12 pin.

Board Characteristics

Copper layer count: 4
Board overall dimensions: 32 x 32 mm
Min track/spacing: 0.13 mm / 0.13 mm
Min hole diameter: 0.3 mm
Castellated pads: No
Edge card connectors: No
Plated board edge: No
1oz copper

SPI

MA702 encoder SPI:

Mode:
- 0 (CPOL=0, CPHA=0) or 1 (CPOL=1, CPHA=1)
- Data sampled on first edge
16-bit data frame
MSB first
nCS pin active low
25MHz clock

MCU

STSPIN32x	F0	F0A	F0B
Operating voltage	8~45V	6.7~45V	6.7~45V
OP-Amps	4	3	1
GPIOs	15	16	20
BOOT0 pin	--	Yes	Yes
3FG decoding logic for Hall sensors	Yes	--	--
Comparator	OCP	OCP and current control	OCP and current control
Package	QFN 7x7mm 1EP	QFN 7x7mm 1EP	QFN 7x7mm 1EP

Solved: STSPIN32F0 vs STSPIN32F0A vs STSPIN32F0B - STMicroelectronics Community

Reference

qwertpas/O32controller: Miniature closed-loop controller for brushless DC motors
STspin32G4 support - hardware support - SimpleFOC Community
ST AN5397 "Current Sensing in motion control applications"
ST AN4999 "STSPIN32F0/F0A/F0B overcurrent protection"
ST DB3364 "STEVAL-SPIN3202: STSPIN32F0A advanced 3-phase BLDC driver with embedded STM32 MCU single shunt evaluation board"
ST DB4049 "EVALKIT-ROBOT-1: Compact reference design kit for robotics and automation based on STSPIN32F0A"
ST DB3798 "STEVAL-ESC002V1: Electronic Speed Controller reference design based on STSPIN32F0A"
TI SLUA887 "Bootstrap Circuitry Selection for Half-Bridge Configurations"
Diodes DN1156 "Gate Drivers in BLDC Motors"

Parts

101

Qty	Value	Footprint	References
12	10uF/50V	Capacitor_SMD:C_0805_2012Metric	C23, C24, C25, C26, C27, C28, C29, C30, C31, C33, C34, C37
9	100nF	Capacitor_SMD:C_0402_1005Metric	C3, C4, C5, C8, C9, C11, C16, C19, C22
6	1.78k	Resistor_SMD:R_0402_1005Metric	R12, R15, R20, R23, R28, R31
6	10R	Resistor_SMD:R_0402_1005Metric	R9, R10, R17, R18, R25, R26
6	24k	Resistor_SMD:R_0402_1005Metric	R11, R14, R19, R22, R27, R30
6	DMTH4007SPS	moco:PowerDI5060-8	Q1, Q2, Q3, Q4, Q5, Q6
6	NetTie_2	NetTie:NetTie-2_SMD_Pad0.5mm	NT1, NT2, NT3, NT4, NT5, NT6
4	220nF/50V	Capacitor_SMD:C_0805_2012Metric	C7, C14, C17, C20
4	MountingHole	MountingHole:MountingHole_2.2mm_M2_ISO14580	H1, H2, H3, H4
3	100nF/50V	Capacitor_SMD:C_0402_1005Metric	C15, C18, C21
3	10k	Resistor_SMD:R_0402_1005Metric	R2, R5, R6
3	12k	Resistor_SMD:R_0402_1005Metric	R16, R24, R32
3	20mΩ/3W	Resistor_SMD:R_2512_6332Metric	R13, R21, R29
2	1k	Resistor_SMD:R_0402_1005Metric	R7, R8
2	1uF	Capacitor_SMD:C_0402_1005Metric	C10, C12
2	6.8pF	Capacitor_SMD:C_0402_1005Metric	C1, C2
2	CAN	Connector_JST:JST_SH_SM03B-SRSS-TB_1x03-1MP_P1.00mm_Horizontal	J2, J8
1	100k	Resistor_SMD:R_0402_1005Metric	R3
1	10uF	Capacitor_SMD:C_0805_2012Metric	C13
1	10uF	Capacitor_SMD:C_0402_1005Metric	C6
1	120R	Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder	R1
1	18uH	Inductor_SMD:L_Taiyo-Yuden_MD-3030	L1
1	1uF	Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder	C36
1	22k	Resistor_SMD:R_0402_1005Metric	R4
1	24MHz	Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm	Y1
1	A	moco:wire_2.2mm_rectagnel	J5
1	B	moco:wire_2.2mm_rectagnel	J6
1	Blue	LED_SMD:LED_0603_1608Metric	LD2
1	C	moco:wire_2.2mm_rectagnel	J7
1	Debug	Connector_PinHeader_2.54mm:PinHeader_2x04_P2.54mm_Vertical	J1
1	GND	TestPoint:TestPoint_Pad_D1.0mm	TP1
1	MA702	Package_DFN_QFN:QFN-16-1EP_3x3mm_P0.5mm_EP1.75x1.75mm	U3
1	RESET	Button_Switch_SMD:SW_SPST_EVQP7C	SW1
1	Red	LED_SMD:LED_0603_1608Metric	LD1
1	STPS0560Z	Diode_SMD:D_SOD-123F	D1
1	STSPIN32G4	moco:VFQFPN 9X9X1.0 64 PITCH 0.5	U1
1	TCAN337	Package_TO_SOT_SMD:SOT-23-8	U2
1	V+	moco:wire_2.2mm_rectagnel	J3
1	V-	moco:wire_2.2mm	J4

Questions

How big is the Moco pg4 PCB?

It measures 40 × 40 mm and has 4 copper layers, 1.6 mm thick.

What parts does the Moco pg4 use?

101 parts, built around the STSPIN32G4, TCAN337D and STPS0560Z. 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 Moco pg4 KiCad files?

From the ziteh/moco repository on GitHub, at the commit this page was made from: the board is hardware/moco-pg4/moco-pg4.kicad_pcb and its schematic hardware/moco-bkd8316/moco-bkd8316.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Moco pg4 design in my own project?

Its repository publishes it under the CERN-OHL-P-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).

Category and platform

Robots and motor control STM32

Topics

bldc-driver hardware kicad oshw arduino-foc stm32

Project files

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A live frame, for any web page

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A picture

<img src="https://pcbkit.io/embed/boards/ziteh-moco-moco-pg4.jpg" alt="Moco pg4" width="1200" height="900">

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[![Moco pg4](https://pcbkit.io/embed/boards/ziteh-moco-moco-pg4.jpg?size=s)](https://pcbkit.io/boards/ziteh-moco-moco-pg4)

Source

Repository: ziteh/moco
Board file: hardware/moco-pg4/moco-pg4.kicad_pcb
Commit: e0caae5
Licence: CERN-OHL-P-2.0

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