Motor Controller for a Robot Arm

Created 2 project docs

Firmware Starter — STM32G431CBT6

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MCU: STM32G431CBT6 Framework: STM32 HAL

Board Bring-Up Plan — Closed-Loop DC Motor Controller

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Equipment: current-limited bench supply, DMM, oscilloscope, ST-LINK/SWD debugger, USB-UART adapter, encoder simulator or known encoder, dumm...

flux

Implemented and verified the schematic for the closed-loop brushed DC motor controller.
What was completed:
  • Added a robust 12 V nominal motor-controller architecture: MC33926 H-bridge, STM32G431 MCU, INA240 current sense, LMR33630 3.3 V buck, LM74700 reverse protection, encoder conditioning, connectors, LEDs, and protection.
  • Wired power, motor drive, current sensing, encoder A/B/Z, SWD, UART control, reset/BOOT0, and fault/status paths.
  • Ran schematic/ERC checks; there are no open ERROR/WARNING/UNCERTAIN checks in the reviewed schematic categories.
Project files created/updated:
Open items:
  • Layout is not started yet; high-current motor paths, shunt Kelvin routing, buck layout, and thermal copper will be critical.
  • Firmware starter is a HAL bring-up baseline; final PID/current-limit tuning still needs motor characterization.
Suggested next steps:
  1. Set PCB constraints: board size, stackup, current-aware trace widths, and clearance rules.
  2. Place components with power path and thermal priorities.
  3. Route the PCB, then run DRC/PI checks.
  4. Add test points for 3V3, VM_PROT, HBRIDGE_EN, current sense, and encoder signals.
Set constraints and layout
Set PCB constraints
Place components
Route the PCB
Add test points
Review BOM risks

Demo Complete

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Files

Schematic

Layout

Preview

U2
End of Life
U5
R21
Resistance
1kΩ
R10
Resistance
100kΩ
R8
Resistance
100kΩ
R1
Resistance
100kΩ
R16
Resistance
4.7kΩ
R3
Resistance
100kΩ
R9
Resistance
100kΩ
R5
Resistance
10kΩ
R6
Resistance
270Ω
R12
Resistance
100kΩ
R17
Resistance
4.7kΩ
R22
Resistance
1kΩ
R15
Resistance
4.7kΩ
R2
Resistance
43.2kΩ
R18
Resistance
100Ω
R4
Resistance
10kΩ
R19
Resistance
100Ω
R14
Resistance
100Ω
R13
Resistance
10mΩ
R7
Resistance
10kΩ
R20
Resistance
100Ω
R23
Resistance
1kΩ
R11
Resistance
100kΩ
U6
LED2
Q1
SW1
D3
LED1
LED3
C26
Capacitance
100nF
C18
Capacitance
1uF
C5
Capacitance
10uF
J2
C6
Capacitance
220nF
C10
Capacitance
22uF
C12
Capacitance
22uF
C13
Capacitance
100nF
C27
Capacitance
4.7nF
C30
Capacitance
1nF
C1
Capacitance
220nF
C23
Capacitance
100nF
C9
Capacitance
22uF
C2
Capacitance
47uF
C11
Capacitance
22uF
C14
Capacitance
100nF
C24
Capacitance
33nF
J1
C20
Capacitance
1uF
C17
Capacitance
10nF
C22
Capacitance
100uF
C29
Capacitance
1nF
C4
Capacitance
47uF
C21
Capacitance
100nF
C16
Capacitance
4.7uF
C28
Capacitance
1nF
C19
Capacitance
100nF
C31
Capacitance
100nF
C3
Capacitance
100nF
C8
Capacitance
1uF
C7
Capacitance
100nF
C32
Capacitance
10uF
C15
Capacitance
100nF
C25
Capacitance
1uF
F1
J5
U3
D1
U4
L1
Inductance
6.8uH
J3
U1
D2
J4

Closed-Loop DC Motor Controller