Motor Controller for a Robot Arm
Worked for 4 mins 39 sec
Created 2 project docs
Board Bring-Up Plan — Closed-Loop DC Motor Controller
Equipment: current-limited bench supply, DMM, oscilloscope, ST-LINK/SWD debugger, USB-UART adapter, encoder simulator or known encoder, dumm...
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:
- Set PCB constraints: board size, stackup, current-aware trace widths, and clearance rules.
- Place components with power path and thermal priorities.
- Route the PCB, then run DRC/PI checks.
- 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
