The Main Board is a single board that integrates the circuits for driving the robot designed to be mounted on SUSTAINA-OP.
Note that this is Ver. 2.2. For other versions, please refer to the following repositories.
It is actually used for the 6th generation robot SUSTAINA-OP of the RoboCup Humanoid League team CIT Brains competed in the RoboCup 2022.
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PCB preview image
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After mounting electronic components
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After attaching module board
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- \image
- PCB preview images and capture of design screen
- \libraries
- Libraries used in Autodesk Eagle design
- Schematic.pdf
- Circuit diagram of this product
- BOM.txt
- Parts lists output from design data
- .brd
- Board wiring design file by Autodesk Eagle
- .sch
- Schematic design file by Autodesk Eagle
- Gerber_data.zip
- Zip folder of Gerber format files for PCB manufacturing requests.
- LICENSE
- This is a license to use this product. Please confirm before use.
- .gitignore
- File to exclude cache files from management.
The BOM below shows the components actually mounted on the SUSTAINA-OP equipped MainBoard in RoboCup2022. Many of these boards have been created, and in some cases substitutes have been used. Their details are listed below the BOM.
| Eagle Design Parts # | Q'ty | Mfr. Product # | Supplier | Description |
|---|---|---|---|---|
| C1, C2, C3, C4, C5, C6 | 6 | C1608JB1H104K | Akizuki | Multilayer Ceramic Capacitors SMD/SMT 0.1uF 50V 10% 0603 |
| C11,C15 | 2 | UWT1E221MNL1GS | Akizuki | Aluminum Electrolytic Capacitors SMD/SMT 220uF 25V 20% AEC-Q200 |
| C12,C14 | 2 | GRM188R71E105KA12 | Akizuki | Multilayer Ceramic Capacitors SMD/SMT 1uF 25V 10% 0603 |
| C13 | 1 | GRM21BR61E226ME44 | Akizuki | Multilayer Ceramic Capacitors SMD/SMT 22uF 25V 15% 0603 |
| C16 | 1 | GRM188R6YA106MA73 | Akizuki | Multilayer Ceramic Capacitors SMD/SMT 10uF 35V 20% 0603 |
| C7, C8, C9, C10 | 4 | 35PFV150M8X10.5 | Akizuki | Aluminum Organic Polymer Capacitors SMD/SMT 150uF 35V 20% AEC-Q200 |
| CH1, CH2 | 2 | XT60PW-M | Suzaku Lab. | DC Power Connector, Through Hole, Horizontal, Male, 30A 500V |
| CH3 | 1 | B2B-XH-A-BLACK | DAISEN | Connector Header Through Hole, Top entry 2 position 2.54mm BLACK |
| CH4 | 1 | B2B-XH-A-BLUE | DAISEN | Connector Header Through Hole, Top entry 2 position 2.54mm BLUE |
| CH5 | 1 | B2B-XH-A-GREEN | DAISEN | Connector Header Through Hole, Top entry 2 position 2.54mm GREEN |
| CH6 | 1 | B2B-XH-A-YELLOW | DAISEN | Connector Header Through Hole, Top entry 2 position 2.54mm YELLOW |
| CH7 | 1 | B2B-XH-A-RED | DAISEN | Connector Header Through Hole, Top entry 2 position 2.54mm RED |
| CH8, CH9 | 2 | S4B-XH-A(LF)(SN)-YELLOW | DAISEN | Connector Header Through Hole, Side entry 4 position 2.54mm YELLOW |
| CH10 | 1 | S4B-XH-A(LF)(SN)-GREEN | DAISEN | Connector Header Through Hole, Side entry 4 position 2.54mm GREEN |
| CH11, CH12 | 2 | S4B-XH-A(LF)(SN)-BLUE | DAISEN | Connector Header Through Hole, Side entry 4 position 2.54mm BLUE |
| CH13 | 1 | S4B-XH-A(LF)(SN)-RED | DAISEN | Connector Header Through Hole, Side entry 4 position 2.54mm RED |
| D1 | 1 | SS34FA | Mouser | Schottky Barrier Rectifiers SMD/SMT 3 A 40 V |
| F1, F2, F4 | 3 | 0891020.NXS | Mouser | Automotive Fuses LP MINI 58V 20A |
| F1, F2, F4, F6 | 4 | 3557-2 | Mouser | Fuse Holder Through Hole 500V 30A |
| F3 | 1 | MF-MSMF010 | Akizuki | PTC Resettable Fuses SMD/SMT 0.1A 60V 1812 |
| F5 | 1 | MF-MSMF050/30X-2 | Mouser | PTC Resettable Fuses SMD/SMT 0.5A 30V 1812 |
| F6 | 1 | MO-29 | Amazon | Automotive Fuses LP MINI 7.5A |
| IC1, IC2, IC3, IC4 | 4 | ADM3078EARZ | Mouser | 3.3 V, ±15 kV ESD-Protected, Half- and Full-Duplex, RS-485/RS-422 Transceivers |
| IC5 | 1 | LTC4412ES6 | Akizuki | PMIC Low Loss PowerPath Controller |
| L1,L2 | 2 | CDRH127/LDNP-470MC | Akizuki | Power Inductors - SMD 47uH 3.25A |
| L3 | 1 | DFE201210S-2R2M | Akizuki | Power Inductors - SMD 2.2 uH 1.5A |
| LED1,LED2,LED3,LED4 | 4 | 150060VS86000 | Mouser | Standard LEDs - SMD Green 2V 20mA 573nm 0603 |
| LED5,LED6 | 2 | 150060YS75000 | Mouser | Standard LEDs - SMD Yellow 2V 20mA 590nm 0603 |
| M1 | 1 | FT4232H MINI MODULE | Mouser | Interface Development Tools USB Hi-Speed FT4323H Evaluation Module |
| M1 | 2 | FH-2x13SG | Akizuki | 2.54mm Pin Socket, 2 Row, 26 Pin |
| Q1, Q2, Q3, Q4, Q5 | 5 | SQM40P10-40L_GE3 | Mouser | Pch MOSFET 100V 40A 150W 33mohm |
| R1, R3, R4, R6, R7, R9, R10, R12 | 8 | RC0603FR-10680RL | Mouser | Thick Film Resistors - SMD 680 Ohms 100-200mW 1% 0603 |
| R13, R14, R22 | 3 | RC0603FR-101KL | Mouser | Thick Film Resistors - SMD 1 kOhms 100-200mW 1% 0603 |
| R15, R16, R20, R23 | 4 | RC0603FR-102KL | Mouser | Thick Film Resistors - SMD 2 kOhms 100-200mW 1% 0603 |
| R17 | 1 | RC0603FR-10470KL | Mouser | Thick Film Resistors - SMD 470 kOhms 100-200mW 1% 0603 |
| R21 | 1 | RC0603FR-078K66L | Mouser | Thick Film Resistors - SMD 8.66 kOhms 100-200mW 1% 0603 |
| R18, R19 | 2 | RC0603FR-1010KL | Mouser | Thick Film Resistors - SMD 10 kOhms 100-200mW 1% 0603 |
| R2, R5, R8, R11 | 4 | RC0603FR-10120RL | Mouser | Thick Film Resistors - SMD 120 Ohms 100-200mW 1% 0603 |
| VR1 | 1 | XL6009E1 | Aitendo | 400KHz 60V 4A Switching Current Boost / Buck-Boost / Inverting DC/DC Converter |
Substitutes
Used for No. 1 ~ No. 7| Eagle Design Parts # | Q'ty | Mfr. Product # | Supplier | Description |
|---|---|---|---|---|
| C1, C2, C3, C4, C5, C6 | 6 | GCM188L81H104K57 | Akizuki | Multilayer Ceramic Capacitors SMD/SMT 0.1uF 50V 10% 0603 |
| Eagle Design Parts # | Q'ty | Mfr. Product # | Supplier | Description |
|---|---|---|---|---|
| Q1, Q2, Q3, Q4, Q5 | 5 | SUM110P06-08L-E3 | Mouser | Pch MOSFET 60V 110A 272W 8.0mohm |
The custom specifications are as follows.
- Layer : 2 layers
- Dimensions : 120 x 65
- Different PCB Design : 1eg
- PCB Thickness : 1.6
- PCB Color : Black
- Surface Finish : HASL Lead Free
- Castellated Hole : No
- Copper Weight : 2oz
- PCB Stencil : Stencil 15cm X 15cm no frame
- Stencil Side : Top
- Eagle design rule : Elecrow Eagle Design Rule
- Eagle CAM file : Elecrow CAM file
- Gerber format data : Gerber_data.zip
- Heat generation problem of FETs
- Poor inrush current protection by load switch circuit
- 4-Parallel Servo Motor Control with FT4232H MINI MODULE
If you have any questions, please contact MasatoKubotera, the product's designer, by E-mail.
E-mail : masatokubotera06@yahoo.co.jp
This product is open source.
Please review the LICENSE file for license information.
Main Board Ver. 2.2 by Masato Kubotera is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.