(kicad_pcb (version 20260206) (generator "pcbnew") (generator_version "10.0") (general (thickness 1.66) (legacy_teardrops yes) ) (paper "A4") (title_block (date "2024-04-13") (rev "${REVISION}") (company "${COMPANY}") ) (layers (0 "F.Cu" signal "L1 (Sig, PWR)") (4 "In1.Cu" power "L2 (GND)") (6 "In2.Cu" signal "L3 (Sig, PWR)") (8 "In3.Cu" signal "L4 (Sig, PWR)") (10 "In4.Cu" power "L5 (GND)") (2 "B.Cu" signal "L6 (Sig, PWR)") (9 "F.Adhes" user "F.Adhesive") (11 "B.Adhes" user "B.Adhesive") (13 "F.Paste" user) (15 "B.Paste" user) (5 "F.SilkS" user "F.Silkscreen") (7 "B.SilkS" user "B.Silkscreen") (1 "F.Mask" user) (3 "B.Mask" user) (17 "Dwgs.User" user "TitlePage") (19 "Cmts.User" user "User.Comments") (21 "Eco1.User" user "F.DNP") (23 "Eco2.User" user "B.DNP") (25 "Edge.Cuts" user) (27 "Margin" user) (31 "F.CrtYd" user "F.Courtyard") (29 "B.CrtYd" user "B.Courtyard") (35 "F.Fab" user) (33 "B.Fab" user) (39 "User.1" user "DrillMap") (41 "User.2" user "F.TestPoint") (43 "User.3" user "B.TestPoint") (45 "User.4" user "F.AssemblyText") (47 "User.5" user "B.AssemblyText") (49 "User.6" user "F.Dimensions") (51 "User.7" user "B.Dimensions") (53 "User.8" user "F.TestPointList") (55 "User.9" user "B.TestPointList") ) (setup (stackup (layer "F.SilkS" (type "Top Silk Screen") (color "Yellow") (material "Direct Printing") ) (layer "F.Paste" (type "Top Solder Paste") ) (layer "F.Mask" (type "Top Solder Mask") (color "Black") (thickness 0.02) (material "Solder Resist") (epsilon_r 3.3) (loss_tangent 0) ) (layer "F.Cu" (type "copper") (thickness 0.07) ) (layer "dielectric 1" (type "prepreg") (color "FR4 natural") (thickness 0.18) (material "FR4_7628") (epsilon_r 4.29) (loss_tangent 0.02) ) (layer "In1.Cu" (type "copper") (thickness 0.035) ) (layer "dielectric 2" (type "core") (color "FR4 natural") (thickness 0.4) (material "FR4") (epsilon_r 4.6) (loss_tangent 0.02) ) (layer "In2.Cu" (type "copper") (thickness 0.035) ) (layer "dielectric 3" (type "prepreg") (color "FR4 natural") (thickness 0.18) (material "FR4_7628") (epsilon_r 4.29) (loss_tangent 0.02) ) (layer "In3.Cu" (type "copper") (thickness 0.035) ) (layer "dielectric 4" (type "core") (color "FR4 natural") (thickness 0.4) (material "FR4") (epsilon_r 4.6) (loss_tangent 0.02) ) (layer "In4.Cu" (type "copper") (thickness 0.035) ) (layer "dielectric 5" (type "prepreg") (color "FR4 natural") (thickness 0.18) (material "FR4_7628") (epsilon_r 4.29) (loss_tangent 0.02) ) (layer "B.Cu" (type "copper") (thickness 0.07) ) (layer "B.Mask" (type "Bottom Solder Mask") (color "Black") (thickness 0.02) (material "Solder Resist") (epsilon_r 3.3) (loss_tangent 0) ) (layer "B.Paste" (type "Bottom Solder Paste") ) (layer "B.SilkS" (type "Bottom Silk Screen") (color "Yellow") (material "Direct Printing") ) (copper_finish "Immersion gold") (dielectric_constraints yes) ) (pad_to_mask_clearance 0.05) (allow_soldermask_bridges_in_footprints no) (tenting (front yes) (back yes) ) (covering (front no) (back no) ) (plugging (front no) (back no) ) (capping no) (filling no) (aux_axis_origin 113.5 125) (pcbplotparams (layerselection 0x00000000_00000000_55555555_5755f5ff) (plot_on_all_layers_selection 0x00000000_00000000_00000000_00000000) (disableapertmacros no) (usegerberextensions no) (usegerberattributes yes) (usegerberadvancedattributes yes) (creategerberjobfile no) (dashed_line_dash_ratio 12) (dashed_line_gap_ratio 3) (svgprecision 4) (plotframeref no) (mode 1) (useauxorigin no) (pdf_front_fp_property_popups yes) (pdf_back_fp_property_popups yes) (pdf_metadata yes) (pdf_single_document no) (dxfpolygonmode yes) (dxfimperialunits yes) (dxfusepcbnewfont yes) (psnegative no) (psa4output no) (plot_black_and_white yes) (sketchpadsonfab no) (plotpadnumbers no) (hidednponfab no) (sketchdnponfab yes) (crossoutdnponfab yes) (subtractmaskfromsilk yes) (outputformat 1) (mirror no) (drillshape 0) (scaleselection 1) (outputdirectory "Manufacturing/Fabrication/Gerbers/") ) ) (property "ASSEMBLY_NOTES" "ASSEMBLY NOTES (UNLESS OTHERWISE SPECIFIED)\n\n1) DO NOT POPULATE PARTS ARE MARKED WITH A RED CROSS.\n\n2) DO NOT POPULATE PARTS ARE NOT PRESENT IN THE BOM.\n\n3) IF CONFLICTING INFORMATION IS FOUND BETWEEN THE ASSEMBLY\n FILE AND BOM, BOM SHOULD BE USED AS THE MAIN SOURCE.\n\n4) CONFORMAL COATING IS NOT REQUIRED.\n\n5) DOT IDENTIFIES PIN #1 LOCATION AND DEVICE ORIENTATION\n WHEN VIEWED FROM THE TOP.") (property "BOARD_NAME" "Λmulet Motion Controller") (property "COMPANY" "EPFL Xplore Research") (property "DESIGNER" "Vincent Nguyen") (property "FABRICATION_NOTES" "FABRICATION NOTES (UNLESS OTHERWISE SPECIFIED)\n\n1) FABRICATE PER IPC-6012A CLASS 2.\n\n2) OUTLINE DEFINED IN SEPARATE GERBER FILE WITH\n \"Edge_Cuts.GBR\" SUFFIX.\n\n DIMENSIONS OF CIRCUMSIZED RECTANGLE SHOWN ON THIS\n DRAWING FOR REFERENCE ONLY.\n\n3) SEE SEPARATE DRILL FILES WITH \".DRL\" SUFFIX \n FOR HOLE LOCATIONS.\n\n SELECTED HOLE LOCATIONS SHOWN ON THIS DRAWING \n FOR REFERENCE ONLY.\n\n4) SURFACE FINISH: IMMERSION GOLD\n\n5) SOLDERMASK ON BOTH SIDES OF THE BOARD SHALL \n BE LPI, COLOR BLACK.\n\n6) SILK SCREEN LEGEND TO BE APPLIED PER LAYER \n STACKUP USING YELLOW NON-CONDUCTIVE EPOXY INK.\n\n7) ALL VIAS ARE TENTED ON BOTH SIDES UNLESS \n SOLDERMASK OPENED IN GERBER.\n\n8) VENDOR SHOULD FOLLOW ROHS COMPLIANT PROCESS \n AND Pb FREE FOR MANUFACTURING\n\n9) PCB MATERIAL REQUIREMENTS:\n\n A. FLAMMABILITY RATING MUST MEET OR EXCEED \n UL94V-0 REQUIREMENTS.\n B. Tg 170 C OR EQUIVALENT.\n C. EQUIVALENT MATERIAL SHALL BE RoHS COMPLIANT, \n HALOGEN FREE AND APPROVED BY EPFL XPLORE RESEARCH.\n\n10) DESIGN GEOMETRY MINIMUM FEATURE SIZES:\n\n BOARD SIZE 69.666 × 76.700 mm\n BOARD THICKNESS 1.660 mm\n TRACE WIDTH 0.200 mm\n TRACE TO TRACE 0.200 mm\n MIN. HOLE (PTH) 0.250 mm\n MIN. HOLE (NPTH) 0.700 mm\n ANNULAR RING 0.150 mm\n COPPER TO HOLE 0.254 mm\n COPPER TO EDGE 0.250 mm\n HOLE TO HOLE 0.254 mm\n\n11) REFER TO IMPEDANCE TABLE FOR IMPEDANCE CONTROL REQUIREMENTS.\n\n12) CONFIRM SPACE WIDTHS AND SPACINGS.") (property "GIT_HASH_PCB" "e6e10e6") (property "GIT_HASH_SCH" "386a12d") (property "GIT_URL" "https://github.com/nguyen-v/amulet_controller_kibot") (property "PROJECT_NAME" "Chienpanzé") (property "RELEASE_BODY_1.0.0" "___________________________________\n\nAdded\n\n- TVS protection and termination switch to FD-CAN.\n\n- Low-side switched 12V 600 mA source for external fan.\n\n- LDO for analog supply.\n\n- One TVS diode per power connector.\n\n- Second on-board I2C magnetic encoder for disambiguation.\n\n- ESD protection to all interfaces.\n\n- Over-voltage protection on thermistor ADC inputs.\n\n- Pi filters to inputs of buck regulators and MCU analog supply.\n\n- Decoupling caps next to power pins of connectors.\n\n___________________________________\n\nChanged\n\n- CPH-CPL capacitor to 47 nF (gate driver).\n\n- FD-CAN transceiver IC.\n\n- FETs for top cooled variant.\n\n- Input power TVS diode to bidirectional.\n\n- Moved SOx low-pass filter to MCU section.\n\n- PWM_PHASEA with PWM_PHASEC on STM32G474 pinout for easier routing.\n\n- RS422 pinout on connector.\n\n- Buck regulators to optimize for low noise.") (property "RELEASE_BODY_1.0.1" "___________________________________\n\nAdded\n\n- Controller target specifications.\n\n- Credits to moteus on cover page.\n\n- Optional RC-Snubber to power stage.\n\n___________________________________\n\nFixed\n\n- Chassis guard ring to go around the board.\n\n- CAN and power TVS diodes now go to chassis.\n\n- Clearance between nets to respect IEC60664-1 where possible.\n\n- Comment on precharge.\n\n- Power TVS diode reference designator from \"U\" to \"D\".\n\n___________________________________\n\nChanged\n\n- 5V 300 mA buck converter with 600 mA version.\n\n- Chassis-GND capacitor by 1nF 1kV.") (property "RELEASE_BODY_1.0.2" "___________________________________\n\nChanged\n\n- Power sequencing graph according to experimental data.") (property "RELEASE_BODY_1.1.0" "___________________________________\n\nAdded\n\n- RC snubber passive values.\n\n___________________________________\n\nFixed\n\n- More vias for VBUS and LMR36006 GND pads.\n\n- Board version voltage reference from +3V3 to +A3V3.\n\n___________________________________\n\nChanged\n\n- Motor thermistor resistor divider to 2kOhm for a 10k 3950K thermistor.") (property "RELEASE_BODY_1.1.1" "___________________________________\n\nFixed\n\n- Replace non-stocked components.") (property "RELEASE_BODY_UNRELEASED" "Version Unreleased not found.") (property "RELEASE_DATE" "18-Jan-2025") (property "RELEASE_DATE_NUM" "2025-01-18") (property "RELEASE_TITLE_1.0.0" "Version 1.0.0 - 2023-12-12") (property "RELEASE_TITLE_1.0.1" "Version 1.0.1 - 2024-01-25") (property "RELEASE_TITLE_1.0.2" "Version 1.0.2 - 2024-03-12") (property "RELEASE_TITLE_1.1.0" "Version 1.1.0 - 2024-04-13") (property "RELEASE_TITLE_1.1.1" "Version 1.1.1 - 2025-01-18") (property "RELEASE_TITLE_UNRELEASED" "Version Unreleased not found.") (property "REVISION" "1.1.1+ (Unreleased)") (property "SHEET_NAME_1" "Cover Page") (property "SHEET_NAME_10" "Misc - Board Version, DAC") (property "SHEET_NAME_11" "User - LED Indicators") (property "SHEET_NAME_12" "Sensing - Temperature") (property "SHEET_NAME_13" "Sensing - Battery") (property "SHEET_NAME_14" "Sensing - Position") (property "SHEET_NAME_15" "Interface - RS-422") (property "SHEET_NAME_16" "Interface - FD-CAN") (property "SHEET_NAME_17" "Interface - Fan Control") (property "SHEET_NAME_18" "Interface - Interconnects") (property "SHEET_NAME_19" "Misc - Holes, Fiducials") (property "SHEET_NAME_2" "Block Diagram") (property "SHEET_NAME_20" "Power - Sequencing") (property "SHEET_NAME_21" "Revision History") (property "SHEET_NAME_22" "......................................") (property "SHEET_NAME_23" "......................................") (property "SHEET_NAME_24" "......................................") (property "SHEET_NAME_25" "......................................") (property "SHEET_NAME_26" "......................................") (property "SHEET_NAME_27" "......................................") (property "SHEET_NAME_28" "......................................") (property "SHEET_NAME_29" "......................................") (property "SHEET_NAME_3" "Project Architecture") (property "SHEET_NAME_30" "......................................") (property "SHEET_NAME_31" "......................................") (property "SHEET_NAME_32" "......................................") (property "SHEET_NAME_33" "......................................") (property "SHEET_NAME_34" "......................................") (property "SHEET_NAME_35" "......................................") (property "SHEET_NAME_36" "......................................") (property "SHEET_NAME_37" "......................................") (property "SHEET_NAME_38" "......................................") (property "SHEET_NAME_39" "......................................") (property "SHEET_NAME_4" "MCU - Power") (property "SHEET_NAME_40" "......................................") 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\n SOLDERMASK OPENED IN GERBER.\n\n8) VENDOR SHOULD FOLLOW ROHS COMPLIANT PROCESS \n AND Pb FREE FOR MANUFACTURING\n\n9) PCB MATERIAL REQUIREMENTS:\n\n A. FLAMMABILITY RATING MUST MEET OR EXCEED \n UL94V-0 REQUIREMENTS.\n B. Tg 170 C OR EQUIVALENT.\n C. EQUIVALENT MATERIAL SHALL BE RoHS COMPLIANT, \n HALOGEN FREE AND APPROVED BY EPFL XPLORE RESEARCH.\n\n10) DESIGN GEOMETRY MINIMUM FEATURE SIZES:\n\n BOARD SIZE 69.666 × 76.700 mm\n BOARD THICKNESS 1.660 mm\n TRACE WIDTH 0.200 mm\n TRACE TO TRACE 0.200 mm\n MIN. HOLE (PTH) 0.250 mm\n MIN. 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