µMotor: a motor controller for BLDC and DC motors up to 250W

µMotor (or micro-motor) is a motor controller PCB and software made to control any BLDC and DC motor up to 250W.

The micro-motor is supplied with power and CAN bus via a single connector and can control the motor independently. In addition, a limit switch can be read out and the temperature of the motor can be monitored.

Communication is done via Can-Bus using CANopen protocol.

The software is written using the modm.io framework and librobots2.

For more information read the following blog posts about the project (in German):

Technical data

3 phases (BLDC and DC motors)
Approx. 10A per phase (with precise current measurement)
24V nominal operating voltage
Adjustable cycle-by-cycle current limiting (short circuit protection)
CAN bus
- CAN-FD supported
- CANopen protocoll (partial implemented)
AB(I) incremental encoder connector
Hall sensor connector
Temperature sensor (NTC) connector
Limit switch (GPIO) connector
LEDs for status and diagnosis
Configurable ID (from STM32 hardware ID)
Easy to solder and assemble

Status

PCBs micro-motor-v1 (rev1) and macro-motor are not supported anymore.

The second version micro-motor-v2 is basically functional, software improvements are in progress.

PCB micro-motor-v2.1 is similar to v2, but with added RC filters at encoder connector, added 1 µF capacitor to the STM32 VREFBUF output and changed DC/DC converter modules (caused by component shortage).

Folder structure

`kicad/pcb_name/`

KiCad files of the PCBs

`STM32CubeMX/`

Pinout configuration of the STM32 microcontrollers done with STs CubeMX software

`src/test_*/`

Test software. Useful during PCB assembly

`src/app/`

Main Software

License

Software is licensed under GPLv3. Hardware (PCB files, ...) is licensed under CERN OHL v.1.2.

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