Micro Driver Electronics
Overview
The Micro Driver is a miniaturized version of the Texas Instruments evaluation boards, providing the same motor control capabilities in a compact form factor ideal for integrated robot designs.Key Specifications
- Type: Dual brushless motor driver
- Control frequency: 10kHz torque control per motor
- Communication: SPI with Master Board at 1kHz
- Board layers: 6-layer FR4
- Copper thickness: 35μm
- Dimensions: 51mm × 50mm
- Weight: 13g
- Input voltage: 5V - 32V (typically 24V)
- Current rating: Similar to TI boards (15A continuous, 20A peak)
LED Status Indicators
GREEN/BLUE LED (System and Motor Status)
- Off: System disabled
- On: System enabled
- Slow blinking: Motor enabled
- Fast blinking: Aligning motor
RED LED
Turns on when there is an error condition.Size Comparison
The Micro Driver is significantly smaller than the TI evaluation boards:
| Feature | TI Boards | Micro Driver | Improvement |
|---|---|---|---|
| Size | Large format | 51mm × 50mm | 10x smaller |
| Weight | 85g | 13g | 6.5x lighter |
| Programming | Onboard USB | External JTAG | More compact |
| Communication | CAN/USB | SPI | Faster, integrated |
Design Files
Eagle Design Files
Download MicroDriver v2 Eagle Design Files
Production Files
Ordering Instructions
Beta Layout (Europe)
Beta Layout has permission to replicate the MicroDriver v2 board. They ship worldwide.Request Quote
Email [email protected] and request a quote for replicating the MicroDriver v2 boards according to order number AU-201909/38760.
Board Production Quote
Beta Layout will send you a quote for producing the boards and for the placing and soldering service (NOT including electronic components).
Component Sourcing
After placing the order, Beta Layout will source the components and send you the component list with actual prices for approval.
Recent orders: Component cost approximately €50 per board.
MacroFab (USA)
In the United States, the Micro Driver boards can be ordered from MacroFab. Upload the production files and follow their ordering process for PCB assembly.Bill of Materials
Micro Driver Board Components
| Component | Details | Ordering Information | Purpose |
|---|---|---|---|
| MicroDriver v2 PCB | 6-layer board | BetaLayout or MacroFab | Base board |
| Precision Resistors | 7mΩ ±1% CRE2512-FZ-R007E-3 | RS 824-0348 Mouser 652-CRE2512FZR007E-3 | Phase current measurement |
| Right Angle Pin Header | Pitch 2.54mm | RS 360-6364 | Motor phase and power connection |
| Hirose DF13 Header 5-pin | DF13-5P-1.25DS(20) | DigiKey H2202-ND | Encoder and SPI connectors |
Flash Adapter and Programming
| Component | Details | Ordering Information | Purpose |
|---|---|---|---|
| JTAG Emulator | Spectrum Digital XDS100V2 | DigiKey 702302-ND Farnell 1831927 | Programming interface |
| Pin Header 8-position | 1.27mm pitch Amphenol ICC 20021111-00008T4LF | DigiKey 609-3711-ND | Flash cable - Micro Driver side |
| Pin Header | 2.54mm pitch Assmann AWL254-DG-G72A | RS 674-2347 | Flash cable - Emulator side |
| Ribbon Cable | HARTING 09180107001 Pitch 1.27mm | DigiKey 1195-4452-ND | Flash cable |
Assembly Instructions
The Micro Drivers arrive from the manufacturer without connectors and precision resistors. These components must be manually soldered.Precision Resistor Soldering
The six precision resistors (7mΩ) must be soldered on the back of the Micro Driver for phase current measurement.
Initial Tack
Trick: Apply solder at the tip of one pad to initially fix the resistor. Then solder the other side and return to properly fix the initial side.
Hirose Connector Soldering
Two connector options are available:
- Right Angle Connectors
- Straight Connectors
Recommended for stacked configurations
- Mounted on the bottom side of the board
- Allows connecting/disconnecting without disassembling stack
- Better for compact robot designs
- Part: DF13-5P-1.25DS(20)
Encoder Connectors (2x per board)
SPI Connector (1x per board)
Solder the SPI communication connector (5-pin) using the same process as the encoder connectors.
Pin Assignment: Both right angle and straight connectors maintain identical pin assignments when mounted as specified, ensuring compatibility with the actuator module wiring interface.
Motor Phase and Power Wire Preparation
Power Wires
Motor Phase Wires
Prepare Pin and Mating Connector
Use a mating connector to hold the right angle pin during soldering.Solder Pins
Orient the pin as desired, apply solder, and shorten the pins.
Repeat for all six motor phase connections.
Programming and Flashing
The Micro Driver boards are programmed using a JTAG emulator connected via USB.
Flash Cable Wiring
| Emulator Connector | Micro Driver Connector |
|---|---|
 |  |
JTAG Connection
The JTAG connector is an 8-pin header with 1.27mm pitch on the Micro Driver board.
Programming Steps
- Connect the JTAG emulator to your computer via USB
- Connect the flash cable between the emulator and Micro Driver
- Ensure the Micro Driver is powered (5V-32V)
- Use Code Composer Studio or appropriate IDE to flash firmware
- Verify successful programming via LED status
Communication with Master Board
The Micro Driver communicates with the Master Board via SPI at 1kHz.SPI Connection
See Wiring for detailed SPI connection information between Micro Drivers and Master Board.
Micro Driver Stack Configuration
Multiple Micro Driver boards can be stacked for compact multi-motor configurations:
- Up to 6 boards per Master Board
- Right angle connectors recommended for stacks
- SPI daisy-chain connection between boards
- Shared power distribution
Advantages Over TI Boards
- Size and Weight: 10x smaller, 6x lighter
- Integration: Designed to fit inside robot structures
- SPI Communication: Faster, synchronized control with Master Board
- Stackability: Multiple boards in compact configuration
- Production Ready: Professional PCB for final robot designs
Design Resources
- Eagle schematic and board files
- Gerber files for manufacturing
- Assembly instructions and BOM
- Component placement files
- Testing and validation documentation
Compatible Robots
The Micro Driver is used in:- TriFinger v2 and v3
- Quadruped Robot 12dof
- Solo v2 and v3
- NYU Finger
- All compact robot designs with Master Board
Resources
- Open Dynamic Robot Initiative Website
- YouTube Channel
- Community Forum
- Research Paper
- Master Board Documentation