The 3x3 test runs on the boards the decks will use, instead of nine eval boards on perfboard: one Tile-20, nine encoder boards, one backplane segment, a row head and an END plug. Order them assembled at JLCPCB, buy the cables and the few hand-soldered parts at Digi-Key, plug the module onto the bench dock, wire it, and bring it up step by step. Every board's files are at the end for review. Deck plan: electronics plan ↗ · Order 1 bench: bench guide ↗ · parts list ↗
| Order 2 plan (eval boards) | This kit |
|---|---|
| NUCLEO-G474RE + 9 TMC5240-BOB on perfboard and ribbons | 1 Tile-20, 3x3 build (STM32G474, 9 × TMC5240 fitted) |
| 9 TBMA732 encoder boards, soldered leads | 9 AS5047P encoder boards with plug-in GH cables |
| Star point, row fuses, WAGO rails, 2 × 2200 µF, 33 V shunt | Backplane on two bus bars; on the Tile-20: 15 A fuse, TVS, 2.2 mF, brake chopper |
| E-stop relay cutting the 30 V line | On the bench: a wire bridge into the row head's ENABLE and the supply's output switch as the stop; an E-stop goes into the same ENABLE input later |
| Boards on standoffs | Plug-in: the module (Joerg's tile + Tile-20 on a foot plate) lifts off and drops onto the spring pins, guided by printed posts |
| USB serial through the NUCLEO's ST-LINK | USB-serial on the Tile-20's J3 (same pins, peripheral and protocol); CAN FD through the row head with any CAN FD adapter (later) |
Per board: upload its Gerber zip, enter the settings below, choose PCB assembly, then upload the BOM and CPL from
the bundle's jlc/ folder (parts swapped to JLC basic parts where possible; README.md in each
bundle says the same). Untick what JLC cannot place and solder it yourself (step 6): the backplane's 20 spring pins,
and F1 and R7 on the Tile-20. All four boards came to about $773 with assembly and shipping (quote, 17 Oct 2026).
PCBWay works too: same Gerbers, the BOM and centroid from pcbway/, turnkey.
tile20_3x3_JLC_BOM.csv. Encoder and backplane: unchanged.The driver board: 20 column channels, MCU, CAN, power entry, brake. The 3x3 build fits channels A1–A3, B1–B3, C1–C3 only.
| Layers | 6 · 1.6 mm · 192 × 240 mm |
|---|---|
| Finish | ENIG (the bottom pads are contacts) |
| Copper | 1 oz outer, 1 oz inner (0.5 oz acceptable) |
| Min track / hole | 0.15 / 0.15 mm · 0.3 mm |
| Sides | Top only; bottom has no parts |
| Assembly | 65 unique parts · 1045 SMD pads, 127 THT pins · parts ≈ $82 per board (est.) |
AS5047P magnetic encoder, one per motor, under the magnet: 1,000 pulses per turn out of the box.
| Layers | 2 · 1.6 mm · 24 × 24 mm |
|---|---|
| Finish | ENIG or HASL lead-free |
| Copper | 1 oz |
| Min track / hole | 0.15 / 0.15 mm · 0.3 mm |
| Sides | Top only; ask for a 5 × 5 panel |
| Assembly | 7 unique parts · 39 SMD pads, 0 THT pins · parts ≈ $4 per board (est.) |
Spring pins for two modules, bolted on the bus bars; carries CAN, 24 V, ENABLE, slot ID. Order the SLOT1 build (backplane_SLOT1_* BOM and centroid): only slot 1's 20 pins; slot 2 stays empty (JP2 closed).
| Layers | 4 · 1.6 mm · 384 × 34 mm |
|---|---|
| Finish | ENIG |
| Copper | 1 oz outer (2 oz better) |
| Min track / hole | 0.15 / 0.15 mm · 0.3 mm |
| Sides | Both: spring pins on top, 2 × GH 14 underneath |
| Assembly | 5 unique parts · 42 SMD pads, 14 THT pins · parts ≈ $23 per board (est.) |
HEAD: CAN in, 24 V in, ENABLE gating, presence loop. END: termination and loop return (7 parts).
| Layers | 2 · 1.6 mm · 90 × 64 mm |
|---|---|
| Finish | HASL lead-free |
| Copper | 1 oz |
| Min track / hole | 0.15 / 0.15 mm · 0.3 mm |
| Sides | Top only |
| Assembly | 24 unique parts · 88 SMD pads, 19 THT pins · parts ≈ $7 per board (est.) |
| END build | 5 unique parts · 29 SMD pads · ≈ $1 |
Row head: one PCB, two builds. JLC takes one BOM per order: order the same Gerbers twice, once with the HEAD BOM and CPL, once with the END ones.
Only what the 3x3 needs, with a few spares: cables, the parts JLC cannot place, the 24 V adapter and the ST-LINK. Checked 2026-10-16. Upload the list to Digi-Key's BOM manager in one go. No CAN adapter and no E-stop for now: the serial port runs the same link, and the ENABLE wire bridge plus the supply's output switch are the stop.
| Item | Part · Digi-Key no. | Qty | USD | Line | Why |
|---|---|---|---|---|---|
| Cables and connectors | |||||
| Motor plug housing, XH 4-way | JST XHP-4 455-2267-ND | 11 | 0.10 | 1.10 | 9 + 2 spares. Mates the Tile-20's motor header. |
| XH crimp contact, 22-28 AWG (strip of 100) | JST SXH-001T-P0.6 455-1135-100-ND | 100 | 0.04 | 4.50 | Crimped straight onto the motor wires (Joerg): 36 + spares. Sold as a strip of 100. |
| Encoder and harness leads, GH, pre-crimped both ends, 12 in, 28 AWG | JST AGHGH28K305 455-3074-ND | 80 | 0.52 | 41.60 | 5 per encoder cable (45) + 14 per row harness (28) + spares. Push into the housings: no crimp tool. |
| Encoder plug housing, GH 5-way | JST GHR-05V-S 455-1595-ND | 20 | 0.15 | 3.00 | 2 per encoder cable. |
| Row harness housing, GH 14-way | JST GHR-14V-S 455-1604-ND | 5 | 0.18 | 0.90 | 2 per harness: row head - backplane, backplane - END. |
| Power | |||||
| Fuse 15 A, MINI blade | Littelfuse 0997015.WXN F1875-ND | 2 | 1.04 | 2.08 | The Tile-20's F1 (no motor power without it). Any car MINI blade fuse, 15 A, does the same: skip this line if you buy one locally. |
| 24 V adapter, 1.5 A | Mean Well GST36B24-P1J 1866-2127-ND | 1 | 15.20 | 15.20 | Logic supply. Cut the plug off and land the two wires in the row head's 24 V terminal (centre conductor = +, check). Needs a C7 (figure-8) mains cord: any you have. |
| Ring lug, 16-14 AWG, #8 (M4) | Panduit PV14-8R-M 298-10305-ND | 4 | 0.43 | 1.72 | Supply wires onto the bench bus bars. |
| Wire 1.5 mm², red, per ft | CNC Tech 1569-16-1-0500-004-1-TS 1175-1569-16-1-0500-004-1-TS-DS-ND | 7 | 0.88 | 6.15 | Supply + to the VM bar. |
| Wire 1.5 mm², black, per ft | CNC Tech 1569-16-1-0500-001-1-TS 1175-1569-16-1-0500-001-1-TS-DS-ND | 7 | 0.88 | 6.15 | Supply - to the GND bar. The row head's ENABLE and RUN bridges: two short offcuts of this wire. |
| Encoders | |||||
| Magnet, diametric 6 x 2.5 mm, N35SH | Radial Magnets 9049 469-1075-ND | 12 | 0.65 | 7.81 | On each motor's rear shaft (printed holder, as on the jig). |
| Solder by hand (JLC has none in stock) | |||||
| Spring pin, SMT, 9.63 mm (backplane P101-P106) | Mill-Max 0919-0-15-20-89-14-11-0 ED10766-ND | 8 | 1.10 | 8.80 | 6 + 2 spares. Not in JLC's library. PCBWay turnkey buys all pins itself. |
| Spring pin, through-hole, 9.63 mm (P107, P110, P114) | Mill-Max 7939-1-15-20-89-14-11-0 54-7939-1-15-20-89-14-11-0-ND | 4 | 1.27 | 5.08 | 3 + 1 spare. The ground pins: longest, they touch first. |
| Changed Spring pin, through-hole, 8.43 mm (the other 11) | Mill-Max 0914-1-15-20-77-14-11-0 ED1397-ND | 13 | 1.03 | 13.39 | Changed 2026-10-20: was ED1398-ND (0914-2, 8.48 mm). Remove ED1398-ND from the cart, add ED1397-ND. 11 + 2 spares. CAN, 24 V, ENABLE, slot ID, presence loop. |
| Fuse holder, MINI blade (Tile-20 F1) | Keystone 3568 36-3568-ND | 2 | 0.75 | 1.50 | One per Tile-20 built at JLC. |
| Brake resistor 4.7 ohm 5 W (Tile-20 R7) | YAGEO SQP500JB-4R7 4.7W-5-ND | 2 | 0.31 | 0.62 | One per Tile-20 built at JLC. |
| Programming | |||||
| ST-LINK probe | STMicroelectronics STLINK-V3MINIE 497-STLINK-V3MINIE-ND | 1 | 25.51 | 25.51 | Flashes the Tile-20 over SWD, with the Tag-Connect cable (below). Free alternative: the NUCLEO's own ST-LINK and 5 thin wires soldered to the TC2030 pads. |
| Total | 145.10 | USD, qty-1 prices; × 9.5623 + 25 % VAT ≈ NOK 1,734 | |||
The bench runs on the lab supply. The customer's row runs on one Mean Well RSP-1600-27, wired as in step 5. A separate upload, so it does not mix into the bench order.
| Item | Part · Digi-Key no. | Qty | USD | Line | Why |
|---|---|---|---|---|---|
| Row supply | |||||
| New 2026-10-20 Row motor supply 27 V 1593 W (set to 28.5 V) | Mean Well RSP-1600-27 1866-4237-ND | 1 | 465.50 | 465.50 | One per row. Replaces the RSP-1500-27: its 31 V over-voltage trip did not fit the brake. Run it on 208/240 VAC. |
| New 2026-10-20 CN1 plug housing, 2 x 8, 2 mm | Hirose DF11-16DS-2C H2025-ND | 2 | 0.36 | 0.72 | 1 per supply + 1 spare. Plugs into the supply's CN1 (Mean Well spec p.7). |
| New 2026-10-20 CN1 crimp contact, AWG 24-28 | Hirose DF11-2428SC H1504-ND | 10 | 0.19 | 1.90 | 6 per plug (two loops + two wires to the row head) + spares. Crimp tool for DF11, or have them crimped. |
| Total | 468.12 | USD, qty-1 prices; × 9.5623 + 25 % VAT ≈ NOK 5,595 | |||
| Item | Where | Why |
|---|---|---|
| USB-serial cable, 3.3 V logic (e.g. FTDI TTL-232R-3V3) | any you have | Tile-20 J3 debug port, 921 600 baud: three jumper wires (GND, TXD → J3 RX, RXD → J3 TX). Leave its VCC wire unconnected. |
| Crimp tool for JST XH contacts (e.g. IWISS SN-28B, ~$25) | only if Joerg has none | Crimps the XH contacts onto the motor wires. |
| Tag-Connect TC2030-CTX-NL-STDC14 | tag-connect.com (~$40) | SWD cable from the STLINK-V3MINIE to the Tile-20's TC2030 pads (no-legs type: hold or clip it). |
| Bench supply set to 28.5 V, ≥ 8 A, current limit | borrow (lab) | Motor supply VM, 28.5 V. Never above 29 V: see the warning at the top. |
| Mechanics: dock, bus bars, foot plate, posts, encoder mounts, magnet holders, screws | Joerg (his repo) | Mastered in Joerg-ffs/stawamus: prototype/cad_b123d/BUILD_TILE20_A.md, cut files in prototype/cut, prints in prototype/stl. |
JLC buys these with the assembly. Here for review only: nothing to order.
| Qty | Part | Digi-Key no. | Digi-Key stock (2026-10-15) | Other source | Where |
|---|---|---|---|---|---|
| 11 | VZH101M1JTR-1010 Panasonic · 100u 63V | PCE3819CT-ND | 335 in stock | LCSC C249836 Lelon VZH101M1JTR-1010 | C1 C1020 C1120 C120 C2 C220 C320 C520 C620 C720 C920 |
| 9 | CL10B225KP8NNNC Samsung · 2.2u | 1276-1134-1-ND | only 7 | LCSC C100082 Murata GRM188R71A225KE15D | C1001 C101 C1101 C201 C301 C501 C601 C701 C901 |
| 28 | CL10B104KB8NNNC Samsung · 100n | 1276-1000-1-ND | 0 at Digi-Key | LCSC C1591 Yageo CC0603KRX7R9BB104 | C1002 C102 C1102 C202 C26 C27 C302 C41 C42 C43 C44 C46 C5 C50 C502 … |
| 22 | CL10B105KA8NNNC Samsung · 1u | 1276-1184-1-ND | 0 at Digi-Key | LCSC C29936 Yageo CC0603KRX7R8BB105 | C1003 C1023 C103 C1103 C1123 C123 C203 C223 C303 C323 C36 C47 C49 … |
| 9 | CC0603KRX7R0BB223 Samsung · 22n | 1276-CL10B223KC8WPNCCT-ND | 3,750 in stock | LCSC C313105 Yageo CC0603KRX7R0BB223 | C1004 C104 C1104 C204 C304 C504 C604 C704 C904 |
| 19 | CL10B104KC8NNNC Samsung · 100n | 1276-6807-1-ND | 0 at Digi-Key | LCSC C15725 Yageo CC0603KRX7R0BB104 | C1005 C1006 C105 C106 C1105 C1106 C205 C206 C305 C306 C4 C505 C506 … |
| 21 | CC0805KKX7R0BB105 Samsung · 1u | 13-CC0805KKX7R0BB105CT-ND | 43,000 in stock | LCSC C5370002 Yageo CC0805KKX7R0BB105 | C1021 C1022 C1121 C1122 C121 C122 C21 C221 C222 C3 C321 C322 C35 C … |
| 1 | CL10B223KB8NNNC Samsung · 22n | 1276-1104-1-ND | 341,588 in stock | LCSC C21122 Yageo CC0603KRX7R9BB223 | C22 |
| 1 | CL31B106KBHNNNE Samsung · 10u | 1276-6767-1-ND | 0 at Digi-Key | LCSC C89632 TDK C3216X7R1H106K160AC | C23 |
| 2 | CL31B475KBHNNNE Samsung · 4.7u | 1276-2789-1-ND | 9,568 in stock | LCSC C51205 Yageo CC1206KKX7R9BB475 | C24 C25 |
| 3 | CL21A226MAQNNNE Samsung Electro-Mechanics · 22u | – | not at Digi-Key | LCSC C45783 | C28 C29 C31 |
| 2 | CL10A106MA8NRNC Samsung Electro-Mechanics · 10u | – | not at Digi-Key | LCSC C96446 | C30 C32 |
| 2 | CL21A106KAYNNNE Samsung · 10u | 1276-2891-1-ND | only 2 | LCSC C15850 Murata GRM21BR61E106KA73L | C33 C93 |
| 1 | CL10A475KO8NNNC Samsung · 4.7u | 1276-1900-1-ND | 341,672 in stock | LCSC C69335 Murata GRM188R61E475KE11D | C45 |
| 2 | CL10B103KB8NNNC Samsung · 10n | 1276-1009-1-ND | 383,151 in stock | LCSC C1589 Yageo CC0603KRX7R9BB103 | C48 C9 |
| 2 | 0603CG3R0C500NT FH (Guangdong Fenghua) · 3p | DK: not stocked | 0 at Digi-Key | LCSC C46219 | C52 C53 |
| 1 | CL10C101JB8NNNC Samsung · 100p | 1276-1008-1-ND | 659,120 in stock | LCSC C14858 Yageo CC0603JRNPO9BN101 | C6 |
| 1 | SMBJ30A Littelfuse · SMBJ30A | – | not at Digi-Key | LCSC C83851 | D1 |
| 1 | ES2DA-13-F onsemi · ES2DA | ES2DA-FDICT-ND | 102,066 in stock | LCSC C154882 LGE ES2D (SMA) | D2 |
| 1 | LTST-C191KGKT Lite-On · green | 160-1446-1-ND | 2,818,153 in stock | LCSC C125098 NationStar NCD0603G1 | D3 |
| 1 | LTST-C191KRKT Lite-On · red | 160-1447-1-ND | 1,451,175 in stock | LCSC C125099 NationStar NCD0603R1 | D4 |
| 1 | ESD2CAN24DBZRQ1 Texas Instruments · ESD2CAN24DBZRQ1 | 296-ESD2CAN24DBZRQ1CT-ND | 197,609 in stock | LCSC C5736151 onsemi NUP2105LT1G | D5 |
| 1 | 3568 Keystone · 15A MINI 0997015.WXN | 36-3568-ND | 107,387 in stock | LCSC C5249699 Littelfuse 01530008Z | F1 |
| 1 | BLM18KG601SN1D Murata · 600R@100MHz | 490-5258-1-ND | 373,641 in stock | LCSC C85833 TDK MPZ1608S601ATA00 | FB1 |
| 9 | B4B-XH-A(LF)(SN) JST · B4B-XH-A | 455-B4B-XH-A-ND | 82,615 in stock | LCSC C144395 HCTL XH-4A | J1001 J101 J1101 J201 J301 J501 J601 J701 J901 |
| 9 | BM05B-GHS-TBT(LF)(SN)(N) JST · BM05B-GHS-TBT | 455-BM05B-GHS-TBTCT-ND | 67,743 in stock | LCSC C189891 Hong Cheng HCZZ0494-5 | J1002 J102 J1102 J202 J302 J502 J602 J702 J902 |
| 1 | PRPC004SAAN-RC Sullins Connector Solutions · UART | 35-PRPC004SAAN-RC-ND | 12,936 in stock | LCSC C2691448 XFCN PZ254V-11-04P | J3 |
| 1 | SRN6045TA-100M Bourns · 10uH | SRN6045TA-100MCT-ND | 3,238 in stock | LCSC C2046332 Sunlord SWPA6045S100MT | L21 |
| 2 | DFE252012F-2R2M=P2 Murata · 2.2uH | – | not at Digi-Key | LCSC C576403 | L22 L23 |
| 1 | CSD19532Q5B Texas Instruments · CSD19532Q5B | 296-37478-1-ND | 7,172 in stock | LCSC C473333 Infineon BSC040N10NS5ATMA1 | Q1 |
| 1 | RT0603BRD07232KL YAGEO · 232k | YAG4506CT-ND | 15,127 in stock | LCSC C861240 Viking Tech ARG03BTC2323 | R1 |
| 1 | RC0603FR-07200KL YAGEO · 200k | 311-200KHRCT-ND | 0 at Digi-Key | LCSC C105574 UniOhm 0603WAF2003T5E | R10 |
| 9 | RC0603FR-0712KL YAGEO · 12k | 311-12.0KHRCT-ND | 473,310 in stock | LCSC C114659 UniOhm 0603WAF1202T5E | R1001 R101 R1101 R201 R301 R501 R601 R701 R901 |
| 29 | RC0603FR-07100RL YAGEO · 100R | 311-100HRCT-ND | 0 at Digi-Key | LCSC C105588 UniOhm 0603WAF1000T5E | R1021 R1022 R1023 R1121 R1122 R1123 R121 R122 R123 R221 R222 R223 … |
| 15 | RC0603FR-0710KL YAGEO · 10k | 311-10.0KHRCT-ND | 0 at Digi-Key | LCSC C98220 UniOhm 0603WAF1002T5E | R11 R4 R41 R46 R47 R50 R51 R54 R55 R6 R60 R61 R62 R65 R66 |
| 2 | RC0603FR-074K7L YAGEO · 4.7k | 311-4.70KHRCT-ND | 4,127,688 in stock | LCSC C99782 UniOhm 0603WAF4701T5E | R12 R8 |
| 1 | RT0603BRD079K76L YAGEO · 9.76k | – | not at Digi-Key | LCSC C861616 | R2 |
| 1 | RC0603FR-07715KL YAGEO · 715k | 311-715KHRCT-ND | 86,827 in stock | LCSC C137685 UniOhm 0603WAF7153T5E | R21 |
| 2 | RC0603FR-0720KL YAGEO · 20k | 311-20.0KHRCT-ND | 751,773 in stock | LCSC C105575 UniOhm 0603WAF2002T5E | R22 R9 |
| 1 | RC0603FR-0732K4L YAGEO · 32.4k | – | not at Digi-Key | LCSC C13187 UniOhm 0603WAF3242T5E | R23 |
| 1 | RC0603FR-0724KL YAGEO · 24k | 311-24.0KHRCT-ND | 119,145 in stock | LCSC C137760 UniOhm 0603WAF2402T5E | R25 |
| 1 | RC0603FR-0733K2L YAGEO · 33.2k | 311-33.2KHRCT-ND | 151,230 in stock | LCSC C185338 UniOhm 0603WAF3322T5E | R26 |
| 4 | RC0603FR-07100KL YAGEO · 100k | 311-100KHRCT-ND | 0 at Digi-Key | LCSC C14675 UniOhm 0603WAF1003T5E | R27 R30 R32 R64 |
| 1 | RC0603FR-0713K7L YAGEO · 13.7k | 311-13.7KHRCT-ND | 81,987 in stock | LCSC C482771 UniOhm 0603WAF1372T5E | R28 |
| 2 | RC0603FR-07453KL YAGEO · 453k | 311-453KHRCT-ND | 36,496 in stock | LCSC C273765 UniOhm 0603WAF4533T5E | R29 R31 |
| 1 | RC0603FR-072M4L YAGEO · 2.4M | 13-RC0603FR-072M4LCT-ND | 17,320 in stock | LCSC C141686 UniOhm 0603WAF2404T5E | R3 |
| 3 | RC0603FR-071KL YAGEO · 1k | 311-1.00KHRCT-ND | 2,647,767 in stock | LCSC C22548 UniOhm 0603WAF1001T5E | R42 R43 R63 |
| 7 | RC0603FR-0733RL YAGEO · 33R | 13-RC0603FR-0733RLCT-ND | 147,074 in stock | LCSC C108661 UniOhm 0603WAF330JT5E | R44 R45 R48 R49 R52 R53 R58 |
| 1 | RC0603FR-074R7L YAGEO · 4.7R | YAG3371CT-ND | 110,879 in stock | LCSC C137705 UniOhm 0603WAF470KT5E | R5 |
| 2 | RC0603FR-0747KL YAGEO · 47k | 311-47.0KHRCT-ND | 1,373,035 in stock | LCSC C105579 UniOhm 0603WAF4702T5E | R56 R57 |
| 1 | RC0603FR-0768KL YAGEO · 68k | 311-68.0KHRCT-ND | 497,598 in stock | LCSC C114633 UniOhm 0603WAF6802T5E | R59 |
| 1 | SQP500JB-4R7 YAGEO · 4.7R 5W | 4.7W-5-ND | 1,753 in stock | LCSC C1364740 Vishay AC05000004708JAC00 | R7 |
| 5 | YC164-JR-0710KL YAGEO · 4x10k | YC164J-10KCT-ND | 81,528 in stock | LCSC C107374 UniOhm 4D03WGJ0103T5E | RN1 RN2 RN3 RN4 RN5 |
| 1 | NCU18XH103F6SRB Murata · NTC 10k B3380 | 490-18139-1-ND | 73,489 in stock | LCSC C13564 Sunlord SDNT1608X103F3380FTF | TH1 |
| 1 | TLV3011BQDBVRQ1 Texas Instruments · TLV3011BQDBVRQ1 | – | not at Digi-Key | LCSC C20345922 Texas Instruments TLV3011BIDBVR | U1 |
| 1 | TCAN1044AVDRQ1 Texas Instruments · TCAN1044AVDRQ1 | 296-TCAN1044AVDRQ1CT-ND | 0 at Digi-Key | LCSC C3234993 NXP TJA1051T/3/1J | U10 |
| 9 | TMC5240ATJ+T Analog Devices · TMC5240ATJ+T | 505-TMC5240ATJ+-ND | 2,846 in stock | LCSC C7494373 none (single source) | U1001 U101 U1101 U201 U301 U501 U601 U701 U901 |
| 1 | UCC27517DBVR Texas Instruments · UCC27517DBVR | 296-39527-1-ND | 3 in stock | LCSC C99395 JSMSEMI UCC27517DBVR-JSM | U2 |
| 1 | TPS26600PWPR Texas Instruments · TPS26600PWPR | 296-47292-1-ND | 0 at Digi-Key | LCSC C544399 none (single source) | U3 |
| 1 | LMR51420XDDCR Texas Instruments · LMR51420XDDCR | 296-LMR51420XDDCRCT-ND | 6,210 in stock | LCSC C5246146 none (single source) | U4 |
| 2 | TLV62569DBVR Texas Instruments · TLV62569DBVR | 296-47360-1-ND | 241,378 in stock | LCSC C141836 TECH PUBLIC TLV62569DBVR-TP | U5 U6 |
| 1 | TLV76012DBZR Texas Instruments · TLV76012DBZR | 296-48331-1-ND | 22,512 in stock | LCSC C2872732 none (single source) | U7 |
| 1 | STM32G474RET6 STMicroelectronics · STM32G474RET6 | – | not at Digi-Key | LCSC C521608 STMicroelectronics STM32G474RET3 | U8 |
| 1 | SN74LVC1G132DBVR Texas Instruments · SN74LVC1G132DBVR | – | not at Digi-Key | LCSC C403723 | U9 |
| 1 | NX2016SA-24MHZ-EXS00A-CS10820 NDK · 24MHz | 644-CS10820-24MCT-ND | 38,048 in stock | LCSC C6943225 YXC X201624MKB4SI | Y1 |
| Qty | Part | Digi-Key no. | Digi-Key stock (2026-10-15) | Other source | Where |
|---|---|---|---|---|---|
| 1 | CL10B104KB8NNNC Samsung · 100n | 1276-1000-1-ND | 0 at Digi-Key | LCSC C1591 Yageo CC0603KRX7R9BB104 | C1 |
| 1 | CL10B105KA8NNNC Samsung · 1u | 1276-1184-1-ND | 0 at Digi-Key | LCSC C29936 Yageo CC0603KRX7R8BB105 | C2 |
| 1 | PESD5V0S1BA,115 Nexperia · PESD5V0S1BA | 1727-PESD5V0S1BA,115CT-ND | 0 at Digi-Key | LCSC C19224 TECH PUBLIC PESD5V0S1BA | D1 |
| 1 | SM05B-GHS-TB(LF)(SN) JST · SM05B-GHS-TB | 455-SM05B-GHS-TBCT-ND | 19,698 in stock | LCSC C189896 CJT A1257WR-S-5P | J1 |
| 3 | RC0603FR-0710KL YAGEO · 10k | 311-10.0KHRCT-ND | 0 at Digi-Key | LCSC C98220 UniOhm 0603WAF1002T5E | R1 R2 R3 |
| 3 | RC0603FR-0733RL YAGEO · 33R | 13-RC0603FR-0733RLCT-ND | 147,074 in stock | LCSC C108661 UniOhm 0603WAF330JT5E | R4 R5 R6 |
| 1 | AS5047P-ATSM ams OSRAM · AS5047P-ATSM | – | not at Digi-Key | LCSC C962063 ams OSRAM AS5047P-ATST | U1 |
| Qty | Part | Digi-Key no. | Digi-Key stock (2026-10-15) | Other source | Where |
|---|---|---|---|---|---|
| 2 | BM14B-GHS-TBT(LF)(SN)(N) JST · BM14B-GHS-TBT | 455-1590-1-ND | 4,455 in stock | LCSC C265384 JST BM14B-GHS-TBT(LF)(SN) | J1 J2 |
| 6 | 0919-0-15-20-89-14-11-0 Mill-Max · 0919 9.63mm | ED10766-ND | 10,713 in stock | none (single source) | P101 P102 P103 P104 P105 P106 |
| 3 | 7939-1-15-20-89-14-11-0 Mill-Max · 7939 9.63mm | 54-7939-1-15-20-89-14-11-0-ND | 2,962 in stock | none (single source) | P107 P110 P114 |
| 11 | 0914-1-15-20-77-14-11-0 Mill-Max · 0914-1 8.43mm | ED1397-ND | 36,077 in stock | P108 P109 P111 P112 P113 P115 P116 P117 P118 P119 P120 | |
| 2 | RC0603FR-071KL YAGEO · 1k | 311-1.00KHRCT-ND | 2,647,767 in stock | LCSC C22548 UniOhm 0603WAF1001T5E | R1 R2 |
| Qty | Part | Digi-Key no. | Digi-Key stock (2026-10-15) | Other source | Where |
|---|---|---|---|---|---|
| 1 | CL10B472KB8NNNC Samsung · 4.7n | 1276-1098-1-ND | 2,951,726 in stock | LCSC C1621 Yageo CC0603KRX7R9BB472 | C1 |
| 1 | CL31B106KBHNNNE Samsung · 10u | 1276-6767-1-ND | 0 at Digi-Key | LCSC C89632 TDK C3216X7R1H106K160AC | C2 |
| 1 | CL10B104KB8NNNC Samsung · 100n | 1276-1000-1-ND | 0 at Digi-Key | LCSC C1591 Yageo CC0603KRX7R9BB104 | C3 |
| 1 | CL10B105KA8NNNC Samsung · 1u | 1276-1184-1-ND | 0 at Digi-Key | LCSC C29936 Yageo CC0603KRX7R8BB105 | C4 |
| 1 | ESD2CAN24DBZRQ1 Texas Instruments · ESD2CAN24DBZRQ1 | 296-ESD2CAN24DBZRQ1CT-ND | 197,609 in stock | LCSC C5736151 onsemi NUP2105LT1G | D1 |
| 1 | SS34 onsemi · SS34 | B340A-FDICT-ND | 268,206 in stock | LCSC C8678 MDD SS34 (SMA) | D2 |
| 2 | SMAJ30A Littelfuse · SMAJ30A | SMAJ30ALFCT-ND | 149,218 in stock | LCSC C148230 Diodes SMAJ30A-13-F | D3 D7 |
| 2 | LTST-C191KGKT Lite-On · green | 160-1446-1-ND | 2,818,153 in stock | LCSC C125098 NationStar NCD0603G1 | D4 D5 |
| 1 | LTST-C191KSKT Lite-On · yellow | 160-1448-1-ND | 856,734 in stock | LCSC C125100 NationStar NCD0603Y1 | D6 |
| 1 | 0451003.MRL Littelfuse · 3A | F2583CT-ND | 16,401 in stock | LCSC C13982 prosemi 2410FA-3A | F1 |
| 1 | SM14B-GHS-TB(LF)(SN) JST · SM14B-GHS-TB | 455-1576-1-ND | 3,759 in stock | LCSC C265343 HDGC HDGC1257WR-S-14P | J1 |
| 1 | L717SDE09PA4CH4F Amphenol · DB9 male | L717SDE09PA4CH4F-ND | 208 in stock | LCSC C5428849 CONNFLY DS1037-09MNAKT74-0CC | J2 |
| 4 | 1715721 Phoenix Contact · MKDS 1,5/2-5,08 | 277-1263-ND | 35 in stock | LCSC C480516 Cixi Kefa KF128-5.08-2P-AA | J3 J4 J5 J6 |
| 1 | MMBT3904LT1G onsemi · MMBT3904 | MMBT3904LT1GOSCT-ND | 2,632,778 in stock | LCSC C81464 Nexperia MMBT3904,215 | Q1 |
| 1 | BSS84,215 Nexperia · BSS84 | 1727-BSS84,215CT-ND | 0 at Digi-Key | LCSC C493579 Diodes BSS84-7-F | Q2 |
| 2 | RC1206FR-0760R4L YAGEO · 60.4R | 311-60.4FRCT-ND | 75,443 in stock | LCSC C274017 UniOhm 1206W4F604JT5E | R1 R2 |
| 2 | RC0603FR-074K7L YAGEO · 4.7k | 311-4.70KHRCT-ND | 4,127,688 in stock | LCSC C99782 UniOhm 0603WAF4701T5E | R10 R14 |
| 2 | RC0603FR-0747KL YAGEO · 47k | 311-47.0KHRCT-ND | 1,373,035 in stock | LCSC C105579 UniOhm 0603WAF4702T5E | R12 R15 |
| 2 | RC0603FR-07100KL YAGEO · 100k | 311-100KHRCT-ND | 0 at Digi-Key | LCSC C14675 UniOhm 0603WAF1003T5E | R13 R16 |
| 6 | RC0603FR-0710KL YAGEO · 10k | 311-10.0KHRCT-ND | 0 at Digi-Key | LCSC C98220 UniOhm 0603WAF1002T5E | R17 R18 R3 R4 R5 R6 |
| 1 | 201007F2201T4E UNI-ROYAL · 2.2k | – | not at Digi-Key | LCSC C407069 | R19 |
| 2 | RC0603JR-070RL YAGEO · 0R | 311-0.0GRCT-ND | 8,947,873 in stock | LCSC C95177 UniOhm 0603WAF0000T5E | R7 R8 |
| 1 | TLV431BIDBZR Texas Instruments · TLV431BIDBZR | 296-17571-1-ND | 19,406 in stock | LCSC C398375 TECH PUBLIC TLV431BIDBZR-TP | U1 |
| 1 | AQY212GSX Panasonic · AQY212GS | – | not at Digi-Key | LCSC C415471 Panasonic AQY212GS | U2 |
| Qty | Part | Digi-Key no. | Digi-Key stock (2026-10-15) | Other source | Where |
|---|---|---|---|---|---|
| 1 | CL10B472KB8NNNC Samsung · 4.7n | 1276-1098-1-ND | 2,951,726 in stock | LCSC C1621 Yageo CC0603KRX7R9BB472 | C1 |
| 1 | ESD2CAN24DBZRQ1 Texas Instruments · ESD2CAN24DBZRQ1 | 296-ESD2CAN24DBZRQ1CT-ND | 197,609 in stock | LCSC C5736151 onsemi NUP2105LT1G | D1 |
| 1 | SM14B-GHS-TB(LF)(SN) JST · SM14B-GHS-TB | 455-1576-1-ND | 3,759 in stock | LCSC C265343 HDGC HDGC1257WR-S-14P | J1 |
| 2 | RC1206FR-0760R4L YAGEO · 60.4R | 311-60.4FRCT-ND | 75,443 in stock | LCSC C274017 UniOhm 1206W4F604JT5E | R1 R2 |
| 2 | RC0603JR-070RL YAGEO · 0R | 311-0.0GRCT-ND | 8,947,873 in stock | LCSC C95177 UniOhm 0603WAF0000T5E | R11 R9 |
The dock, foot plate, posts, encoder mounts and magnet holders are Joerg's design: BUILD_TILE20_A.md ↗
(cut files in prototype/cut, prints in prototype/stl). What the boards need from it:
Joerg's job: shorten the motor's four wires to reach the Tile-20's header under its column, crimp an XH contact on each and push it into an XHP-4 until it clicks, in the order below. Label it with its column (A1 … C3).
| XH pin | Tile-20 | Motor lead |
|---|---|---|
| 1 | A1 (OUT1A) | black |
| 2 | A2 (OUT2A) | green |
| 3 | B1 (OUT1B) | red |
| 4 | B2 (OUT2B) | blue |
Same colours as the Order 1 bench (black + green = coil A). A column that runs backwards: flip it in firmware.
Five GH leads between two GHR-05V-S housings, pin 1 to pin 1. Twist the bundle loosely; keep it away from the motor cable.
| GH pin | Signal |
|---|---|
| 1 | 3.3 V |
| 2 | GND |
| 3 | A |
| 4 | B |
| 5 | Z (index) |
Fourteen GH leads between two GHR-14V-S housings, pin 1 to pin 1. Harness A: row head J1 → backplane J1. Harness B: backplane J2 → END plug J1.
| Pin | Signal (both ends the same) |
|---|---|
| 1 | GND |
| 2 | CANH |
| 3 | CANL |
| 4 | GND |
| 5 | +24V_BP |
| 6 | +24V_BP |
| 7 | +24V_BP |
| 8 | GND |
| 9 | ENABLE_BP |
| 10 | SLOT_REF |
| 11 | LAD |
| 12 | LOOP |
| 13 | LOOP_RET |
| 14 | GND |
The Tile-20's silkscreen names each channel by its grid position, so A1 on the board is A1 on the 3x3.
| 3x3 column | Tile-20 channel | Motor plug | Encoder plug | Bus | Chip select |
|---|---|---|---|---|---|
| A1 | 1 | J101 | J102 | SPI A | CS01 · MCU pin 18 |
| A2 | 2 | J201 | J202 | SPI A | CS02 · MCU pin 22 |
| A3 | 3 | J301 | J302 | SPI A | CS03 · MCU pin 23 |
| B1 | 5 | J501 | J502 | SPI A | CS05 · MCU pin 25 |
| B2 | 6 | J601 | J602 | SPI A | CS06 · MCU pin 26 |
| B3 | 7 | J701 | J702 | SPI A | CS07 · MCU pin 17 |
| C1 | 9 | J901 | J902 | SPI B | CS09 · MCU pin 33 |
| C2 | 10 | J1001 | J1002 | SPI B | CS10 · MCU pin 34 |
| C3 | 11 | J1101 | J1102 | SPI B | CS11 · MCU pin 38 |
| From | To | Wire | Note |
|---|---|---|---|
| Lab supply + | VM bar, M4 lug | 1.5 mm² red, ring lug | 28.5 V; limit 1 A first, 8 A later |
| Lab supply − | GND bar, M4 lug | 1.5 mm² black, ring lug | |
| 24 V adapter +, − | Row head J3 (+, −) | adapter cable, ferrules | Check + with a meter before you connect |
| Row head J3 + | Row head J4 pin 1 (ENABLE_IN) | wire bridge, 0.5 mm² red | Pulled = drivers off; an E-stop's NC contact goes here later |
| Row head J5 pin 1 | J5 pin 2 | wire bridge | RUN; a toggle switch later |
| CAN FD adapter (later) | Row head J2 (DB9) | straight DB9 cable / direct | Terminated on the row head and the END plug; the adapter's own termination off |
| Row head J1 | Backplane J1 | harness A | From below, through the plate cut-out |
| Backplane J2 | END plug J1 | harness B | |
| ST-LINK | Tile-20 SWD pads (TC2030) | Tag-Connect cable | For flashing only |
| USB-serial GND, TXD, RXD | Tile-20 J3 pin 1 GND, pin 2 RX, pin 3 TX | 3 jumper wires | 3.3 V logic; its VCC wire stays unconnected (J3 pin 4 is empty) |
| Tile-20 J·01 (×9) | Motors | motor cables | Supplies off when plugging |
| Tile-20 J·02 (×9) | Encoder boards | encoder cables |
On the bench the lab supply does this job: skip this part. For the pilot row, all the wiring below is in one 16-pin plug that pushes into the supply's CN1 socket. Nothing changes on our boards.
| CN1 pin | Name | Wire | Why |
|---|---|---|---|
| 3 | +5V-AUX | to row head J6 pin 1 ("PSU 1") | The row head closes 3 to 4 while the row may run: supply on. STOP, a missing module or the END plug out: supply off. |
| 4 | Remote ON-OFF | to row head J6 pin 2 ("PSU 2") | |
| 13 and 15 | +V(signal), +S | short loop, about 2 cm, inside the plug | Local sense. Without the two loops the output voltage is not guaranteed (Mean Well spec p.4). |
| 14 and 16 | -V(signal), -S | short loop, about 2 cm, inside the plug | |
| all others | empty |
In order; each step has the value to expect. Ticks stay in this browser only. Values marked (est.) are estimates: write the measured ones down for the review.
20 pins in slot 1, on the top side (the side with the gold pads and R1; J1 and J2 are underneath). Three kinds, marked in the picture: 6 SMT pins (orange squares), 3 tall pins (red rings) and 11 short pins (blue rings). Through-hole pins: push one pin fully in, hold its tip with masking tape, turn the board over and solder it underneath. SMT pins: put a little solder on the pad, hold the pin upright with tweezers, heat the pad again. Every pin must stand straight up (within 0.2 mm): solder one leg, check it with a small square, then finish. Slot 2 stays empty.
JP2 (at the far end, near J2; top right in the picture above): a blob of solder across both pads, because slot 2 is empty and the presence loop must still close. Meter: JP2 0 Ω. JP1 stays open (slot 1 has its module).
Only on a JLC-built board (PCBWay fits them). F1: the fuse holder, 4 legs, from the top. R7: the 4.7 Ω 5 W brake resistor, flat on the board, from the top. Solder underneath, then cut all leads underneath to about 1.5 mm. No fuse in F1 yet.
Tile-20 on the foot plate, no screws yet: it must not rock. Each through-hole part sits over a cut-out in the plate (the grey boxes in the drawing). If it rocks, a lead is too long, or the plate was cut from the old file without cut-outs (before 17 Oct 2026).
Tile-20 (3x3 build): driver chips only at A1–A3, B1–B3, C1–C3. No solder bridges on the chips' pins (magnifier). F1 holder empty. Encoder boards: one AS5047P each.
Meter on the bottom pads: VM1 to PG1 reads rising (capacitors charging) to > 10 kΩ. V24A to G1 > 10 kΩ. Test points +5V, +3V3, +3V3_ENC to GND > 100 Ω. A short here: stop and look.
Joerg's dock as in his BUILD_TILE20_A.md: bars on their blocks, backplane bolted on (slot 1 over the bars), posts in place. Harness A row head J1 → backplane J1, harness B backplane J2 → END plug. Motor and encoder cables made and labelled A1…C3.
Backplane bolted on, nothing connected. VM bar to the spring-pin pad P101 (slot 1, the SMT pins beside bolts BB101 / BB102): 0 Ω. GND bar to P104: 0 Ω. VM bar to GND bar: open. The VM bar is the one under BB101 / BB102: the upper row of bolts when the backplane's printed text reads the right way up. Only then the supply's + goes to the VM bar.
24 V on J3, ENABLE bridge (J3 + → J4.1) and RUN bridge (J5) in. Expect: green 24 V LED on; TP VREF = 2.48 V (2.45–2.51); presence LED off (no module docked); ENABLE LED off.
24 V off. Tile-20 flat on the foot plate (8 × M3 × 6), Joerg's tile on the plate, cables in; lower it onto the posts (guides first). 24 V on: presence LED on, ENABLE LED on. Tile-20 test points: +5V 4.9–5.1 V, +3V3 3.25–3.35 V, +3V3_ENC 3.25–3.35 V, +12V_GD 11.6–12.4 V. 24 V current about 50–100 mA without firmware (est.).
Pull the ENABLE bridge: ENABLE LED off, TP ENABLE on the row head ≈ 0 V. Back in: on again. Lift the module 5 mm: presence and ENABLE LEDs off.
STLINK-V3MINIE + Tag-Connect on the Tile-20's TC2030 pads, STM32CubeProgrammer → Connect. Expect an STM32G474 (device ID 0x469). This needs no firmware.
Flash firmware/dist/firmware_tile20_g474_cube.bin (built by make cube-tile20). USB-serial on the Tile-20's J3 (1 GND, 2 RX, 3 TX), 921 600 baud 8N1: the same host tool and protocol as the NUCLEO. Expect the boot message and an answer to GET_BOARD.
GET_BOARD: slot 1 (SLOT_TAP / SLOT_REF ≈ 1.00), ENABLE high, brake off, VM and 24 V read back within 2 %.
Adapter on the row head's DB9, its own termination off. The board takes node 1 from slot 1 by itself (the row head and END plug make the ladder). Run CAN_SELFTEST, then the same commands over CAN FD (500 kbit/s / 4 Mbit/s). The first real test of the bus: do it early.
One column: turn the motor exactly one revolution and read the encoder counts (GET_HEALTH): expect 4,000 (the AS5047P's 1,000 pulses per turn, no setup). The firmware's default is already 4,000. Counts that jump or drift: the magnet is too close or too far (35–70 mT at the chip): change the air gap by 0.5 mm and repeat.
15 A fuse in F1 (the supply's 1 A limit protects the first power-up). Supply 28.5 V, limit 1 A. Expect: VM at the test point 28.3–28.5 V, idle current under 0.2 A, brake off (BRAKE_SENSE low).
The firmware probes all 20 channels: 9 answer (1–3, 5–7, 9–11 = A1…C3), 11 read empty. It re-initialises them by itself whenever VM comes back.
A1 at 0.5 A run current: move 1 mm up and down; encoder counts follow; no motor noise when idle.
Limit 8 A, run current up to 1.4 A until the foot plate's cooling is measured. IR thermometer on the driver chips: below 90 °C.
Supply limit 1 A, raise VM to 30.5 V for 2 s: the brake switches on (BRAKE_SENSE high) and the supply goes into current limit. Back to 28.5 V.
Everything an electronics engineer needs to check the design: the KiCad 10 projects (schematics and layout, opened
from the zip as they are), the fab files (JLC and PCBWay), and the review reports. The design is generated: the
generator and its history are in the repository (hardware/tile20/gen/).
| Board | Gerbers, JLC BOM + CPL, PCBWay BOM + centroid, schematic PDF, STEP, renders, DRC report | Schematics + layout (KiCad 10) |
|---|---|---|
| Tile-20 | 28.1 MB | 3.9 MB without tile20.kicad_pcb (19 MB, over the page's file limit): in git at hardware/tile20/tile20/tile20.kicad_pcb |
| Encoder board | 2.4 MB | 373 kB |
| Backplane segment | 2.1 MB | 804 kB |
| Row head + END plug | 4.3 MB | 888 kB |
| Design review: every deviation, risk, estimate and check | |
| Calculations | |
| SPICE results (brake, slot ID) | |
| Net-by-net check against the vendor references | |
| Click-in interface: heights, mating order, swap | |
| Every part, every board, sourcing | |
| Cost roll-up |
make cube-tile20: three SPI
buses, CAN FD, slot ID, ADC, re-init after the motor rail returns) builds and passes the static pin checks; it first runs on
the first board. Pin map: firmware/board/board_tile20.h.