# Voltage-domain ERC — vision-pick-and-place-controller-delta 0 error(s), 7 warning(s). Ambient 70 °C. Specs: `specs/parts/`. ## Findings | sev | code | where | detail | |---|---|---|---| | WARN | NO_SPEC | H1 | no spec for M3 (dpick:MountingHole) — add specs/parts/.yaml | | WARN | NO_SPEC | H2 | no spec for M3 (dpick:MountingHole) — add specs/parts/.yaml | | WARN | NO_SPEC | H3 | no spec for M3 (dpick:MountingHole) — add specs/parts/.yaml | | WARN | NO_SPEC | H4 | no spec for M3 (dpick:MountingHole) — add specs/parts/.yaml | | WARN | NO_SPEC | J4 | no spec for PZ254V-11-02P (dpick:Conn_01x02) — add specs/parts/.yaml | | WARN | NO_SPEC | J5 | no spec for PZ254V-11-02P (dpick:Conn_01x02) — add specs/parts/.yaml | | WARN | THERMAL | U8 | Tj 115 °C within 15 °C of 125 °C (P 196 mW) | | INFO | ABS_MAX | Q2.4 | G on Q2G reaches 32 V > abs max 20 V (20) [waived: Q2's gate is held within 12 V of its source by D3 (BZT52C12) and R12; the checker only sees the divider path from VIN_P] | | INFO | ABS_MAX | U1.33 | PC5 on VIN_S reaches 32 V > abs max 4 V (4.0) [waived: VIN_S is the 100 kOhm / 8.2 kOhm divider of VIN_P (R4/R5): 2.4 V at 32 V, 2.7 V at 36 V] | | INFO | ABS_MAX | U5.3 | EN on BUCK_EN reaches 32 V > abs max 8.4 V (8.4) [waived: EN is the 442 kOhm / 90.9 kOhm UVLO divider of VIN_P (R2/R3), 6.1 V at 36 V (abs max 8.4 V); TI's 5 V reference-design values] | | INFO | ABS_MAX | U5.5 | FB on BUCK_FB reaches 5.15 V > abs max 3 V (3) [waived: FB is the 53.6 kOhm / 10.2 kOhm divider of the 5 V output (R6/R7): 0.8 V, TI's reference-design values] | ## Rails (power budget) | rail | source | V | load mA | rated mA | use | nets | |---|---|---|---|---|---|---| | +1V5 | U8 | 1.46..1.54 | 100.0 | 500 | 20 % | +1V5 | | +2V8 | U7 | 2.72..2.88 | 70.0 | 500 | 14 % | +2V8, 2V8_A | | +3V3 | U6 (R10=453000 / R11=100000) | 3.22..3.42 | 393.5 | 2000 | 20 % | +3V3, BUCK3_SW, VDDA | | +5V | U5 (R6=53600 / R7=10200) | 4.85..5.15 | 378.8 | 5000 | 8 % | +5V, BUCK_SW | | VIN_P | external | 17.5..32 | 128.8 | - | | VIN_P | | VIN_RAW | external | 18..32 | 0.0 | - | | VIN_RAW | | VMOT | external | 17.5..29 | 6.0 | - | | VMOT | ### Loads | rail | net | ref.pin | mA | |---|---|---|---| | +1V5 | +1V5 | J2.10 | 100.00 | | +2V8 | +2V8 | J2.11 | 30.00 | | +2V8 | 2V8_A | J2.4 | 40.00 | | +3V3 | +3V3 | U9.5 | 0.30 | | +3V3 | +3V3 | U2.15 | 5.00 | | +3V3 | +3V3 | U3.15 | 5.00 | | +3V3 | +3V3 | U4.15 | 5.00 | | +3V3 | +3V3 | U1.11 | 40.00 | | +3V3 | +3V3 | U1.27 | 40.00 | | +3V3 | +3V3 | U1.50 | 40.00 | | +3V3 | +3V3 | U1.75 | 40.00 | | +3V3 | +3V3 | U1.100 | 40.00 | | +3V3 | +3V3 | U1.6 | 0.01 | | +3V3 | +3V3 | J3.3 | 1.00 | | +3V3 | +3V3 | J5.2 | 1.00 | | +3V3 | +3V3 | U7.in | 70.10 | | +3V3 | +3V3 | U8.in | 100.05 | | +3V3 | VDDA | U1.20 | 1.00 | | +3V3 | VDDA | U1.21 | 5.00 | | +5V | +5V | U6.4 | 1.00 | | +5V | +5V | U9.3 | 70.00 | | +5V | +5V | U6.in | 307.81 | | VIN_P | VIN_P | U5.2 | 2.00 | | VIN_P | VIN_P | U5.in | 126.78 | | VMOT | VMOT | U2.22 | 1.00 | | VMOT | VMOT | U2.28 | 1.00 | | VMOT | VMOT | U3.22 | 1.00 | | VMOT | VMOT | U3.28 | 1.00 | | VMOT | VMOT | U4.22 | 1.00 | | VMOT | VMOT | U4.28 | 1.00 | ### Beads / series inductors | ref | from | to | mA | DCR Ω | drop mV | rated mA | |---|---|---|---|---|---|---| | L1 | +5V | BUCK_SW | 0.0 | 0 | 0.0 | - | | L2 | +3V3 | BUCK3_SW | 0.0 | 0 | 0.0 | - | | FB2 | +3V3 | VDDA | 6.0 | 0 | 0.0 | - | | FB1 | +2V8 | 2V8_A | 40.0 | 0 | 0.0 | - | ## Thermal budget | ref | part | P mW | basis | θJA °C/W | Tj °C | limit °C | | |---|---|---|---|---|---|---|---| | Q1 | AO4421 | 0 | Σ V·I_max of supply pins | 62 | 70 | 150 | ok | | Q2 | AO4421 | 0 | Σ V·I_max of supply pins | 62 | 70 | 150 | ok | | Q3 | IRLML0060TRPBF | 0 | Σ V·I_max of supply pins | 100 | 70 | 150 | ok | | Q4 | MMBT3904 | 0 | Σ V·I_max of supply pins | 625 | 70 | 150 | ok | | Q5 | IRLML0060TRPBF | 0 | Σ V·I_max of supply pins | 100 | 70 | 150 | ok | | Q6 | IRLML0060TRPBF | 0 | Σ V·I_max of supply pins | 100 | 70 | 150 | ok | | U1 | STM32H743VIT6 | 704 | Σ V·I_max of supply pins | 42 | 100 | 125 | ok | | U2 | TMC2209-LA | 75 | Σ V·I_max of supply pins | 30 | 72 | 125 | ok | | U3 | TMC2209-LA | 75 | Σ V·I_max of supply pins | 30 | 72 | 125 | ok | | U4 | TMC2209-LA | 75 | Σ V·I_max of supply pins | 30 | 72 | 125 | ok | | U5 | TPS54560BDDAR | 266 | 1952 mW out @ η 0.88 | 42 | 81 | 150 | ok | | U6 | TLV62569DBVR | 149 | 1345 mW out @ η 0.9 | 188 | 98 | 125 | ok | | U7 | ME6211C28M5G-N | 49 | (3.42-2.72) V x 70 mA | 400 | 90 | 125 | ok | | U8 | TLV75515PDBVR | 196 | (3.42-1.46) V x 100 mA | 231 | 115 | 125 | WARN | | U9 | TCAN1044VDRQ1 | 362 | Σ V·I_max of supply pins | 128 | 116 | 150 | ok | ## Power out through connectors Regulator outputs that leave the board (declared in erc.yaml `connector_loads`; the regulator's total capacity is the lower of its rating and its thermal limit at the worst-case input and ambient). | pin | rail | source | declared mA | rated mA | thermal mA | board's own mA | left mA | | |---|---|---|---|---|---|---|---|---| | J3.3 (T_VCC) | +3V3 | U6 | 1 | 2000 | 770 | 391 | 379 | STDC14 pin 3 (T_VCC) is only the probe's voltage sense input | | J5.2 (2) | +3V3 | U6 | 1 | 2000 | 770 | 391 | 379 | BOOT0 jumper: 3.3 V / 10 kOhm = 0.33 mA when fitted | | J2.4 (AVDD) | +2V8 | U7 | 40 | 500 | 196 | 0 | 196 | OV5640 AVDD (2.8 V analog): the module datasheet's current table is TBD; 40 mA is an engineering estimate (unverified) | | J2.11 (DOVDD) | +2V8 | U7 | 30 | 500 | 196 | 0 | 196 | OV5640 DOVDD (2.8 V I/O, 8 data lines + PCLK at up to 96 MHz): estimate, the module datasheet's table is TBD (unverified) | | J2.10 (DVDD) | +1V5 | U8 | 100 | 500 | 121 | 0 | 121 | OV5640 DVDD (1.5 V core, active): estimate, the module datasheet's table is TBD (unverified) | ## Per-pin table | ref | pin | name | type | net | V | limit | status | |---|---|---|---|---|---|---|---| | D1 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D1 | 2 | A | passive | GND | 0 | | ok | | D2 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D2 | 2 | A | passive | Q1G | 0 | | ok | | D3 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D3 | 2 | A | passive | Q2G | 17.5..32 | | ok | | D4 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D4 | 2 | A | passive | OV_A | 0 | | ok | | D5 | 1 | K | passive | ES_IN | 0..3.42 | | ok | | D5 | 2 | A | passive | GND | 0 | | ok | | D6 | 1 | K | passive | ES_SRC | 0..4.85 | | ok | | D6 | 2 | A | passive | +5V | 4.85..5.15 | | ok | | D7 | 1 | K | passive | BUCK_SW | 4.85..5.15 | | ok | | D7 | 2 | A | passive | GND | 0 | | ok | | D8 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D8 | 2 | A | passive | PUMP_N | ? | | ok | | D9 | 1 | K | passive | VIN_P | 17.5..32 | | ok | | D9 | 2 | A | passive | VALVE_N | ? | | ok | | D10 | 1 | K1 | bus | CAN_H | ? | | ok | | D10 | 2 | K2 | bus | CAN_L | ? | | ok | | D10 | 3 | COM | passive | GND | 0 | | ok | | D11 | 1 | A1 | passive | GND | 0 | | ok | | D11 | 2 | K2 | passive | +3V3 | 3.22..3.42 | | ok | | D11 | 3 | K1A2 | passive | VAC_S | 0..3.42 | | ok | | D12 | 1 | K | passive | GND | 0 | | ok | | D12 | 2 | A | passive | LED_RUN_A | 0..3.42 | | ok | | D13 | 1 | K | passive | GND | 0 | | ok | | D13 | 2 | A | passive | LED_ERR_A | 0..3.42 | | ok | | J1 | 1 | 24V_IN_1 | passive | VIN_RAW | 18..32 | | ok | | J1 | 2 | 24V_IN_2 | passive | VIN_RAW | 18..32 | | ok | | J1 | 3 | M1_A+ | passive | MOT1_A1 | ? | | ok | | J1 | 4 | M1_A- | passive | MOT1_A2 | ? | | ok | | J1 | 5 | M1_B+ | passive | MOT1_B1 | ? | | ok | | J1 | 6 | M1_B- | passive | MOT1_B2 | ? | | ok | | J1 | 7 | ESTOP1 | passive | ESTOP1 | 0..4.85 | | ok | | J1 | 8 | ESTOP2 | passive | ESTOP2 | 0..3.42 | | ok | | J1 | 9 | PUMP- | passive | PUMP_N | ? | | ok | | J1 | 10 | VALVE- | passive | VALVE_N | ? | | ok | | J1 | 11 | M2_A+ | passive | MOT2_A1 | ? | | ok | | J1 | 12 | M2_A- | passive | MOT2_A2 | ? | | ok | | J1 | 13 | M2_B+ | passive | MOT2_B1 | ? | | ok | | J1 | 14 | M2_B- | passive | MOT2_B2 | ? | | ok | | J1 | 15 | VAC_IN | passive | VAC_IN | 0..3.42 | | ok | | J1 | 16 | GND_1 | passive | GND | 0 | | ok | | J1 | 17 | GND_2 | passive | GND | 0 | | ok | | J1 | 18 | M3_A+ | passive | MOT3_A1 | ? | | ok | | J1 | 19 | M3_A- | passive | MOT3_A2 | ? | | ok | | J1 | 20 | M3_B+ | passive | MOT3_B1 | ? | | ok | | J1 | 21 | M3_B- | passive | MOT3_B2 | ? | | ok | | J1 | 22 | CAN_H | passive | CAN_H | ? | | ok | | J1 | 23 | CAN_L | passive | CAN_L | ? | | ok | | J2 | 1 | NC | passive | - | ? | | nc | | J2 | 2 | AGND | passive | GND | 0 | | ok | | J2 | 3 | SIOD | passive | CAM_SDA | 0..3.42 | | ok | | J2 | 4 | AVDD | passive | 2V8_A | 2.72..2.88 | | ok | | J2 | 5 | SIOC | passive | CAM_SCL | 0..3.42 | | ok | | J2 | 6 | RESETB | passive | CAM_RST | 0..3.42 | | ok | | J2 | 7 | VSYNC | passive | CAM_VSYNC | 0..3.42 | | ok | | J2 | 8 | PWDN | passive | CAM_PWDN | 0..3.42 | | ok | | J2 | 9 | HREF | passive | CAM_HSYNC | 0..3.42 | | ok | | J2 | 10 | DVDD | passive | +1V5 | 1.46..1.54 | | ok | | J2 | 11 | DOVDD | passive | +2V8 | 2.72..2.88 | | ok | | J2 | 12 | D9 | passive | CAM_D7 | 0..3.42 | | ok | | J2 | 13 | XCLK | passive | CAM_XCLK_J | 0..3.42 | | ok | | J2 | 14 | D8 | passive | CAM_D6 | 0..3.42 | | ok | | J2 | 15 | DGND | passive | GND | 0 | | ok | | J2 | 16 | D7 | passive | CAM_D5 | 0..3.42 | | ok | | J2 | 17 | PCLK | passive | CAM_PCLK | 0..3.42 | | ok | | J2 | 18 | D6 | passive | CAM_D4 | 0..3.42 | | ok | | J2 | 19 | D2 | passive | CAM_D0 | 0..3.42 | | ok | | J2 | 20 | D5 | passive | CAM_D3 | 0..3.42 | | ok | | J2 | 21 | D3 | passive | CAM_D1 | 0..3.42 | | ok | | J2 | 22 | D4 | passive | CAM_D2 | 0..3.42 | | ok | | J2 | 23 | AF_VCC | passive | - | ? | | nc | | J2 | 24 | AF_GND | passive | GND | 0 | | ok | | J2 | MP | MP | passive | GND | 0 | | ok | | J3 | 1 | RSVD1 | passive | - | ? | | nc | | J3 | 2 | RSVD2 | passive | - | ? | | nc | | J3 | 3 | T_VCC | passive | +3V3 | 3.22..3.42 | | ok | | J3 | 4 | T_SWDIO | passive | SWDIO | 0..3.42 | | ok | | J3 | 5 | GND | passive | GND | 0 | | ok | | J3 | 6 | T_SWCLK | passive | SWCLK | 0..3.42 | | ok | | J3 | 7 | GND | passive | GND | 0 | | ok | | J3 | 8 | T_SWO | passive | SWO | 0..3.42 | | ok | | J3 | 9 | NC9 | passive | - | ? | | nc | | J3 | 10 | NC10 | passive | - | ? | | nc | | J3 | 11 | GNDDETECT | passive | GND | 0 | | ok | | J3 | 12 | T_NRST | passive | NRST | 0..3.42 | | ok | | J3 | 13 | T_VCP_RX | passive | VCP_RX | 0..3.42 | | ok | | J3 | 14 | T_VCP_TX | passive | VCP_TX | 0..3.42 | | ok | | Q1 | 1 | S | passive | VIN_P | 17.5..32 | | ok | | Q1 | 2 | S | passive | VIN_P | 17.5..32 | | ok | | Q1 | 3 | S | passive | VIN_P | 17.5..32 | | ok | | Q1 | 4 | G | input | Q1G | 0 | max 20 abs 20 | ok | | Q1 | 5 | D | passive | VIN_RAW | 18..32 | | ok | | Q1 | 6 | D | passive | VIN_RAW | 18..32 | | ok | | Q1 | 7 | D | passive | VIN_RAW | 18..32 | | ok | | Q1 | 8 | D | passive | VIN_RAW | 18..32 | | ok | | Q2 | 1 | S | passive | VIN_P | 17.5..32 | | ok | | Q2 | 2 | S | passive | VIN_P | 17.5..32 | | ok | | Q2 | 3 | S | passive | VIN_P | 17.5..32 | | ok | | Q2 | 4 | G | input | Q2G | 17.5..32 | max 20 abs 20 | ERROR | | Q2 | 5 | D | passive | VMOT | 17.5..29 | | ok | | Q2 | 6 | D | passive | VMOT | 17.5..29 | | ok | | Q2 | 7 | D | passive | VMOT | 17.5..29 | | ok | | Q2 | 8 | D | passive | VMOT | 17.5..29 | | ok | | Q3 | 1 | G | input | ESG | 0..3.42 | max 16 abs 16 | ok | | Q3 | 2 | S | passive | GND | 0 | | ok | | Q3 | 3 | D | passive | Q3D | 17.5..32 | | ok | | Q4 | 1 | B | input | OV_B | 0 | max 6 abs 6 | ok | | Q4 | 2 | E | passive | GND | 0 | | ok | | Q4 | 3 | C | passive | ESG | 0..3.42 | | ok | | Q5 | 1 | G | input | PUMP_G | 0..3.42 | max 16 abs 16 | ok | | Q5 | 2 | S | passive | GND | 0 | | ok | | Q5 | 3 | D | passive | PUMP_N | ? | | ok | | Q6 | 1 | G | input | VALVE_G | 0..3.42 | max 16 abs 16 | ok | | Q6 | 2 | S | passive | GND | 0 | | ok | | Q6 | 3 | D | passive | VALVE_N | ? | | ok | | U1 | 1 | PE2 | io | - | ? | | nc | | U1 | 2 | PE3 | io | LED_RUN | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 3 | PE4 | io | LED_ERR | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 4 | PE5 | io | - | ? | | nc | | U1 | 5 | PE6 | io | - | ? | | nc | | U1 | 6 | VBAT | supply | +3V3 | 3.22..3.42 | min 1.2 max 3.6 abs 4 | ok | | U1 | 7 | PC13 | io | - | ? | | nc | | U1 | 8 | PC14-OSC32_IN | io | - | ? | | nc | | U1 | 9 | PC15-OSC32_OUT | io | - | ? | | nc | | U1 | 10 | VSS | ground | GND | 0 | | ok | | U1 | 11 | VDD | supply | +3V3 | 3.22..3.42 | min 1.71 max 3.6 abs 4 | ok | | U1 | 12 | PH0-OSC_IN | io | HSE_IN | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 13 | PH1-OSC_OUT | io | HSE_OUT | 0..3.42 | max 4 abs 4 | ok | | U1 | 14 | NRST | io | NRST | 0..3.42 | max 3.6 abs 4 | ok | | U1 | 15 | PC0 | io | - | ? | | nc | | U1 | 16 | PC1 | io | - | ? | | nc | | U1 | 17 | PC2_C | io | - | ? | | nc | | U1 | 18 | PC3_C | io | - | ? | | nc | | U1 | 19 | VSSA | ground | GND | 0 | | ok | | U1 | 20 | VREF+ | supply | VDDA | 3.22..3.42 | min 1.62 max 3.6 abs 4 | ok | | U1 | 21 | VDDA | supply | VDDA | 3.22..3.42 | min 1.62 max 3.6 abs 4 | ok | | U1 | 22 | PA0 | io | M2_STEP | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 23 | PA1 | io | - | ? | | nc | | U1 | 24 | PA2 | io | TMC_UART | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 25 | PA3 | io | - | ? | | nc | | U1 | 26 | VSS | ground | GND | 0 | | ok | | U1 | 27 | VDD | supply | +3V3 | 3.22..3.42 | min 1.71 max 3.6 abs 4 | ok | | U1 | 28 | PA4 | io | CAM_HSYNC | 0..3.42 | max 4 abs 4 | ok | | U1 | 29 | PA5 | io | - | ? | | nc | | U1 | 30 | PA6 | io | CAM_PCLK | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 31 | PA7 | io | - | ? | | nc | | U1 | 32 | PC4 | io | VAC_S | 0..3.42 | max 4 abs 4 | ok | | U1 | 33 | PC5 | io | VIN_S | 0..32 | max 4 abs 4 | ERROR | | U1 | 34 | PB0 | io | ESTOP_S | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 35 | PB1 | io | - | ? | | nc | | U1 | 36 | PB2 | io | - | ? | | nc | | U1 | 37 | PE7 | io | - | ? | | nc | | U1 | 38 | PE8 | io | - | ? | | nc | | U1 | 39 | PE9 | io | M1_STEP | 0..3.42 | max 4 abs 4 | ok | | U1 | 40 | PE10 | io | M1_DIR | 0..3.42 | max 4 abs 4 | ok | | U1 | 41 | PE11 | io | M2_DIR | 0..3.42 | max 4 abs 4 | ok | | U1 | 42 | PE12 | io | M3_DIR | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 43 | PE13 | io | M1_DIAG | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 44 | PE14 | io | M2_DIAG | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 45 | PE15 | io | M3_DIAG | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 46 | PB10 | io | VCP_TX | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 47 | PB11 | io | VCP_RX | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 48 | VCAP | passive | VCAP | ? | | ok | | U1 | 49 | VSS | ground | GND | 0 | | ok | | U1 | 50 | VDD | supply | +3V3 | 3.22..3.42 | min 1.71 max 3.6 abs 4 | ok | | U1 | 51 | PB12 | io | - | ? | | nc | | U1 | 52 | PB13 | io | - | ? | | nc | | U1 | 53 | PB14 | io | PUMP | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 54 | PB15 | io | VALVE | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 55 | PD8 | io | CAM_PWDN | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 56 | PD9 | io | CAM_RST | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 57 | PD10 | io | DRV_EN | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 58 | PD11 | io | CAN_STB | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 59 | PD12 | io | CAM_SCL | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 60 | PD13 | io | CAM_SDA | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 61 | PD14 | io | - | ? | | nc | | U1 | 62 | PD15 | io | M3_STEP | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 63 | PC6 | io | CAM_D0 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 64 | PC7 | io | CAM_D1 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 65 | PC8 | io | CAM_D2 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 66 | PC9 | io | CAM_D3 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 67 | PA8 | io | CAM_XCLK | 0..3.42 | max 4 abs 4 | ok | | U1 | 68 | PA9 | io | - | ? | | nc | | U1 | 69 | PA10 | io | - | ? | | nc | | U1 | 70 | PA11 | io | - | ? | | nc | | U1 | 71 | PA12 | io | - | ? | | nc | | U1 | 72 | PA13 | io | SWDIO | 0..3.42 | max 4 abs 4 | ok | | U1 | 73 | VCAP | passive | VCAP | ? | | ok | | U1 | 74 | VSS | ground | GND | 0 | | ok | | U1 | 75 | VDD | supply | +3V3 | 3.22..3.42 | min 1.71 max 3.6 abs 4 | ok | | U1 | 76 | PA14 | io | SWCLK | 0..3.42 | max 4 abs 4 | ok | | U1 | 77 | PA15 | io | - | ? | | nc | | U1 | 78 | PC10 | io | - | ? | | nc | | U1 | 79 | PC11 | io | CAM_D4 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 80 | PC12 | io | - | ? | | nc | | U1 | 81 | PD0 | io | CAN_RX | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 82 | PD1 | io | CAN_TX | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 83 | PD2 | io | - | ? | | nc | | U1 | 84 | PD3 | io | CAM_D5 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 85 | PD4 | io | - | ? | | nc | | U1 | 86 | PD5 | io | - | ? | | nc | | U1 | 87 | PD6 | io | - | ? | | nc | | U1 | 88 | PD7 | io | - | ? | | nc | | U1 | 89 | PB3 | io | SWO | 0..3.42 | max 4 abs 4 | ok | | U1 | 90 | PB4 | io | - | ? | | nc | | U1 | 91 | PB5 | io | - | ? | | nc | | U1 | 92 | PB6 | io | - | ? | | nc | | U1 | 93 | PB7 | io | CAM_VSYNC | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 94 | BOOT0 | input | BOOT0 | 0 | max 3.6 abs 4 | ok | | U1 | 95 | PB8 | io | CAM_D6 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 96 | PB9 | io | CAM_D7 | 0..3.42 | max 5.5 abs 5.5 | ok | | U1 | 97 | PE0 | io | - | ? | | nc | | U1 | 98 | PE1 | io | - | ? | | nc | | U1 | 99 | VSS | ground | GND | 0 | | ok | | U1 | 100 | VDD | supply | +3V3 | 3.22..3.42 | min 1.71 max 3.6 abs 4 | ok | | U2 | 1 | OB2 | bus | MOT1_B2 | ? | | ok | | U2 | 2 | ENN | input | DRV_EN | 0..3.42 | max 3.72 abs 3.72 | ok | | U2 | 3 | GND | ground | GND | 0 | | ok | | U2 | 4 | CPO | passive | CPO1 | ? | | ok | | U2 | 5 | CPI | passive | CPI1 | ? | | ok | | U2 | 6 | VCP | passive | VCP1 | ? | | ok | | U2 | 7 | SPREAD | input | GND | 0 | max 3.72 abs 3.72 | ok | | U2 | 8 | 5VOUT | supply_out | V5_1 | ? | | ok | | U2 | 9 | MS1_AD0 | input | GND | 0 | max 3.72 abs 3.72 | ok | | U2 | 10 | MS2_AD1 | input | GND | 0 | max 3.72 abs 3.72 | ok | | U2 | 11 | DIAG | output | M1_DIAG | 0..3.42 | | ok | | U2 | 12 | INDEX | output | - | ? | | nc | | U2 | 13 | CLK | input | GND | 0 | max 3.72 abs 3.72 | ok | | U2 | 14 | PDN_UART | io | TMC_BUS | 0..3.42 | max 3.72 abs 3.72 | ok | | U2 | 15 | VCC_IO | supply | +3V3 | 3.22..3.42 | min 3 max 5.25 abs 5.5 | ok | | U2 | 16 | STEP | input | M1_STEP | 0..3.42 | max 3.72 abs 3.72 | ok | | U2 | 17 | VREF | analog | V5_1 | ? | max 6 abs 6 | ? | | U2 | 18 | GND | ground | GND | 0 | | ok | | U2 | 19 | DIR | input | M1_DIR | 0..3.42 | max 3.72 abs 3.72 | ok | | U2 | 20 | STDBY | input | GND | 0 | max 3.72 abs 3.72 | ok | | U2 | 21 | OA2 | bus | MOT1_A2 | ? | | ok | | U2 | 22 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U2 | 23 | BRA | passive | SNSA1 | 0 | | ok | | U2 | 24 | OA1 | bus | MOT1_A1 | ? | | ok | | U2 | 25 | NC | nc | - | ? | | nc | | U2 | 26 | OB1 | bus | MOT1_B1 | ? | | ok | | U2 | 27 | BRB | passive | SNSB1 | 0 | | ok | | U2 | 28 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U2 | 29 | GND | ground | GND | 0 | | ok | | U3 | 1 | OB2 | bus | MOT2_B2 | ? | | ok | | U3 | 2 | ENN | input | DRV_EN | 0..3.42 | max 3.72 abs 3.72 | ok | | U3 | 3 | GND | ground | GND | 0 | | ok | | U3 | 4 | CPO | passive | CPO2 | ? | | ok | | U3 | 5 | CPI | passive | CPI2 | ? | | ok | | U3 | 6 | VCP | passive | VCP2 | ? | | ok | | U3 | 7 | SPREAD | input | GND | 0 | max 3.72 abs 3.72 | ok | | U3 | 8 | 5VOUT | supply_out | V5_2 | ? | | ok | | U3 | 9 | MS1_AD0 | input | +3V3 | 3.22..3.42 | max 3.92 abs 3.92 | ok | | U3 | 10 | MS2_AD1 | input | GND | 0 | max 3.72 abs 3.72 | ok | | U3 | 11 | DIAG | output | M2_DIAG | 0..3.42 | | ok | | U3 | 12 | INDEX | output | - | ? | | nc | | U3 | 13 | CLK | input | GND | 0 | max 3.72 abs 3.72 | ok | | U3 | 14 | PDN_UART | io | TMC_BUS | 0..3.42 | max 3.72 abs 3.72 | ok | | U3 | 15 | VCC_IO | supply | +3V3 | 3.22..3.42 | min 3 max 5.25 abs 5.5 | ok | | U3 | 16 | STEP | input | M2_STEP | 0..3.42 | max 3.72 abs 3.72 | ok | | U3 | 17 | VREF | analog | V5_2 | ? | max 6 abs 6 | ? | | U3 | 18 | GND | ground | GND | 0 | | ok | | U3 | 19 | DIR | input | M2_DIR | 0..3.42 | max 3.72 abs 3.72 | ok | | U3 | 20 | STDBY | input | GND | 0 | max 3.72 abs 3.72 | ok | | U3 | 21 | OA2 | bus | MOT2_A2 | ? | | ok | | U3 | 22 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U3 | 23 | BRA | passive | SNSA2 | 0 | | ok | | U3 | 24 | OA1 | bus | MOT2_A1 | ? | | ok | | U3 | 25 | NC | nc | - | ? | | nc | | U3 | 26 | OB1 | bus | MOT2_B1 | ? | | ok | | U3 | 27 | BRB | passive | SNSB2 | 0 | | ok | | U3 | 28 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U3 | 29 | GND | ground | GND | 0 | | ok | | U4 | 1 | OB2 | bus | MOT3_B2 | ? | | ok | | U4 | 2 | ENN | input | DRV_EN | 0..3.42 | max 3.72 abs 3.72 | ok | | U4 | 3 | GND | ground | GND | 0 | | ok | | U4 | 4 | CPO | passive | CPO3 | ? | | ok | | U4 | 5 | CPI | passive | CPI3 | ? | | ok | | U4 | 6 | VCP | passive | VCP3 | ? | | ok | | U4 | 7 | SPREAD | input | GND | 0 | max 3.72 abs 3.72 | ok | | U4 | 8 | 5VOUT | supply_out | V5_3 | ? | | ok | | U4 | 9 | MS1_AD0 | input | GND | 0 | max 3.72 abs 3.72 | ok | | U4 | 10 | MS2_AD1 | input | +3V3 | 3.22..3.42 | max 3.92 abs 3.92 | ok | | U4 | 11 | DIAG | output | M3_DIAG | 0..3.42 | | ok | | U4 | 12 | INDEX | output | - | ? | | nc | | U4 | 13 | CLK | input | GND | 0 | max 3.72 abs 3.72 | ok | | U4 | 14 | PDN_UART | io | TMC_BUS | 0..3.42 | max 3.72 abs 3.72 | ok | | U4 | 15 | VCC_IO | supply | +3V3 | 3.22..3.42 | min 3 max 5.25 abs 5.5 | ok | | U4 | 16 | STEP | input | M3_STEP | 0..3.42 | max 3.72 abs 3.72 | ok | | U4 | 17 | VREF | analog | V5_3 | ? | max 6 abs 6 | ? | | U4 | 18 | GND | ground | GND | 0 | | ok | | U4 | 19 | DIR | input | M3_DIR | 0..3.42 | max 3.72 abs 3.72 | ok | | U4 | 20 | STDBY | input | GND | 0 | max 3.72 abs 3.72 | ok | | U4 | 21 | OA2 | bus | MOT3_A2 | ? | | ok | | U4 | 22 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U4 | 23 | BRA | passive | SNSA3 | 0 | | ok | | U4 | 24 | OA1 | bus | MOT3_A1 | ? | | ok | | U4 | 25 | NC | nc | - | ? | | nc | | U4 | 26 | OB1 | bus | MOT3_B1 | ? | | ok | | U4 | 27 | BRB | passive | SNSB3 | 0 | | ok | | U4 | 28 | VS | supply | VMOT | 17.5..29 | min 5.5 max 29 abs 32 | ok | | U4 | 29 | GND | ground | GND | 0 | | ok | | U5 | 1 | BOOT | passive | BUCK_BOOT | ? | | ok | | U5 | 2 | VIN | supply | VIN_P | 17.5..32 | min 4.5 max 60 abs 65 | ok | | U5 | 3 | EN | input | BUCK_EN | 0..32 | max 8.4 abs 8.4 | ERROR | | U5 | 4 | RT/CLK | analog | BUCK_RT | 0 | abs 3.6 | ok | | U5 | 5 | FB | analog | BUCK_FB | 0..5.15 | abs 3 | ERROR | | U5 | 6 | COMP | passive | BUCK_COMP | ? | | ok | | U5 | 7 | GND | ground | GND | 0 | | ok | | U5 | 8 | SW | passive | BUCK_SW | 4.85..5.15 | | ok | | U5 | 9 | PAD | ground | GND | 0 | | ok | | U6 | 1 | EN | input | +5V | 4.85..5.15 | max 6 abs 6 | ok | | U6 | 2 | GND | ground | GND | 0 | | ok | | U6 | 3 | SW | passive | BUCK3_SW | 3.22..3.42 | | ok | | U6 | 4 | VIN | supply | +5V | 4.85..5.15 | min 2.5 max 5.5 abs 6 | ok | | U6 | 5 | FB | analog | BUCK3_FB | 0..3.42 | abs 5.5 | ok | | U7 | 1 | VIN | supply | +3V3 | 3.22..3.42 | min 2 max 6 abs 6.5 | ok | | U7 | 2 | VSS | ground | GND | 0 | | ok | | U7 | 3 | CE | input | +3V3 | 3.22..3.42 | max 3.72 abs 3.72 | ok | | U7 | 4 | NC | nc | - | ? | | nc | | U7 | 5 | VOUT | supply_out | +2V8 | 2.72..2.88 | | ok | | U8 | 1 | IN | supply | +3V3 | 3.22..3.42 | min 1.45 max 5.5 abs 6 | ok | | U8 | 2 | GND | ground | GND | 0 | | ok | | U8 | 3 | EN | input | +3V3 | 3.22..3.42 | max 5.5 abs 6 | ok | | U8 | 4 | NC | nc | - | ? | | nc | | U8 | 5 | OUT | supply_out | +1V5 | 1.46..1.54 | | ok | | U9 | 1 | TXD | input | CAN_TX | 0..3.42 | max 3.52 abs 6 | ok | | U9 | 2 | GND | ground | GND | 0 | | ok | | U9 | 3 | VCC | supply | +5V | 4.85..5.15 | min 4.5 max 5.5 abs 6 | ok | | U9 | 4 | RXD | output | CAN_RX | 0..3.42 | | ok | | U9 | 5 | VIO | supply | +3V3 | 3.22..3.42 | min 1.7 max 5.5 abs 6 | ok | | U9 | 6 | CANL | bus | CAN_L | ? | | ok | | U9 | 7 | CANH | bus | CAN_H | ? | | ok | | U9 | 8 | STB | input | CAN_STB | 0..3.42 | max 3.52 abs 6 | ok | | X1 | 1 | 1 | passive | HSE_IN | 0..3.42 | | ok | | X1 | 2 | GND | ground | GND | 0 | | ok | | X1 | 3 | 3 | passive | HSE_OUT | 0..3.42 | | ok | | X1 | 4 | GND | ground | GND | 0 | | ok | ## Spec sources - `boards/vision-pick-and-place-controller-delta/specs/SMBJ33A.yaml` (SMBJ33A): research/SMBJ33A.pdf (sha256 aadc6abfe651...), Bright King SMBJ series TVS (LCSC C78419): maximum ratings, SMBJ33A row - `boards/vision-pick-and-place-controller-delta/specs/BZT52C12.yaml` (BZT52C12): research/BZT52C12.pdf (sha256 fd5a910fc587...), Jiangsu Changjing BZT52C2V4-BZT52C43 (LCSC C43491): maximum ratings, electrical characteristics table - `boards/vision-pick-and-place-controller-delta/specs/BZT52C27.yaml` (BZT52C27): research/BZT52C27.pdf (sha256 08e6b35c1501...), microdiode BZT52C2V0-BZT52C75 (LCSC C173421): maximum ratings, electrical characteristics table - `boards/vision-pick-and-place-controller-delta/specs/BZT52C5V1.yaml` (BZT52C5V1): research/BZT52C5V1.pdf (sha256 fd5a910fc587...), Jiangsu Changjing BZT52C2V4-BZT52C43 (LCSC C2117): maximum ratings, electrical characteristics table - `boards/vision-pick-and-place-controller-delta/specs/SS36.yaml` (SS36): research/SS36.pdf (sha256 fb4970875779...), SS32-SS3200 3 A Schottky barrier rectifier (LCSC C16015, SMA): ratings table - `boards/vision-pick-and-place-controller-delta/specs/PESD2CAN.yaml` (PESD2CAN): research/PESD2CAN_215.pdf (sha256 7b4622a1d00f...), Nexperia PESD2CAN CAN bus ESD protection diode, Rev. 2 (LCSC C75176): pinning, limiting values - `boards/vision-pick-and-place-controller-delta/specs/BAT54S.yaml` (BAT54S): research/BAT54S_215.pdf (sha256 0baaac4f52b0...), Nexperia BAT54 series Schottky barrier diodes (LCSC C47546): pinning, limiting values - `boards/vision-pick-and-place-controller-delta/specs/KT-0603G.yaml` (KT-0603G): research/KT-0603G.pdf (sha256 770831ccd4b3...), Hubei KENTO KT-0603G spec for approval rev A.0 (LCSC C12624): Absolute Maximum Ratings, Electrical Optical Characteristics - `boards/vision-pick-and-place-controller-delta/specs/KT-0603R.yaml` (KT-0603R): research/KT-0603R.pdf (sha256 a3bac1cc9c59...), Hubei KENTO KT-0603R spec for approval rev A.0 (2018-12-06): 4. Absolute Maximum Ratings, 5. Electrical Optical Characteristics, 6.2 Vf bins - `boards/vision-pick-and-place-controller-delta/specs/776087-1.yaml` (776087-1): research/776087-1.pdf (sha256 b5f6a31f1064...), TE Connectivity 776087-1: header assembly, 23 position, right angle, AMPSEAL (customer drawing C-776087, 2 sheets: dimensions, recommended PC board layout for 1.57 mm board) - `boards/vision-pick-and-place-controller-delta/specs/FH12-24S-0.5SH.yaml` (FH12-24S-0.5SH): research/FH12-24S-0.5SH_55.pdf (sha256 9f056f58ff00...), Hirose FH12 series catalogue (LCSC C202112, FH12-24S-0.5SH): ratings - `boards/vision-pick-and-place-controller-delta/specs/FTSH-107-01-L-DV-K.yaml` (FTSH-107-01-L-DV-K): research/FTSH-107-01-L-DV-K.pdf (sha256 1160f0238b99...), Samtec FTSH series 1.27 mm header (LCSC C5307809, FTSH-107-01-L-DV-K) - `boards/vision-pick-and-place-controller-delta/specs/AO4421.yaml` (AO4421): research/AO4421.pdf (sha256 8ba23a9b5c52...), Alpha & Omega AO4421 datasheet (LCSC C33484): features, absolute maximum ratings, electrical characteristics - `boards/vision-pick-and-place-controller-delta/specs/IRLML0060TRPBF.yaml` (IRLML0060TRPBF): research/IRLML0060TRPBF.pdf (sha256 1ae7289b2b3c...), Infineon IRLML0060TRPbF datasheet (LCSC C67274): absolute maximum ratings, static electrical characteristics - `boards/vision-pick-and-place-controller-delta/specs/MMBT3904.yaml` (MMBT3904): research/MMBT3904_RANGE_100-300.pdf (sha256 6c2034cb0bd0...), Jiangsu Changjing MMBT3904 datasheet (LCSC C20526): maximum ratings, electrical characteristics - `boards/vision-pick-and-place-controller-delta/specs/STM32H743VIT6.yaml` (STM32H743VIT6): research/STM32H743VIT6.pdf (sha256 9c74d2015445...), ST DS12110 Rev 7 STM32H742xI/G STM32H743xI/G (LCSC C114409): Table 9 pin/ball definition (LQFP100 column), Tables 10-19 alternate functions, absolute maximum ratings, operating conditions, VCAP - `boards/vision-pick-and-place-controller-delta/specs/TMC2209-LA.yaml` (TMC2209-LA): research/TMC2209-LA-T.pdf (sha256 db470428897c...), Trinamic TMC2209 datasheet Rev 1.03 (2019-JUN-26; LCSC C2150710): 2.2 Signal Descriptions, 19 Absolute Maximum Ratings, 20.1 Operational Range, 20.3 Thermal Characteristics - `boards/vision-pick-and-place-controller-delta/specs/TPS54560BDDAR.yaml` (TPS54560BDDAR): research/TPS54560BDDAR.pdf (sha256 0bf494b8b5bd...), TI TPS54560B datasheet (ZHCSJB3, Jan 2019, LCSC C1850354): pin functions, absolute maximum, recommended operating conditions, thermal information, 5 V design example - `boards/vision-pick-and-place-controller-delta/specs/TLV62569DBVR.yaml` (TLV62569DBVR): research/TLV62569DBVR.pdf (sha256 a2a1ca02355d...), TI TLV62569 / TLV62569P datasheet (SLVSDG1C, Oct 2017; LCSC C141836): pin functions, absolute maximum, recommended operating conditions, thermal information, application - `boards/vision-pick-and-place-controller-delta/specs/ME6211C28M5G-N.yaml` (ME6211C28M5G-N): research/ME6211C28M5G-N.pdf (sha256 1d8126fbc091...), Microne ME6211 series datasheet Ver07 (Chinese; LCSC C53099, ME6211C28M5G-N): pin assignment (SOT-23-5), limit parameters - `boards/vision-pick-and-place-controller-delta/specs/TLV75515PDBVR.yaml` (TLV75515PDBVR): research/TLV75515PDBVR.pdf (sha256 56edc23c4774...), TI TLV755P datasheet (ZHCSI89A, May 2018; LCSC C2867152, TLV75515P 1.5 V): pin functions, absolute maximum, recommended operating conditions, thermal information - `boards/vision-pick-and-place-controller-delta/specs/TCAN1044VDRQ1.yaml` (TCAN1044VDRQ1): research/TCAN1044VDRQ1.pdf (sha256 77637416f54d...), TI TCAN1044-Q1 family datasheet (LCSC C1852061): pin functions, absolute maximum, recommended operating conditions - `boards/vision-pick-and-place-controller-delta/specs/ABM8-25.000MHZ.yaml` (ABM8-25.000MHZ): research/ABM8-25.000MHZ-B2-T.pdf (sha256 564ac331d8bf...), Abracon ABM8 ceramic SMD crystal (LCSC C596899 / C6457999): standard specifications