# Closed\-Loop DC Motor Controller

## Description

Robotics\-ready closed\-loop brushed DC motor controller with bidirectional 2 A H\-bridge drive, quadrature encoder feedback, current sensing, protection, MCU control, debug access, and status indicators\.

## Project Details

- **Owner:** aulavirtual
- **Created:** 9/14/2026
- **Last Updated:** 9/14/2026
- **Visibility:** Public

## Key Components

### D1 — [SMBJ33CA\-13\-F](https://flux.ai/lcsc/smbj33ca-13-f~jb2j.md)

- Role Details: SMBJ33CA bidirectional input TVS for 12 V supply transients
- JLCPCB Part Class: Extended Part
- Manufacturer Name: DIODES\(美台\)
- Datasheet URL: https://storage\.googleapis\.com/graviton\-electric\-symbols/document\_assets/lcsc/2304140030\_Diodes\-Incorporated\-SMBJ33CA\-13\-F\_C135068\.pdf
- Package or Case Code: SMB\_L4\.6\-W3\.6\-LS5\.3\-BI
- Manufacturer Part Number: SMBJ33CA\-13\-F
- Product Info Url: https://lcsc\.com/product\-detail/TVS\_DIODES\_SMBJ33CA\-13\-F\_SMBJ33CA\-13\-F\_C135068\.html
- Role: TVS Protection
- LCSC Part Number: C135068
- Part Type: TVS

**Pins:**
- 1 [pin 1]
- 2 [pin 2]

### D2 — [SMBJ24CA\-13\-F](https://flux.ai/lcsc/smbj24ca-13-f~r7ti.md)

- Manufacturer Part Number: SMBJ24CA\-13\-F
- Part Type: TVS
- Datasheet URL: https://storage\.googleapis\.com/graviton\-electric\-symbols/document\_assets/lcsc/2304140030\_Diodes\-Incorporated\-SMBJ24CA\-13\-F\_C135061\.pdf
- Manufacturer Name: DIODES\(美台\)
- Role: TVS Protection
- Package or Case Code: SMB\_L4\.6\-W3\.6\-LS5\.3\-BI
- LCSC Part Number: C135061
- Product Info Url: https://lcsc\.com/product\-detail/TVS\_DIODES\_SMBJ24CA\-13\-F\_SMBJ24CA\-13\-F\_C135061\.html
- Role Details: SMBJ24CA bidirectional TVS across motor output for inductive transient suppression
- JLCPCB Part Class: Extended Part

**Pins:**
- 1 [pin 1]
- 2 [pin 2]

### D3 — [PESD3V3L4UG](https://flux.ai/kicad-part-library/pesd3v3l4ug~7u.md)

- Role: ESD Protection
- Package or Case Code: SOT\-353\_SC\-70\-5
- Role Details: 3\.3 V low\-capacitance 4\-channel ESD diode array for encoder A/B/Z and AUX line
- Manufacturer Name: Texas Instruments Inc\.
- Manufacturer Part Number: PESD3V3L4UG
- Datasheet URL: https://assets\.nexperia\.com/documents/data\-sheet/PESDXL4UF\_G\_W\.pdf

**Pins:**
- A [pin 2]
- K1 [pin 1]
- K2 [pin 3]
- K3 [pin 4]
- K4 [pin 5]

### F1 — [BSMD1812\-300\-12V](https://flux.ai/adrian95/bsmd1812-300-12v~dqd.md)

- Role: Fuse
- LCSC Part Number: C5373999
- Manufacturer Name: BHFUSE
- Manufacturer Part Number: BSMD1812\-300\-12V
- Datasheet URL: https://www\.lcsc\.com/datasheet/C5373999\.pdf
- License: https://creativecommons\.org/licenses/by/4\.0/
- Part Type: Protection
- Role Details: 12 V 3 A resettable PTC in input path; sized above 2 A motor continuous plus logic overhead

**Pins:**
- P1 [pin 1]
- P2 [pin 2]

### J1 — [XY301V\-A\-5\.0\-2P](https://flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md)

- Role: Power Input Connector
- Part Type: Connector
- Manufacturer Name: Ningbo Xinlaiya Elec\.
- Datasheet URL: https://www\.lcsc\.com/datasheet/C557651\.pdf?spm=wm\.sxq\.inf\.ggs&lcsc\_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D
- Manufacturer Part Number: XY301V\-A\-5\.0\-2P
- Role Details: 2\-pin 5\.0 mm screw terminal, 15 A / 300 V rating, used for DC input

**Pins:**
- PIN1 [pin 1]
- PIN2 [pin 2]

### J2 — [XY301V\-A\-5\.0\-2P](https://flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md)

- Role: Motor Output Connector
- Part Type: Connector
- Manufacturer Name: Ningbo Xinlaiya Elec\.
- Datasheet URL: https://www\.lcsc\.com/datasheet/C557651\.pdf?spm=wm\.sxq\.inf\.ggs&lcsc\_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D
- Manufacturer Part Number: XY301V\-A\-5\.0\-2P
- Role Details: 2\-pin 5\.0 mm screw terminal, 15 A / 300 V rating, used for bidirectional motor output

**Pins:**
- PIN1 [pin 1]
- PIN2 [pin 2]

### J3 — [61300611121](https://flux.ai/adrian95/61300611121~sqm.md)

- License: https://creativecommons\.org/licenses/by/4\.0/
- Manufacturer Part Number: 61300611121
- Part Type: Connector
- Role Details: 6\-pin 2\.54 mm header for 3\.3 V, GND, encoder A/B/Z, and AUX/SHIELD
- Datasheet URL: https://www\.we\-online\.com/components/products/datasheet/61300611121\.pdf
- Role: Encoder Connector
- Manufacturer Name: Wurth Elektronik

**Pins:**
- 1 [pin 1]
- 2 [pin 2]
- 3 [pin 3]
- 4 [pin 4]
- 5 [pin 5]
- 6 [pin 6]

### J4 — [FTSH\-103\-01\-L\-DV](https://flux.ai/cherepanyadima/ftsh-103-01-l-dv~u9.md)

- Role Details: 2x3 1\.27 mm SWD header for 3V3, SWDIO, SWCLK, NRST, GND, SWO
- Manufacturer Name: Samtec
- Manufacturer Part Number: FTSH\-103\-01\-L\-DV
- Datasheet URL: https://suddendocs\.samtec\.com/catalog\_english/ftsh\_smt\.pdf
- Role: Debug Connector
- Part Type: Connector

**Pins:**
- 01 [pin 01]
- 02 [pin 02]
- 03 [pin 03]
- 04 [pin 04]
- 05 [pin 05]
- 06 [pin 06]

### J5 — [TSW\-104\-07\-G\-S](https://flux.ai/adrian95/tsw-104-07-g-s~983.md)

- Role Details: 1x4 2\.54 mm header for 3V3, GND, UART\_TX, UART\_RX control interface
- Manufacturer Part Number: TSW\-104\-07\-G\-S
- Datasheet URL: http://suddendocs\.samtec\.com/prints/tsw\-xxx\-xx\-xxx\-x\-xx\-xxx\-mkt\.pdf
- Manufacturer Name: Samtec Inc\.
- Package or Case Code: TSW10407GS
- Role: Control Connector
- License: https://creativecommons\.org/licenses/by/4\.0/
- Part Type: Connector

**Pins:**
- 1 [pin 1]
- 2 [pin 2]
- 3 [pin 3]
- 4 [pin 4]

### LED1 — [150060VS55040](https://flux.ai/adrian95/150060vs55040~c2q.md)

- Role: Status Indicator
- Part Type: LED
- Datasheet URL: https://www\.we\-online\.com/components/products/datasheet/150060VS55040\.pdf
- Manufacturer Part Number: 150060VS55040
- Manufacturer Name: Würth Elektronik
- Role Details: Green LED for 3\.3 V power indicator
- License: https://creativecommons\.org/licenses/by/4\.0/

**Pins:**
- A [pin 2]
- K [pin 1]

### LED2 — [150060VS55040](https://flux.ai/adrian95/150060vs55040~c2q.md)

- Role Details: Green LED driven by MCU for motor fault/status indication
- Part Type: LED
- Datasheet URL: https://www\.we\-online\.com/components/products/datasheet/150060VS55040\.pdf
- Manufacturer Part Number: 150060VS55040
- Manufacturer Name: Würth Elektronik
- Role: Status Indicator
- License: https://creativecommons\.org/licenses/by/4\.0/

**Pins:**
- A [pin 2]
- K [pin 1]

### LED3 — [150060VS55040](https://flux.ai/adrian95/150060vs55040~c2q.md)

- Role Details: Green LED driven by MCU for heartbeat/activity
- Part Type: LED
- Datasheet URL: https://www\.we\-online\.com/components/products/datasheet/150060VS55040\.pdf
- Manufacturer Part Number: 150060VS55040
- Manufacturer Name: Würth Elektronik
- Role: Status Indicator
- License: https://creativecommons\.org/licenses/by/4\.0/

**Pins:**
- A [pin 2]
- K [pin 1]

### Q1 — [DMT6008LFG](https://flux.ai/kicad-part-library/dmt6008lfg~qw.md)

- Role Details: 60 V low\-RDS\(on\) MOSFET in protected input path; sized for 3 A nominal protection stage
- Manufacturer Part Number: DMT6008LFG
- Role: Reverse Protection FET
- Datasheet URL: https://www\.diodes\.com/assets/Datasheets/DMT6008LFG\.pdf
- Package or Case Code: Diodes\_PowerDI3333\-8

**Pins:**
- D [pin 5]
- G [pin 4]
- S [pin 3]
- S [pin 1]
- S [pin 2]

### SW1 — [KMR231NGLFS](https://flux.ai/jecstronic/kmr231nglfs~8md.md)

- Role: Reset Switch
- Datasheet URL: https://www\.snapeda\.com/parts/KMR231NGLFS/C&K/datasheet/
- Role Details: Normally\-open tactile switch pulls NRST low for manual reset
- Part Type: Switch
- License: https://creativecommons\.org/licenses/by/4\.0/
- Manufacturer Name: C&K
- Manufacturer Part Number: KMR231NGLFS

**Pins:**
- \~ [pin 2]
- \~ [pin 1]
- \~ [pin 4]
- \~ [pin 3]

### U1 — [STM32G431CBT6](https://flux.ai/lcsc/stm32g431cbt6~isqc.md)

- Role Details: STM32G431 closed\-loop motor\-control MCU with PWM, encoder timer, ADC, UART, SWD
- Role: Microcontroller
- Package or Case Code: LQFP\-48\_L7\.0\-W7\.0\-P0\.50\-LS9\.0\-BL
- Manufacturer Part Number: STM32G431CBT6
- Product Info Url: https://lcsc\.com/product\-detail/ST\-Microelectronics\_STMicroelectronics\-STM32G431CBT6\_C529355\.html
- Manufacturer Name: ST\(意法半导体\)
- IC Type: Microcontroller
- JLCPCB Part Class: Extended Part
- Operating Voltage: 1\.71 \- 3\.6V
- Operating Temperature: \-40 \~ 85°C
- Frequency: 170MHz
- Datasheet URL: https://www\.lcsc\.com/datasheet/lcsc\_datasheet\_2304140030\_STMicroelectronics\-STM32G431CBT6\_C529355\.pdf
- Part Type: ST Microelectronics
- LCSC Part Number: C529355

**Pins:**
- PA0 [pin 8]
- PA1 [pin 9]
- PA10 [pin 32]
- PA11 [pin 33]
- PA12 [pin 34]
- PA13 [pin 37]
- PA14 [pin 38]
- PA15 [pin 39]
- PA2 [pin 10]
- PA3 [pin 11]
- PA4 [pin 12]
- PA5 [pin 13]
- PA6 [pin 14]
- PA7 [pin 15]
- PA8 [pin 30]
- PA9 [pin 31]
- PB0 [pin 16]
- PB1 [pin 17]
- PB10 [pin 22]
- PB11 [pin 25]
- PB12 [pin 26]
- PB13 [pin 27]
- PB14 [pin 28]
- PB15 [pin 29]
- PB2 [pin 18]
- PB3 [pin 40]
- PB4 [pin 41]
- PB5 [pin 42]
- PB6 [pin 43]
- PB7 [pin 44]
- PB8\-BOOT0 [pin 45]
- PB9 [pin 46]
- PC13 [pin 2]
- PC14\-OSC32\_IN [pin 3]
- PC15\-OSC32\_OUT [pin 4]
- PF0\-OSC\_IN [pin 5]
- PF1\-OSC\_OUT [pin 6]
- PG10\-NRST [pin 7]
- VBAT [pin 1]
- VDD [pin 36]
- VDD [pin 24]
- VDD [pin 48]
- VDDA [pin 21]
- VREF\+ [pin 20]
- VSS [pin 23]
- VSS [pin 47]
- VSS [pin 35]
- VSSA [pin 19]

### U2 — [MC33926PNB](https://flux.ai/adrian95/mc33926pnb~9bo.md)

- Manufacturer Name: NXP USA Inc\.
- Role Details: NXP MC33926 H\-bridge, 5\-28 V VPWR, fault output, current mirror feedback, protection
- Manufacturer Part Number: MC33926PNB
- Datasheet URL: https://www\.nxp\.com/docs/en/data\-sheet/MC33926\.pdf
- License: https://creativecommons\.org/licenses/by/4\.0/
- Part Type: Integrated Circuit
- Role: Motor Driver

**Pins:**
- \~D2\~ [pin 16]
- \~SF\~ [pin 21]
- AGND [pin 33]
- AGND [pin 5]
- CCP [pin 32]
- D1 [pin 26]
- EN [pin 10]
- FB [pin 8]
- IN1 [pin 2]
- IN2 [pin 1]
- INV [pin 7]
- NC [pin 17]
- NC [pin 9]
- NC [pin 25]
- OUT1 [pin 12]
- OUT1 [pin 14]
- OUT1 [pin 15]
- OUT1 [pin 13]
- OUT2 [pin 29]
- OUT2 [pin 28]
- OUT2 [pin 30]
- OUT2 [pin 27]
- PGND [pin 19]
- PGND [pin 22]
- PGND [pin 24]
- PGND [pin 18]
- PGND [pin 20]
- PGND [pin 23]
- SLEW [pin 3]
- VPWR [pin 31]
- VPWR [pin 6]
- VPWR [pin 11]
- VPWR [pin 4]

### U3 — [LMR33630BDDAR](https://flux.ai/lcsc/lmr33630bddar~o51d.md)

- JLCPCB Part Class: Extended Part
- Manufacturer Part Number: LMR33630BDDAR
- Role: Power Conversion
- Manufacturer Name: TI\(德州仪器\)
- LCSC Part Number: C544370
- Part Type: DC\-DC Converters
- Package or Case Code: SOIC\-8\_L4\.9\-W3\.9\-P1\.27\-LS6\.0\-BL\-EP2\.8\-1
- Role Details: 3\.3 V synchronous buck from VM\_PROT using datasheet 400 kHz component set; HSOIC/DDA package
- Datasheet URL: https://www\.ti\.com/lit/ds/symlink/lmr33630\.pdf

**Pins:**
- BOOT [pin 7]
- EN [pin 3]
- EP [pin 9]
- FB [pin 5]
- PG [pin 4]
- PGND [pin 1]
- SW [pin 8]
- VCC [pin 6]
- VIN [pin 2]

### U4 — [INA240A1D](https://flux.ai/kicad-part-library/ina240a1d~wc.md)

- Manufacturer Name: Texas Instruments Inc\.
- Role: Current Sense Amplifier
- Datasheet URL: http://www\.ti\.com/lit/ds/symlink/ina240\.pdf
- Role Details: 20 V/V INA240 inline motor current sense, midscale biased for bidirectional current
- Package or Case Code: SOIC\-8\_3\.9x4\.9mm\_P1\.27mm
- Manufacturer Part Number: INA240A1D

**Pins:**
- \- [pin 1]
- \+ [pin 8]
- \~ [pin 5]
- GND [pin 2]
- GND [pin 4]
- REF1 [pin 7]
- REF2 [pin 3]
- V\+ [pin 6]

### U5 — [LM74700QDDFRQ1](https://flux.ai/adrian95/lm74700qddfrq1~2rv.md)

- Role: Protection Controller
- License: https://creativecommons\.org/licenses/by/4\.0/
- Role Details: LM74700\-Q1 drives external N\-MOSFET for low\-loss reverse polarity protection
- Symbol Style: parametric\-v1
- Datasheet URL: https://www\.ti\.com/lit/ds/symlink/lm74700\-q1\.pdf?ts=1609880384188&ref\_url=https%253A%252F%252Fwww\.ti\.com%252Fstore%252Fti%252Fen%252Fp%252Fproduct%252F%253Fp%253DLM74700QDBVRQ1%2526HQS%253DOCB\-tistore\-invf\-storeinv\-invf\-store\-findchips\-wwe
- Manufacturer Name: Texas Instruments
- Part Type: Integrated Circuit
- Manufacturer Part Number: LM74700QDDFRQ1
- Package or Case Code: SOT65P280X110\-8N

**Pins:**
- ANODE [pin 5]
- CATHODE [pin 8]
- EN [pin 1]
- GATE [pin 6]
- GND [pin 2]
- N\.C\_1 [pin 3]
- N\.C\_2 [pin 7]
- VCAP [pin 4]

### U6 — [SN74LVC3G17DCUR](https://flux.ai/jecstronic/sn74lvc3g17dcur~ghb.md)

- Part Type: Integrated Circuit
- Role: Signal Conditioning
- Manufacturer Name: Texas Instruments
- Manufacturer Part Number: SN74LVC3G17DCUR
- Role Details: 3\-channel Schmitt buffer for encoder A/B/Z, 3\.3 V powered with 5\.5 V tolerant inputs
- Datasheet URL: https://www\.ti\.com/lit/ds/symlink/sn74lvc3g17\.pdf
- License: https://creativecommons\.org/licenses/by/4\.0/

**Pins:**
- 1A [pin 1]
- 1Y [pin 7]
- 2A [pin 3]
- 2Y [pin 5]
- 3A [pin 6]
- 3Y [pin 2]
- GND [pin 4]
- VCC [pin 8]

*The full schematic, PCB layout, bill of materials, and interactive design are available at [https://flux\.ai/aulavirtual/closed\-loop\-dc\-motor\-controller\~5v](https://flux.ai/aulavirtual/closed-loop-dc-motor-controller~5v).*

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*Generated from [https://flux\.ai/aulavirtual/closed\-loop\-dc\-motor\-controller\~5v](https://flux.ai/aulavirtual/closed-loop-dc-motor-controller~5v)*