# 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:** chinto - **Created:** 8/3/2026 - **Last Updated:** 8/3/2026 - **Visibility:** Public ## Key Components ### D1 — [SMBJ33CA-13-F](https://www.flux.ai/lcsc/smbj33ca-13-f~jb2j.md) - Role Details: SMBJ33CA bidirectional input TVS for 12 V supply transients - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_Diodes-Incorporated-SMBJ33CA-13-F_C135068.pdf - Manufacturer Name: DIODES(美台) - Manufacturer Part Number: SMBJ33CA-13-F - JLCPCB Part Class: Extended Part - Role: TVS Protection - LCSC Part Number: C135068 - Product Info Url: https://lcsc.com/product-detail/TVS_DIODES_SMBJ33CA-13-F_SMBJ33CA-13-F_C135068.html - Package or Case Code: SMB_L4.6-W3.6-LS5.3-BI - Part Type: TVS **Pins:** - 1 [pin 1] - 2 [pin 2] ### D2 — [SMBJ24CA-13-F](https://www.flux.ai/lcsc/smbj24ca-13-f~r7ti.md) - Package or Case Code: SMB_L4.6-W3.6-LS5.3-BI - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_Diodes-Incorporated-SMBJ24CA-13-F_C135061.pdf - Role Details: SMBJ24CA bidirectional TVS across motor output for inductive transient suppression - LCSC Part Number: C135061 - Role: TVS Protection - Manufacturer Name: DIODES(美台) - JLCPCB Part Class: Extended Part - Manufacturer Part Number: SMBJ24CA-13-F - Part Type: TVS - Product Info Url: https://lcsc.com/product-detail/TVS_DIODES_SMBJ24CA-13-F_SMBJ24CA-13-F_C135061.html **Pins:** - 1 [pin 1] - 2 [pin 2] ### D3 — [PESD3V3L4UG](https://www.flux.ai/kicad-part-library/pesd3v3l4ug~7u.md) - Role: ESD Protection - Manufacturer Part Number: PESD3V3L4UG - Role Details: 3.3 V low-capacitance 4-channel ESD diode array for encoder A/B/Z and AUX line - Datasheet URL: https://assets.nexperia.com/documents/data-sheet/PESDXL4UF_G_W.pdf - Manufacturer Name: Texas Instruments Inc. - Package or Case Code: SOT-353_SC-70-5 **Pins:** - A [pin 2] - K1 [pin 1] - K2 [pin 3] - K3 [pin 4] - K4 [pin 5] ### F1 — [BSMD1812-300-12V](https://www.flux.ai/adrian95/bsmd1812-300-12v~dqd.md) - Role Details: 12 V 3 A resettable PTC in input path; sized above 2 A motor continuous plus logic overhead - Datasheet URL: https://www.lcsc.com/datasheet/C5373999.pdf - Manufacturer Part Number: BSMD1812-300-12V - Role: Fuse - Part Type: Protection - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: BHFUSE - LCSC Part Number: C5373999 **Pins:** - P1 [pin 1] - P2 [pin 2] ### J1 — [XY301V-A-5.0-2P](https://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - 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 - Role: Power Input Connector - 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://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - Role: Motor Output Connector - 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 - Part Type: Connector - Manufacturer Name: Ningbo Xinlaiya Elec. **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J3 — [61300611121](https://www.flux.ai/adrian95/61300611121~sqm.md) - Role: Encoder Connector - Manufacturer Part Number: 61300611121 - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: 6-pin 2.54 mm header for 3.3 V, GND, encoder A/B/Z, and AUX/SHIELD - Part Type: Connector - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300611121.pdf - 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://www.flux.ai/cherepanyadima/ftsh-103-01-l-dv~u9.md) - Part Type: Connector - Datasheet URL: https://suddendocs.samtec.com/catalog_english/ftsh_smt.pdf - Role: Debug Connector - 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 **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://www.flux.ai/adrian95/tsw-104-07-g-s~983.md) - Datasheet URL: http://suddendocs.samtec.com/prints/tsw-xxx-xx-xxx-x-xx-xxx-mkt.pdf - Manufacturer Name: Samtec Inc. - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: TSW10407GS - Role Details: 1x4 2.54 mm header for 3V3, GND, UART_TX, UART_RX control interface - Role: Control Connector - Manufacturer Part Number: TSW-104-07-G-S - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] ### LED1 — [150060VS55040](https://www.flux.ai/adrian95/150060vs55040~c2q.md) - Role: Status Indicator - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060VS55040.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 150060VS55040 - Role Details: Green LED for 3.3 V power indicator - Part Type: LED - Manufacturer Name: Würth Elektronik **Pins:** - A [pin 2] - K [pin 1] ### LED2 — [150060VS55040](https://www.flux.ai/adrian95/150060vs55040~c2q.md) - Manufacturer Name: Würth Elektronik - Role: Status Indicator - Part Type: LED - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060VS55040.pdf - Role Details: Green LED driven by MCU for motor fault/status indication - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 150060VS55040 **Pins:** - A [pin 2] - K [pin 1] ### LED3 — [150060VS55040](https://www.flux.ai/adrian95/150060vs55040~c2q.md) - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060VS55040.pdf - Role Details: Green LED driven by MCU for heartbeat/activity - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 150060VS55040 - Part Type: LED - Role: Status Indicator - Manufacturer Name: Würth Elektronik **Pins:** - A [pin 2] - K [pin 1] ### Q1 — [DMT6008LFG](https://www.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 - Package or Case Code: Diodes_PowerDI3333-8 - Datasheet URL: https://www.diodes.com/assets/Datasheets/DMT6008LFG.pdf - Role: Reverse Protection FET **Pins:** - D [pin 5] - G [pin 4] - S [pin 3] - S [pin 1] - S [pin 2] ### SW1 — [KMR231NGLFS](https://www.flux.ai/jecstronic/kmr231nglfs~8md.md) - Datasheet URL: https://www.snapeda.com/parts/KMR231NGLFS/C&K/datasheet/ - Manufacturer Part Number: KMR231NGLFS - Role Details: Normally-open tactile switch pulls NRST low for manual reset - Manufacturer Name: C&K - Role: Reset Switch - Part Type: Switch - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - ~ [pin 2] - ~ [pin 1] - ~ [pin 4] - ~ [pin 3] ### U1 — [STM32G431CBT6](https://www.flux.ai/lcsc/stm32g431cbt6~isqc.md) - Frequency: 170MHz - LCSC Part Number: C529355 - Operating Temperature: -40 ~ 85°C - Manufacturer Name: ST(意法半导体) - Role: Microcontroller - Manufacturer Part Number: STM32G431CBT6 - Role Details: STM32G431 closed-loop motor-control MCU with PWM, encoder timer, ADC, UART, SWD - Datasheet URL: https://www.lcsc.com/datasheet/lcsc_datasheet_2304140030_STMicroelectronics-STM32G431CBT6_C529355.pdf - Operating Voltage: 1.71 - 3.6V - Part Type: ST Microelectronics - IC Type: Microcontroller - Package or Case Code: LQFP-48_L7.0-W7.0-P0.50-LS9.0-BL - JLCPCB Part Class: Extended Part - Product Info Url: https://lcsc.com/product-detail/ST-Microelectronics_STMicroelectronics-STM32G431CBT6_C529355.html **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://www.flux.ai/adrian95/mc33926pnb~9bo.md) - Manufacturer Name: NXP USA Inc. - License: https://creativecommons.org/licenses/by/4.0/ - Role: Motor Driver - Manufacturer Part Number: MC33926PNB - Part Type: Integrated Circuit - Role Details: NXP MC33926 H-bridge, 5-28 V VPWR, fault output, current mirror feedback, protection - Datasheet URL: https://www.nxp.com/docs/en/data-sheet/MC33926.pdf **Pins:** - ~D2~ [pin 16] - ~SF~ [pin 21] - AGND [pin 5] - AGND [pin 33] - CCP [pin 32] - D1 [pin 26] - EN [pin 10] - FB [pin 8] - IN1 [pin 2] - IN2 [pin 1] - INV [pin 7] - NC [pin 9] - NC [pin 17] - NC [pin 25] - OUT1 [pin 14] - OUT1 [pin 15] - OUT1 [pin 13] - OUT1 [pin 12] - OUT2 [pin 29] - OUT2 [pin 28] - OUT2 [pin 30] - OUT2 [pin 27] - PGND [pin 23] - PGND [pin 20] - PGND [pin 18] - PGND [pin 24] - PGND [pin 19] - PGND [pin 22] - SLEW [pin 3] - VPWR [pin 31] - VPWR [pin 11] - VPWR [pin 4] - VPWR [pin 6] ### U3 — [LMR33630-Q1](https://www.flux.ai/adrian95/lmr33630-q1.md) - Role: Buck Regulator - Package or Case Code: VQFN-HR (RNX) | 12, RNX0012B, 3 x 2 x 0.85 mm - Manufacturer Part Number: LMR33630AQRNXRQ1 - Manufacturer Name: Texas Instruments - Symbol Style: parametric-v1 - Datasheet URL: https://www.ti.com/lit/gpn/lmr33630-q1 - Role Details: 3.3 V synchronous buck from VM_PROT using datasheet 400 kHz component set - Part Type: DC-DC Converters **Pins:** - AGND [pin 6] - BST [pin 4] - EN [pin 9] - FB [pin 7] - NC [pin 3] - PG [pin 8] - PGND [pin 1] - PGND [pin 11] - SW [pin 12] - VCC [pin 5] - VIN [pin 2] - VIN [pin 10] ### U4 — [INA240A1D](https://www.flux.ai/kicad-part-library/ina240a1d~wc.md) - Package or Case Code: SOIC-8_3.9x4.9mm_P1.27mm - Manufacturer Name: Texas Instruments Inc. - Manufacturer Part Number: INA240A1D - Datasheet URL: http://www.ti.com/lit/ds/symlink/ina240.pdf - Role: Current Sense Amplifier - Role Details: 20 V/V INA240 inline motor current sense, midscale biased for bidirectional current **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://www.flux.ai/adrian95/lm74700qddfrq1~2rv.md) - Package or Case Code: SOT65P280X110-8N - Symbol Style: parametric-v1 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Protection Controller - 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 - Part Type: Integrated Circuit - Manufacturer Name: Texas Instruments - Role Details: LM74700-Q1 drives external N-MOSFET for low-loss reverse polarity protection - Manufacturer Part Number: LM74700QDDFRQ1 **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://www.flux.ai/jecstronic/sn74lvc3g17dcur~ghb.md) - Role Details: 3-channel Schmitt buffer for encoder A/B/Z, 3.3 V powered with 5.5 V tolerant inputs - Role: Signal Conditioning - Manufacturer Name: Texas Instruments - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.ti.com/lit/ds/symlink/sn74lvc3g17.pdf - Manufacturer Part Number: SN74LVC3G17DCUR - Part Type: Integrated Circuit **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://www.flux.ai/chinto/closed-loop-dc-motor-controller~pa](https://www.flux.ai/chinto/closed-loop-dc-motor-controller~pa).* --- *Generated from [https://www.flux.ai/chinto/closed-loop-dc-motor-controller~pa](https://www.flux.ai/chinto/closed-loop-dc-motor-controller~pa)*