# Dual PCA9685 Servo Controller ## Description Compact 4-layer dual PCA9685 servo controller with Raspberry Pi 5 and STM32 Nucleo interfaces ## Project Details - **Owner:** deff4rk44 - **Created:** 5/7/2026 - **Last Updated:** 5/21/2026 - **Visibility:** Public ## Key Components ### J1 — [D2540-6002-AR](https://www.flux.ai/adrian95/d2540-6002-ar~sw.md) - Part Type: Connector - Connector Rows: 2 - Connector Gender: Male - Connector Type: Headers and Wire Housings - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: D2540-6002-AR - Connector Positions: 40 - Connector Pitch: 2.54mm - Role Details: Raspberry Pi 5 GPIO header: 3.3V reference, SDA, SCL, and GND - Datasheet URL: http://multimedia.3m.com/mws/media/485877O/3m-four-wall-header-d2500-series-ts-2244.pdf - Role: Connector - Package or Case Code: SHDR40W64P254_2X20_5812X859X991P - Manufacturer Name: 3M **Pins:** - 1 [pin 1] - 10 [pin 10] - 11 [pin 11] - 12 [pin 12] - 13 [pin 13] - 14 [pin 14] - 15 [pin 15] - 16 [pin 16] - 17 [pin 17] - 18 [pin 18] - 19 [pin 19] - 2 [pin 2] - 20 [pin 20] - 21 [pin 21] - 22 [pin 22] - 23 [pin 23] - 24 [pin 24] - 25 [pin 25] - 26 [pin 26] - 27 [pin 27] - 28 [pin 28] - 29 [pin 29] - 3 [pin 3] - 30 [pin 30] - 31 [pin 31] - 32 [pin 32] - 33 [pin 33] - 34 [pin 34] - 35 [pin 35] - 36 [pin 36] - 37 [pin 37] - 38 [pin 38] - 39 [pin 39] - 4 [pin 4] - 40 [pin 40] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] ### J2 — [Pin Header 02x08 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-02x08-254mm-vertical~7de.md) - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role: Connector - Role Details: STM32 Nucleo header pins: 5V, GND, PB8/D15 SCL, PB9/D14 SDA, PC7/D9 OE, PA0/A0 VSense **Pins:** - Pin_1 [pin 1] - Pin_10 [pin 10] - Pin_11 [pin 11] - Pin_12 [pin 12] - Pin_13 [pin 13] - Pin_14 [pin 14] - Pin_15 [pin 15] - Pin_16 [pin 16] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J20 — [1730405](https://www.flux.ai/adrian95/1730405.md) - Manufacturer Part Number: 1730405 - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.phoenixcontact.com/en-us/products/printed-circuit-board-terminal-mkds-25-3-508-1730405?type=pdf - Manufacturer Name: Phoenix Contact - Role: Power Connector - Part Type: Connector - Role Details: Phoenix 5.08mm 3-position terminal used for 6.0V 20A servo rail and GND; two adjacent positions may be used for the high-current pair **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] ### J21 — [691137710002](https://www.flux.ai/adrian95/691137710002~c39.md) - Datasheet URL: https://www.we-online.com/katalog/datasheet/691137710002.pdf - Role Details: Logic DC input for PS1; select upstream supply compatible with chosen DC-DC module input range - Manufacturer Name: Würth Elektronik - Part Type: Connector - Role: Power Connector - Manufacturer Part Number: 691137710002 - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 1 [pin 1] - 2 [pin 2] ### J3 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### PS1 — [CCG6-24-05SR](https://www.flux.ai/adrian95/ccg6-24-05sr~kqq.md) - Datasheet URL: https://product.tdk.com/system/files/dam/doc/product/power/switching-power/dc-dc-converter/catalog/ccg1r5_10_e.pdf - Role Details: 5.1V logic rail source for TXS0102 HV, PCA9685 VCC, STM32 Nucleo 5V pin, OE pull-up, and I2C pull-ups - Role: Regulator - Part Type: Power Source - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: CCG6-24-05SR - Manufacturer Name: TDK Lambda **Pins:** - -VIN [pin 3] - -VOUT [pin 4] - +VIN [pin 1] - +VOUT [pin 6] - RC [pin 2] - TRM [pin 5] ### Servo1 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo10 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo11 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo12 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo13 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo14 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo15 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Role: Connector - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo16 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo2 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo3 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Role: Connector - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo4 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo5 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Role: Connector - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo6 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Connector - Part Type: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo7 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Connector - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo8 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo9 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role Details: Servo output header: PWM through 220 ohm resistor, 6.0V servo rail, common GND - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### U1 — [PCA9685PW,118](https://www.flux.ai/adrian95/pca9685pwc118~om.md) - Manufacturer Part Number: PCA9685PW,118 - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://datasheet.octopart.com/PCA9685PW%2C118-NXP-Semiconductors-datasheet-82522728.pdf - Role: PWM Controller - Part Type: Integrated Circuit - Role Details: PCA9685 chip 1: address 0x40, 16 servo PWM outputs, VCC=5.1V, V+=6.0V - Manufacturer Name: NXP USA Inc. **Pins:** - ~OE [pin 23] - A0 [pin 1] - A1 [pin 2] - A2 [pin 3] - A3 [pin 4] - A4 [pin 5] - A5 [pin 24] - EXTCLK [pin 25] - LED0 [pin 6] - LED1 [pin 7] - LED10 [pin 17] - LED11 [pin 18] - LED12 [pin 19] - LED13 [pin 20] - LED14 [pin 21] - LED15 [pin 22] - LED2 [pin 8] - LED3 [pin 9] - LED4 [pin 10] - LED5 [pin 11] - LED6 [pin 12] - LED7 [pin 13] - LED8 [pin 15] - LED9 [pin 16] - SCL [pin 26] - SDA [pin 27] - VDD [pin 28] - VSS [pin 14] ### U2 — [PCA9685PW,118](https://www.flux.ai/adrian95/pca9685pwc118~om.md) - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://datasheet.octopart.com/PCA9685PW%2C118-NXP-Semiconductors-datasheet-82522728.pdf - Manufacturer Part Number: PCA9685PW,118 - Role: PWM Controller - Part Type: Integrated Circuit - Role Details: PCA9685 chip 2: address 0x41 with A0 high, PWM0 used for 17th servo - Manufacturer Name: NXP USA Inc. **Pins:** - ~OE [pin 23] - A0 [pin 1] - A1 [pin 2] - A2 [pin 3] - A3 [pin 4] - A4 [pin 5] - A5 [pin 24] - EXTCLK [pin 25] - LED0 [pin 6] - LED1 [pin 7] - LED10 [pin 17] - LED11 [pin 18] - LED12 [pin 19] - LED13 [pin 20] - LED14 [pin 21] - LED15 [pin 22] - LED2 [pin 8] - LED3 [pin 9] - LED4 [pin 10] - LED5 [pin 11] - LED6 [pin 12] - LED7 [pin 13] - LED8 [pin 15] - LED9 [pin 16] - SCL [pin 26] - SDA [pin 27] - VDD [pin 28] - VSS [pin 14] ### U3 — [TXS0102DCTR](https://www.flux.ai/jecstronic/txs0102dctr~mc.md) - Datasheet URL: https://www.ti.com/general/docs/suppproductinfo.tsp?distId=10&gotoUrl=https%3A%2F%2Fwww.ti.com%2Flit%2Fgpn%2Ftxs0102 - Part Type: Level Shifter - Manufacturer Name: Texas Instruments - Role: Logic-level Shifting - Manufacturer Part Number: TXS0102DCTR - Role Details: TXS0102 I2C level translator: A side 3.3V, B side 5.1V; A1/B1=SDA, A2/B2=SCL - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - A1 [pin 5] - A2 [pin 4] - B1 [pin 8] - B2 [pin 1] - GND [pin 2] - OE [pin 6] - VCCA [pin 3] - VCCB [pin 7] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/deff4rk44/dual-pca9685-servo-controller~8w](https://www.flux.ai/deff4rk44/dual-pca9685-servo-controller~8w).* --- *Generated from [https://www.flux.ai/deff4rk44/dual-pca9685-servo-controller~8w](https://www.flux.ai/deff4rk44/dual-pca9685-servo-controller~8w)*