# SMC3 3DOF Motion Controller ## Description Arduino-compatible SMC3/SimTools 3-DOF motion controller for three 12 V worm-drive motors, Hall feedback sensors, dual USB-C interfaces, and E-stop safety input. ## Project Details - **Owner:** evanrowlands - **Created:** 5/26/2026 - **Last Updated:** 6/8/2026 - **Visibility:** Public - **Stars:** 1 ## Key Components ### D1 — 150060VS55040 - Role Details: TX1 activity indicator LED for interface 1. - Manufacturer Part Number: 150060VS55040 - Part Type: LED - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060VS55040.pdf - Role: Logic-level Shifting - Manufacturer Name: Würth Elektronik **Pins:** - A [pin 2] - K [pin 1] ### D2 — 150060VS55040 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Logic-level Shifting - Part Type: LED - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060VS55040.pdf - Manufacturer Name: Würth Elektronik - Manufacturer Part Number: 150060VS55040 - Role Details: TX2 activity indicator LED for interface 2. **Pins:** - A [pin 2] - K [pin 1] ### D3 — 150060RS73220 - Datasheet URL: https://www.we-online.com/components/products/datasheet/150060RS73220.pdf - Role: Protection - Manufacturer Part Number: 150060RS73220 - Manufacturer Name: Würth Elektronik - Part Type: LED - Role Details: FAULT indicator LED driven by E-stop/fault sense line. - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - A [pin 2] - K [pin 1] ### D4 — 1N4007RLG - Manufacturer Name: onsemi - Role: Flyback / Freewheeling - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Flyback diode across K1 relay coil; cathode to 12V_FUSED, anode to E-stop coil low node. - Part Type: Diode - Manufacturer Part Number: 1N4007RLG - Datasheet URL: https://www.onsemi.com/pdf/datasheet/1n4001-d.pdf **Pins:** - anode [pin 2] - cathode [pin 1] ### F1 — 3557-15 - Part Type: Fuse - Current Rating: 30A - Datasheet URL: https://www.keyelco.com/userAssets/file/M65p41.pdf - Role Details: Customer-serviceable blade fuse holder protecting PCB logic/regulator branch only; high-current motor fusing should be external/chassis-mounted for 50-60A. - Manufacturer Name: Keystone Electronics - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 3557-15 - Role: Fuse Holder **Pins:** - P1 [pin 1_1] - P2 [pin 2_1] ### F2 — 3557-15 - Manufacturer Name: Keystone Electronics - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 3557-15 - Role Details: 30A blade fuse holder for Sabertooth 2x60 power branch; used because no suitable 30A resettable PPTC was available in the library. - Current Rating: 30A - Part Type: Fuse - Role: Protection - Datasheet URL: https://www.keyelco.com/userAssets/file/M65p41.pdf **Pins:** - P1 [pin 1_1] - P2 [pin 2_1] ### F3 — 3557-15 - Current Rating: 30A - Part Type: Fuse - Datasheet URL: https://www.keyelco.com/userAssets/file/M65p41.pdf - Role Details: 30A blade fuse holder for SyRen 50 power branch; used because no suitable 30A resettable PPTC was available in the library. - Manufacturer Name: Keystone Electronics - Manufacturer Part Number: 3557-15 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Protection **Pins:** - P1 [pin 1_1] - P2 [pin 2_1] ### J1 — USB-C 2.0 Receptacle - Purchase Url: https://www.digikey.com/en/products/detail/gct/USB4105-GF-A/11198441 - Role: USB Connector - Manufacturer Part Number: USB4105-GF-A - Role Details: USB 2.0 device/UFP connector for first independent COM port. - Datasheet URL: https://gct.co/files/drawings/usb4105.pdf - Symbol Style: parametric-v1 - Part Type: USB C - Manufacturer Name: GTC **Pins:** - CC1 [pin 6] - CC2 [pin 12] - D- [pin 7] - D- [pin 9] - D+ [pin 10] - D+ [pin 8] - GND [pin 1] - GND [pin 16] - GND [pin 15] - GND [pin 2] - SBU1 [pin 11] - SBU2 [pin 5] - VBUS [pin 3] - VBUS [pin 14] - VBUS [pin 4] - VBUS [pin 13] ### J10 — 1935776 - Connector Positions: 2 - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Part Type: Connector - Role: Power Conversion - Role Details: Label as SABERTOOTH POWER OUT. 12V branch from board fuse/protection out to Sabertooth 2x60 power input; 30A fuse holder F2 protects this output branch. - Connector Rows: 1 - Connector Pitch: 5mm - Connector Type: Terminal Blocks - Manufacturer Part Number: 1935776 - Manufacturer Name: Phoenix Contact - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 1 [pin 1] - 2 [pin 2] ### J11 — 1935776 - Role: Power Conversion - Connector Rows: 1 - Connector Pitch: 5mm - Part Type: Connector - Connector Positions: 2 - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Role Details: Label as SYREN POWER OUT. 12V branch from board fuse/protection out to SyRen 50 power input; 30A fuse holder F3 protects this output branch. - Manufacturer Name: Phoenix Contact - License: https://creativecommons.org/licenses/by/4.0/ - Connector Type: Terminal Blocks - Manufacturer Part Number: 1935776 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J14 — 1935776 - Connector Pitch: 5mm - Connector Rows: 1 - Part Type: Connector - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Connector Positions: 2 - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Phoenix Contact - Role: Power Conversion - Connector Type: Terminal Blocks - Role Details: Main 12V DC input to board power distribution; feed from 12V PSU. - Manufacturer Part Number: 1935776 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J15 — 1935776 - Manufacturer Part Number: 1935776 - Connector Type: Terminal Blocks - Role Details: Normally-closed E-stop loop input for hardware safety indication and MCU fault sense. - Manufacturer Name: Phoenix Contact - License: https://creativecommons.org/licenses/by/4.0/ - Role: Protection - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Part Type: Connector - Connector Positions: 2 - Connector Pitch: 5mm - Connector Rows: 1 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J2 — USB-C 2.0 Receptacle - Purchase Url: https://www.digikey.com/en/products/detail/gct/USB4105-GF-A/11198441 - Role Details: USB 2.0 device/UFP connector for second independent COM port. - Manufacturer Part Number: USB4105-GF-A - Role: USB Connector - Symbol Style: parametric-v1 - Part Type: USB C - Datasheet URL: https://gct.co/files/drawings/usb4105.pdf - Manufacturer Name: GTC **Pins:** - CC1 [pin 6] - CC2 [pin 12] - D- [pin 7] - D- [pin 9] - D+ [pin 10] - D+ [pin 8] - GND [pin 1] - GND [pin 16] - GND [pin 15] - GND [pin 2] - SBU1 [pin 11] - SBU2 [pin 5] - VBUS [pin 3] - VBUS [pin 14] - VBUS [pin 4] - VBUS [pin 13] ### J3 — AVR-ISP-6 with text - Manufacturer Name: Würth Elektronik - Symbol Style: parametric-v1 - Role Details: AVR ISP header for bootloader/programming MCU 1. - Part Type: Connector - Manufacturer Part Number: 61200621621 - Datasheet URL: https://www.we-online.com/catalog/datasheet/61200621621.pdf - Exclude from BOM: false - Role: Programming Connector **Pins:** - GND [pin 6] - MISO [pin 1] - MOSI [pin 4] - RST [pin 5] - SCK [pin 3] - VCC [pin 2] ### J4 — AVR-ISP-6 with text - Exclude from BOM: false - Part Type: Connector - Manufacturer Part Number: 61200621621 - Datasheet URL: https://www.we-online.com/catalog/datasheet/61200621621.pdf - Role: Programming Connector - Manufacturer Name: Würth Elektronik - Symbol Style: parametric-v1 - Role Details: AVR ISP header for bootloader/programming MCU 2. **Pins:** - GND [pin 6] - MISO [pin 1] - MOSI [pin 4] - RST [pin 5] - SCK [pin 3] - VCC [pin 2] ### J5 — 282837-3 - Role: Sensor Connector - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 282837-3 - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf - Role Details: 3-wire feedback connector for front motor 1 sensor to MCU1 A0. - Manufacturer Name: TE Connectivity AMP Connectors **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J6 — 282837-3 - Manufacturer Part Number: 282837-3 - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: 3-wire feedback connector for front motor 2 sensor to MCU1 A1. - Manufacturer Name: TE Connectivity AMP Connectors - Role: Sensor Connector - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J7 — 282837-3 - Role: Sensor Connector - Part Type: Connector - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 282837-3 - Manufacturer Name: TE Connectivity AMP Connectors - Role Details: 3-wire feedback connector for traction-loss sensor to MCU2 A0. **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J8 — 1935776 - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Part Type: Connector - Connector Positions: 2 - Role Details: Sabertooth 2x60 logic output: S1 serial signal and GND only; no 5V connection. - Connector Rows: 1 - Connector Pitch: 5mm - Connector Type: Terminal Blocks - Manufacturer Part Number: 1935776 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connectivity - Manufacturer Name: Phoenix Contact **Pins:** - 1 [pin 1] - 2 [pin 2] ### J9 — 1935776 - Connector Type: Terminal Blocks - Role: Connectivity - Manufacturer Part Number: 1935776 - Manufacturer Name: Phoenix Contact - Role Details: SyRen 50 logic output: S1 serial signal and GND only; no 5V connection. - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://datasheet.datasheetarchive.com/originals/distributors/SFDatasheet-2/sf-00057493.pdf - Part Type: Connector - Connector Positions: 2 - Connector Rows: 1 - Connector Pitch: 5mm **Pins:** - 1 [pin 1] - 2 [pin 2] ### K1 — CB1aHF-P-12V - Manufacturer Part Number: CB1aHF-P-12V - Role Details: 12V 40A SPST-NO automotive relay used as hardware E-stop power interlock. Contacts switch the protected motor-driver power feed; coil is controlled by the E-stop loop. Verify current rating vs combined motor current before production. - Role: Protection - Part Type: Relay - Datasheet URL: https://www3.panasonic.biz/ac/e_download/control/relay/vehicle/catalog/mech_eng_cb.pdf - Manufacturer Name: Panasonic Industrial Devices - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - COIL_1 [pin 85] - COIL_2 [pin 86] - COM_1 [pin 30] - COM_2 [pin 31] - COM_3 [pin 32] - NO_1 [pin 87] - NO_2 [pin 88] - NO_3 [pin 89] ### SW1 — TS-1088-AR02016 - Product Info Url: https://lcsc.com/product-detail/Tactile-Switches_XUNPU-TS-1088-AR02016_C720477.html - JLCPCB Part Class: Extended Part - Package or Case Code: SW-SMD_L3.9-W3.0-P4.45 - Manufacturer Name: XUNPU(讯普) - Role: Reset Switch - Role Details: Momentary switch pulls MCU1 reset low. - LCSC Part Number: C720477 - Manufacturer Part Number: TS-1088-AR02016 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2409302330_XUNPU-TS-1088-AR02016_C720477.pdf - Part Type: Tactile Switches **Pins:** - 1 [pin 1] - 2 [pin 2] ### SW2 — TS-1088-AR02016 - Package or Case Code: SW-SMD_L3.9-W3.0-P4.45 - Manufacturer Name: XUNPU(讯普) - JLCPCB Part Class: Extended Part - Product Info Url: https://lcsc.com/product-detail/Tactile-Switches_XUNPU-TS-1088-AR02016_C720477.html - Role Details: Momentary switch pulls MCU2 reset low. - Role: Reset Switch - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2409302330_XUNPU-TS-1088-AR02016_C720477.pdf - Part Type: Tactile Switches - Manufacturer Part Number: TS-1088-AR02016 - LCSC Part Number: C720477 **Pins:** - 1 [pin 1] - 2 [pin 2] ### U1 — ATMEGA328P-AU - Role: Microcontroller - Datasheet URL: https://ww1.microchip.com/downloads/en/DeviceDoc/ATmega48A-PA-88A-PA-168A-PA-328-P-DS-DS40002061B.pdf - Manufacturer Name: Microchip Technology Inc. - Part Type: Integrated Circuit - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: ATMEGA328P-AU - Role Details: Runs uploaded SMC3 MODE3 sketch for front motor interface; D13 SoftwareSerial TX to Sabertooth, A0/A1 feedback. **Pins:** - (PCINT0/CLKO/ICP1)_PB0 [pin 12] - (PCINT1/OC1A)_PB1 [pin 13] - (PCINT19/OC2B/INT1)_PD3 [pin 1] - (PCINT2/SS/OC1B)_PB2 [pin 14] - (PCINT20/XCK/T0)_PD4 [pin 2] - (PCINT21/OC0B/T1)_PD5 [pin 9] - (PCINT22/OC0A/AIN0)_PD6 [pin 10] - (PCINT23/AIN1)_PD7 [pin 11] - (PCINT3/OC2A/MOSI)_PB3 [pin 15] - (PCINT4/MISO)_PB4 [pin 16] - (PCINT6/XTAL1/TOSC1)_PB6 [pin 7] - (PCINT7/XTAL2/TOSC2)_PB7 [pin 8] - ADC6 [pin 19] - ADC7 [pin 22] - AREF [pin 20] - AVCC [pin 18] - GND_1 [pin 3] - GND_2 [pin 5] - GND_3 [pin 21] - PB5_(SCK/PCINT5) [pin 17] - PC0_(ADC0/PCINT8) [pin 23] - PC1_(ADC1/PCINT9) [pin 24] - PC2_(ADC2/PCINT10) [pin 25] - PC3_(ADC3/PCINT11) [pin 26] - PC4_(ADC4/SDA/PCINT12) [pin 27] - PC5_(ADC5/SCL/PCINT13) [pin 28] - PC6_(~RESET~/PCINT14) [pin 29] - PD0_(RXD/PCINT16) [pin 30] - PD1_(TXD/PCINT17) [pin 31] - PD2_(INT0/PCINT18) [pin 32] - VCC_1 [pin 4] - VCC_2 [pin 6] ### U2 — ATMEGA328P-AU - Manufacturer Part Number: ATMEGA328P-AU - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Integrated Circuit - Role: Microcontroller - Datasheet URL: https://ww1.microchip.com/downloads/en/DeviceDoc/ATmega48A-PA-88A-PA-168A-PA-328-P-DS-DS40002061B.pdf - Manufacturer Name: Microchip Technology Inc. - Role Details: Runs uploaded SMC3 MODE3 sketch for traction loss interface; D13 SoftwareSerial TX to SyRen 50, A0 feedback. **Pins:** - (PCINT0/CLKO/ICP1)_PB0 [pin 12] - (PCINT1/OC1A)_PB1 [pin 13] - (PCINT19/OC2B/INT1)_PD3 [pin 1] - (PCINT2/SS/OC1B)_PB2 [pin 14] - (PCINT20/XCK/T0)_PD4 [pin 2] - (PCINT21/OC0B/T1)_PD5 [pin 9] - (PCINT22/OC0A/AIN0)_PD6 [pin 10] - (PCINT23/AIN1)_PD7 [pin 11] - (PCINT3/OC2A/MOSI)_PB3 [pin 15] - (PCINT4/MISO)_PB4 [pin 16] - (PCINT6/XTAL1/TOSC1)_PB6 [pin 7] - (PCINT7/XTAL2/TOSC2)_PB7 [pin 8] - ADC6 [pin 19] - ADC7 [pin 22] - AREF [pin 20] - AVCC [pin 18] - GND_1 [pin 3] - GND_2 [pin 5] - GND_3 [pin 21] - PB5_(SCK/PCINT5) [pin 17] - PC0_(ADC0/PCINT8) [pin 23] - PC1_(ADC1/PCINT9) [pin 24] - PC2_(ADC2/PCINT10) [pin 25] - PC3_(ADC3/PCINT11) [pin 26] - PC4_(ADC4/SDA/PCINT12) [pin 27] - PC5_(ADC5/SCL/PCINT13) [pin 28] - PC6_(~RESET~/PCINT14) [pin 29] - PD0_(RXD/PCINT16) [pin 30] - PD1_(TXD/PCINT17) [pin 31] - PD2_(INT0/PCINT18) [pin 32] - VCC_1 [pin 4] - VCC_2 [pin 6] ### U3 — CH340C - Role: USB-UART Bridge - Role Details: Provides independent USB serial COM port for front motor SMC3 controller. - Datasheet URL: https://datasheet.lcsc.com/szlcsc/Jiangsu-Qin-Heng-CH340C_C84681.pdf - Part Type: Integrated Circuit - Manufacturer Part Number: CH340C - Manufacturer Name: Wah **Pins:** - ~CTS [pin 9] - ~DCD [pin 12] - ~DSR [pin 10] - ~DTR [pin 13] - ~RI [pin 11] - ~RTS [pin 14] - GND [pin 1] - NC [pin 7] - NC [pin 8] - R232 [pin 15] - RXD [pin 3] - TXD [pin 2] - UD- [pin 6] - UD+ [pin 5] - V3 [pin 4] - VCC [pin 16] ### U4 — CH340C - Datasheet URL: https://datasheet.lcsc.com/szlcsc/Jiangsu-Qin-Heng-CH340C_C84681.pdf - Part Type: Integrated Circuit - Role: USB-UART Bridge - Manufacturer Part Number: CH340C - Role Details: Provides independent USB serial COM port for traction-loss SMC3 controller. - Manufacturer Name: Wah **Pins:** - ~CTS [pin 9] - ~DCD [pin 12] - ~DSR [pin 10] - ~DTR [pin 13] - ~RI [pin 11] - ~RTS [pin 14] - GND [pin 1] - NC [pin 7] - NC [pin 8] - R232 [pin 15] - RXD [pin 3] - TXD [pin 2] - UD- [pin 6] - UD+ [pin 5] - V3 [pin 4] - VCC [pin 16] ### U5 — LM2596S-5.0/NOPB - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Texas Instruments - Part Type: Integrated Circuit - Manufacturer Part Number: LM2596S-5.0/NOPB - Role Details: 3A fixed 5V buck regulator from 12V input; logic budget estimated below 500mA with margin. - Role: Power Conversion - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm2596.pdf **Pins:** - ~ON~/OFF [pin 5] - FEEDBACK [pin 4] - GND_TAB [pin 6] - GROUND [pin 3] - OUTPUT [pin 2] - VIN [pin 1] ### Y1 — NX5032GA-16MHZ-STD-CSU-2 - Part Type: Crystals - JLCPCB Part Class: Extended Part - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_NDK-NX5032GA-16MHZ-STD-CSU-2_C485370.pdf - Manufacturer Name: NDK - Role: Clock Source - Product Info Url: https://lcsc.com/product-detail/SMD-Crystal-Resonators_NDK-NX5032GA-16MHZ-STD-CSU-2_C485370.html - Package or Case Code: CRYSTAL-SMD_L5.0-W3.2-1 - Manufacturer Part Number: NX5032GA-16MHZ-STD-CSU-2 - Role Details: 16MHz crystal for ATmega328P SMC3 timing compatibility. - LCSC Part Number: C485370 **Pins:** - 1 [pin 1] - 2 [pin 2] ### Y2 — NX5032GA-16MHZ-STD-CSU-2 - Manufacturer Name: NDK - Product Info Url: https://lcsc.com/product-detail/SMD-Crystal-Resonators_NDK-NX5032GA-16MHZ-STD-CSU-2_C485370.html - Role Details: 16MHz crystal for ATmega328P SMC3 timing compatibility. - Part Type: Crystals - JLCPCB Part Class: Extended Part - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_NDK-NX5032GA-16MHZ-STD-CSU-2_C485370.pdf - Role: Clock Source - Manufacturer Part Number: NX5032GA-16MHZ-STD-CSU-2 - LCSC Part Number: C485370 - Package or Case Code: CRYSTAL-SMD_L5.0-W3.2-1 **Pins:** - 1 [pin 1] - 2 [pin 2] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/evanrowlands/smc3-3dof-motion-controller~kg](https://www.flux.ai/evanrowlands/smc3-3dof-motion-controller~kg).* --- *Generated from [https://www.flux.ai/evanrowlands/smc3-3dof-motion-controller~kg](https://www.flux.ai/evanrowlands/smc3-3dof-motion-controller~kg)*