# T2 EDUARDO MILLONES PORYECTO BRAZO ROBOT PALETIZADOR ## Description ESP32-S3 Four-Axis Stepper Motor Controller and Solenoid Driver Board ## Project Details - **Owner:** hellwasbxring - **Created:** 10/27/2025 - **Last Updated:** 10/30/2025 - **Visibility:** Public - **System Architecture:** ```mermaid flowchart LR subgraph PowerTree V24["24V Input"] --> B5V["MP1584 Buck Converter (5V)"] B5V --> L3V3["AMS1117 LDO (3.3V)"] end subgraph MCU ESP["ESP32-S3-WROOM-1"] CP["CP2102 + USB-C"] CP --> ESP end subgraph MotorDrivers ESP -->|"STEP/DIR/EN/UART"| TMC["TMC2209 StepStick Sockets ×4"] TMC --> Steppers["Stepper Motor Connectors ×4"] end subgraph Solenoid ESP --> SolDrv["MOSFET Solenoid Driver"] SolDrv --> SolCon["Solenoid Screw Terminal"] end subgraph Inputs Limit["Limit Switch Inputs"] -- RC Filter & Pull-up --> ESP Vac["Vacuum Sensor ADC Input"] -- RC Filter --> ESP end ``` - **Stepper GPIO Mapping:** Axis1: STEP=IO18, DIR=IO17, EN=IO16, UART=IO19; Axis2: STEP=IO20, DIR=IO21, EN=IO22, UART=IO23; Axis3: STEP=IO26, DIR=IO27, EN=IO28, UART=IO36; Axis4: STEP=IO34, DIR=IO35, EN=IO33, UART=IO32 ## Key Components ### — [TMC2209 socket](https://www.flux.ai/maximan/tmc2209-socket~jf.md) - Role Details: TMC2209 StepStick socket for stepper driver modules - Role: Connector - Manufacturer Name: bigtreetech **Pins:** - A1 - A2 - B1 - B2 - CLK [pin 6] - DIR [pin 8] - EN [pin 1] - GND [pin 10] - GND [pin 16] - MS1 - MS2 [pin 3] - P4 - P5 [pin 5] - STEP [pin 7] - VDD - VMOTOR [pin 9] ### — [TMC2209 socket](https://www.flux.ai/maximan/tmc2209-socket~jf.md) - Manufacturer Name: bigtreetech - Role: Connector - Role Details: TMC2209 StepStick socket for stepper driver modules **Pins:** - A1 - A2 - B1 - B2 - CLK [pin 6] - DIR [pin 8] - EN [pin 1] - GND [pin 10] - GND [pin 16] - MS1 - MS2 [pin 3] - P4 - P5 [pin 5] - STEP [pin 7] - VDD - VMOTOR [pin 9] ### — [TMC2209 socket](https://www.flux.ai/maximan/tmc2209-socket~jf.md) - Role Details: TMC2209 StepStick socket for stepper driver modules - Role: Connector - Manufacturer Name: bigtreetech **Pins:** - A1 - A2 - B1 - B2 - CLK [pin 6] - DIR [pin 8] - EN [pin 1] - GND [pin 10] - GND [pin 16] - MS1 - MS2 [pin 3] - P4 - P5 [pin 5] - STEP [pin 7] - VDD - VMOTOR [pin 9] ### — [TMC2209 socket](https://www.flux.ai/maximan/tmc2209-socket~jf.md) - Manufacturer Name: bigtreetech - Role: Connector - Role Details: TMC2209 StepStick socket for stepper driver modules **Pins:** - A1 - A2 - B1 - B2 - CLK [pin 6] - DIR [pin 8] - EN [pin 1] - GND [pin 10] - GND [pin 16] - MS1 - MS2 [pin 3] - P4 - P5 [pin 5] - STEP [pin 7] - VDD - VMOTOR [pin 9] ### D1 — [B5819W](https://www.flux.ai/openpartlist/b5819w~cl.md) - Part Type: Diode - Role Details: Flyback diode for solenoid coil suppression - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: B5819W - Manufacturer Name: Good-Ark Semiconductor - Role: Flyback / Freewheeling - Datasheet URL: https://www.mccsemi.com/pdf/Products/B5817W-B5819W(SOD-123).pdf **Pins:** - A [pin 2] - K [pin 1] ### D2 — [24V Unidirectional TVS Diode](https://www.flux.ai/corynrobinson/24v-unidirectional-tvs-diode~im.md) - Datasheet URL: https://octopart.com/datasheet/smaj24a-tr-stmicroelectronics-350001 - Manufacturer Name: STMicroelectronics NV - Leakage Current: 200nA - Package or Case Code: D_SMA - Role: Protection - Role Details: Surge protection for 24 V input - Manufacturer Part Number: SMAJ24A-TR - Breakdown Voltage: 26.7V - Part Type: Diode **Pins:** - A - K ### D3 — [5.5v tvs diode PESD5V0X1BCSF](https://www.flux.ai/georgemars/5p5v-tvs-diode-pesd5v0x1bcsf~l1.md) - Datasheet URL-: https://assets.nexperia.com/documents/data-sheet/PESD5V0X1BCSF.pdf - Manufacturer Name: Nexperia USA Inc. - Role Details: Surge protection for 5 V rail - Manufacturer Part Number: RELAY_PESD5V0X1BCSF - Role: Protection - Ratio: 0.5:1 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J1 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Part Number: 282837-2 - Role: Connector - Part Type: Connector - Role Details: 2-pin 5.08 mm pitch terminal for 24 V input **Pins:** - 1 [pin 1] - 2 [pin 2] ### J2 — [2024100002](https://www.flux.ai/adrian95/2024100002~atk.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: USB-C connector for CP2102 programming and 5V supply - Role: Connector - Part Type: Connector - Manufacturer Part Number: 2024100002 - Datasheet URL: https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/834/202410002_Pkg_Spec.pdf - Manufacturer Name: Molex **Pins:** - CC1 [pin A5] - CC2 [pin B5] - DA- [pin A7] - DA+ [pin A6] - DB- [pin B7] - DB+ [pin B6] - GND1 [pin A1] - GND2 [pin A12] - GND3 [pin B1] - GND4 [pin B12] - RX1- [pin B10] - RX1+ [pin B11] - RX2- [pin A10] - RX2+ [pin A11] - SBU1 [pin A8] - SBU2 [pin B8] - SHIELD1 [pin SH1] - SHIELD2 [pin SH2] - SHIELD3 [pin SH3] - SHIELD4 [pin SH4] - TX1- [pin A3] - TX1+ [pin A2] - TX2- [pin B3] - TX2+ [pin B2] - VBUS1 [pin A4] - VBUS2 [pin A9] - VBUS3 [pin B4] - VBUS4 [pin B9] ### J3 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Role Details: 2-pin 5.08 mm pitch terminal for solenoid wiring - Part Type: Connector - Manufacturer Part Number: 282837-2 - Role: Connector - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Name: TE Connectivity AMP Connectors **Pins:** - 1 [pin 1] - 2 [pin 2] ### J4 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Role Details: 2-pin 5.08 mm pitch terminal for normally-open limit switch inputs - Role: Connector - Manufacturer Part Number: 282837-2 - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] ### J5 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Part Type: Connector - Role: Connector - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Part Number: 282837-2 - Role Details: 2-pin 5.08 mm pitch terminal for normally-open limit switch inputs **Pins:** - 1 [pin 1] - 2 [pin 2] ### J6 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Part Type: Connector - Role: Connector - Role Details: 2-pin 5.08 mm pitch terminal for normally-open limit switch inputs - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Part Number: 282837-2 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J7 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Role: Connector - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Part Number: 282837-2 - Role Details: 2-pin 5.08 mm pitch terminal for normally-open limit switch inputs - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] ### J8 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Part Type: Connector - Role: Connector - Role Details: 2-pin 5.08 mm pitch terminal for vacuum sensor ADC input - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English - Manufacturer Part Number: 282837-2 **Pins:** - 1 [pin 1] - 2 [pin 2] ### Q1 — [AO3400](https://www.flux.ai/lcsc/ao3400~y44d.md) - Manufacturer Name: YFW(佑风微) - Package or Case Code: SOT-23-3_L3.0-W1.7-P0.95-LS2.9-BR - Role Details: Solenoid driver MOSFET for 24V/1A solenoid - Manufacturer Part Number: AO3400 - Part Type: MOSFETs - Drain to Source Voltage: 30V - Role: Switching - LCSC Part Number: C2977509 - JLCPCB Part Class: Extended Part - Continuous Drain Current: 5A (Maximum) at 25°C - Transistor Type: N-channel MOSFET **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### U1 — [ESP32-S3-WROOM-1-N16R8](https://www.flux.ai/alantyger/esp32-s3-wroom-1-n16r8~ok.md) - Datasheet URL: https://www.espressif.com/sites/default/files/documentation/esp32-s3-wroom-1_wroom-1u_datasheet_en.pdfhttps://www.espressif.com/sites/default/files/documentation/esp32-s3-wroom-1_wroom-1u_datasheet_en.pdf - Role: Microcontroller - Role Details: Main MCU - Part Type: Microcontroller - Purchase Url: https://octopart.com/esp32-s3-wroom-1-n16r8-espressif+systems-124180817?r=spc#CadModels - Manufacturer Name: Espressif Systems - Manufacturer Part Number: ESP32-S3-WROOM-1-N16R8 **Pins:** - 3V3 [pin 2] - EN [pin 3] - GND_1 [pin 1] - GND_10 [pin 48] - GND_11 [pin 49] - GND_2 [pin 40] - GND_3 [pin 41] - GND_4 [pin 42] - GND_5 [pin 43] - GND_6 [pin 44] - GND_7 [pin 45] - GND_8 [pin 46] - GND_9 [pin 47] - IO0 [pin 27] - IO1 [pin 39] - IO10 [pin 18] - IO11 [pin 19] - IO12 [pin 20] - IO13 [pin 21] - IO14 [pin 22] - IO15 [pin 8] - IO16 [pin 9] - IO17 [pin 10] - IO18 [pin 11] - IO19 [pin 13] - IO2 [pin 38] - IO20 [pin 14] - IO21 [pin 23] - IO3 [pin 15] - IO35 [pin 28] - IO36 [pin 29] - IO37 [pin 30] - IO38 [pin 31] - IO39 [pin 32] - IO4 [pin 4] - IO40 [pin 33] - IO41 [pin 34] - IO42 [pin 35] - IO45 [pin 26] - IO46 [pin 16] - IO47 [pin 24] - IO48 [pin 25] - IO5 [pin 5] - IO6 [pin 6] - IO7 [pin 7] - IO8 [pin 12] - IO9 [pin 17] - RXD0 [pin 36] - TXD0 [pin 37] ### U3 — [MP1584](https://www.flux.ai/monolithicpower/mp1584~bk.md) - Product Image Url: https://www.monolithicpower.com/pub/media/catalog/product/M/P/MP1584_109_1_3.jpg - Datasheet URL: https://www.monolithicpower.com/en/documentview/productdocument/index/version/2/document_type/Datasheet/lang/en/sku/MP1584EN-LF-Z - Manufacturer Part Number: MP1584 - Package or Case Code: SOIC8E_MPS - Manufacturer Name: Monolithic Power Systems - Role Details: 24V→5V Buck Converter - Role: Power Management - Product Info Url: https://www.monolithicpower.com/en/catalog/product/view/id/109?utm_source=ultralibrarian&utm_medium=component_search&utm_campaign=listing **Pins:** - BST [pin 8] - COMP [pin 3] - EN [pin 2] - FB [pin 4] - FREQ [pin 6] - GND [pin EPAD] - GND [pin 5] - SW [pin 1] - VIN [pin 7] ### U4 — [AMS1117-3.3](https://www.flux.ai/vasy_skral/ams1117-33~34.md) - Manufacturer Part Number: AMS1117-3.3 - Part Type: Integrated Circuit - Role: Linear Regulator - Role Details: 5V→3.3V LDO - Datasheet URL: http://www.advanced-monolithic.com/pdf/ds1117.pdf - Symbol Style: Parametric - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: AMS **Pins:** - GND [pin 1] - TAB(VOUT) [pin 4] - VIN [pin 3] - VOUT [pin 2] ### U5 — [282834-9](https://www.flux.ai/lcsc/282834-9~z5at.md) - Package or Case Code: CONN-TH_9P-P2.54_282834-9 - Product Info Url: https://lcsc.com/product-detail/Others_TE-Connectivity-282834-9_C350883.html - JLCPCB Part Class: Extended Part - Manufacturer Name: TE Connectivity(泰科电子) - Part Type: Screw terminal - Manufacturer Part Number: 282834-9 - LCSC Part Number: C350883 - Role: Connector - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/1912111437_TE-Connectivity-282834-9_C350883.pdf - Role Details: 4-pin 5.08 mm pitch screw terminal for stepper motor connections **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] ### U6 — [282834-9](https://www.flux.ai/lcsc/282834-9~z5at.md) - Package or Case Code: CONN-TH_9P-P2.54_282834-9 - Role: Connector - JLCPCB Part Class: Extended Part - Product Info Url: https://lcsc.com/product-detail/Others_TE-Connectivity-282834-9_C350883.html - Role Details: 4-pin 5.08 mm pitch screw terminal for stepper motor connections - Manufacturer Name: TE Connectivity(泰科电子) - Part Type: Screw terminal - Manufacturer Part Number: 282834-9 - LCSC Part Number: C350883 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/1912111437_TE-Connectivity-282834-9_C350883.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] ### U7 — [282834-9](https://www.flux.ai/lcsc/282834-9~z5at.md) - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/1912111437_TE-Connectivity-282834-9_C350883.pdf - Role: Connector - Role Details: 4-pin 5.08 mm pitch screw terminal for stepper motor connections - Manufacturer Part Number: 282834-9 - LCSC Part Number: C350883 - Manufacturer Name: TE Connectivity(泰科电子) - Part Type: Screw terminal - Product Info Url: https://lcsc.com/product-detail/Others_TE-Connectivity-282834-9_C350883.html - JLCPCB Part Class: Extended Part - Package or Case Code: CONN-TH_9P-P2.54_282834-9 **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] ### U8 — [282834-9](https://www.flux.ai/lcsc/282834-9~z5at.md) - Part Type: Screw terminal - Manufacturer Name: TE Connectivity(泰科电子) - JLCPCB Part Class: Extended Part - Product Info Url: https://lcsc.com/product-detail/Others_TE-Connectivity-282834-9_C350883.html - Package or Case Code: CONN-TH_9P-P2.54_282834-9 - Role Details: 4-pin 5.08 mm pitch screw terminal for stepper motor connections - Role: Connector - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/1912111437_TE-Connectivity-282834-9_C350883.pdf - LCSC Part Number: C350883 - Manufacturer Part Number: 282834-9 **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/hellwasbxring/t2-eduardo-millones-poryecto-brazo-robot-paletizador~3b](https://www.flux.ai/hellwasbxring/t2-eduardo-millones-poryecto-brazo-robot-paletizador~3b).* --- *Generated from [https://www.flux.ai/hellwasbxring/t2-eduardo-millones-poryecto-brazo-robot-paletizador~3b](https://www.flux.ai/hellwasbxring/t2-eduardo-millones-poryecto-brazo-robot-paletizador~3b)*