2 layers104 × 108 mm
2 layers106 × 88 mm
PCB robot controller
itacarobotics/Metis21- Size
- 106 × 88 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 32
- Nets
- 76
- Pads
- 170
- Tracks, vias
- 302, 12
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 16 Aug 2024
- Updated
- 23 Oct 2024
Overview
PCB robot controller is an open-source printed circuit board by itacarobotics, from the itacarobotics/Metis2 repository on GitHub. It is a 2-layer board of 106 × 88 mm with 32 parts on 76 nets, routed with 302 tracks and 12 vias.
It is built around the MAX485ED and L7812. Its parts include 7 capacitors, 7 resistors, 4 switches, 2 ICs and 2 diodes. It belongs with the robots and motor control boards of this library.
Main components
2
MAX485ED
SOP-8-40℃~+85℃ 1 1 1mA 32 4.75V~5.25V 5Mbps Half-Duplex Transceiver ±8kV SOP-8 RS-485 / RS-422 ICs ROHSHTCRS-485 / RS-422 ICs
L7812
TO-220ST0℃~+125℃@(Tj) 1 1.2A 12V 2V@(1A) 30V 71dB@(120Hz) 76uV Fixed Positive Short Circuit Protection TO-220ST Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSOSENVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
README
README.mdMetis2
Metis2 is the latest enhanced version of Metis. This project is currently under development, however below is an overview of the changes.
Mechanics
The new delta robot provides a modular design, with less components and assembly time. An extra degree of freedom has been added to the end effector to rotate around the z-axis. Furthermore, the size of the new robot is significantly smaller than the previous one, therefore it can better fits in smaller environments, such as a small production line.
Electronics
The control unit of the robot is the BIGTREETECH-SKR-mini-E3 board, which is a main board for 3D printers. Beyond that, a custom PCB has been designed as a shield for the main board, in order to better manage GPIOs and power supply for encoders and motors using terminal blocks.
Firmware
The control software of the robot is subdivided in two parts based on abstraction levels. The low-level firmware runs on an STM32-G01B1RCT6 micro-controller integrated onto the motherboard. The firmware runs different state machines, each responisble for the comunication, processing data for the trajectory generation and inverse geometry and controlling the closed loop stepper motors. The higher level software controls the position of the robot using the GCODE format.
Parts
32| Qty | Value | Footprint | References |
|---|---|---|---|
| 4 | 100nF | Capacitor_SMD:C_0805_2012Metric | C4, C5, C6, C7 |
| 4 | 10K | Resistor_SMD:R_0805_2012Metric | R3, R4, R5, R6 |
| 4 | Conn_01x06_Pin | 01_myLibrary:TerminalBlock 45 degrees, pitch 3.5mm, 6 pins, WAGO 250-102 000-012 | MOTOR1, MOTOR2, MOTOR3, MOTOR4 |
| 4 | SW_Push | Button_Switch_THT:SW_PUSH_6mm_H5mm | SW1, SW2, SW3, SW4 |
| 3 | Conn_01x02_Pin | 01_myLibrary:TerminalBlock 45 degrees, pitch 3.5mm, 2 pins, WAGO 250-102 000-012 | COM, GRIPPER, POWER |
| 2 | 0.1uF | Capacitor_SMD:C_0805_2012Metric | C1, C3 |
| 2 | Conn_02x19_Odd_Even | Connector_PinSocket_2.54mm:PinSocket_2x19_P2.54mm_Vertical | J3, J4 |
| 2 | D | Diode_SMD:D_0805_2012Metric | D1, D2 |
| 1 | 0.33uF | Capacitor_SMD:C_0805_2012Metric | C2 |
| 1 | 100 | Resistor_SMD:R_0805_2012Metric | R1 |
| 1 | 10k | Resistor_SMD:R_0805_2012Metric | R2 |
| 1 | 120 | Resistor_SMD:R_0805_2012Metric | R7 |
| 1 | IRF6710S2 | Package_TO_SOT_THT:TO-220-3_Horizontal_TabDown | Q1 |
| 1 | L7812 | Package_TO_SOT_THT:TO-220-3_Horizontal_TabDown | U1 |
| 1 | MAX485E | Package_SO:SO-8_3.9x4.9mm_P1.27mm | U2 |
Questions
How big is the PCB robot controller PCB?
It measures 106 × 88 mm and has 2 copper layers, 1.6 mm thick.
What parts does the PCB robot controller use?
32 parts, built around the MAX485ED and L7812. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the PCB robot controller KiCad files?
From the itacarobotics/Metis2 repository on GitHub, at the commit this page was made from: the board is hardware/PCB_robot_controller/PCB_robot_controller.kicad_pcb and its schematic hardware/BTT-SKR-MINI-E3_shield/BTT-SKR-MINI-E3_shield.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the PCB robot controller design in my own project?
Its repository states no licence, so its author keeps all rights: ask itacarobotics before reusing the design.
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