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UC2 Standalone Board v4

🔌 Board layout and schematics (UC2 Standalon v4)​

The board comes with 4 motor controllers (e.g. A4988 Bipolar Stepper controller or TMC drivers with pololu pinout), the ESP32 Dev Kit, a bunch of pins for in/outgoing connections, 3 darlington transistors (BD809) and the power distribution. It is inspired by the CNC shield and can

  • run up to 4 steppers
  • run multiple high power LEDs
  • be controlled via PS3/PS4 Controllers
  • drive Adafruits Neopixels
  • trigger a Camera
  • provide scanning patterns for Galvos
  • control/readout external devices using I2C

We use the ESP32 in order to ensure connectivity via

  • Wifi
  • Bluetooth
  • USB Serial (mostly used)

pinouts​

Interfaces​

UC2_4UC2_canopen_standalone_v4_release
Rolestandalone, CAN unusedCAN master, node 1 (hybrid)
SerialUSB, 115200 baud, serial JSONUSB, 115200 baud, serial JSON
CAN–500 kbit/s, TX GPIO32 / RX GPIO33, on the "XH_12V+CAN" output
Via CAN–illumination board (node 30: LED + laser id 4), galvo (node 40)

USB-serial chip: CP2102 or CH340, depending on the ESP32 DevKit. Both envs drive the on-board devices directly:

FunctionESP32 GPIO
STEP A / X / Y / Z15 / 16 / 14 / 0
DIR, enableTCA9535 I/O expander, I2C 0x27 (SDA 21, SCL 22)
TMC2209 UART, 4 drivers (UC2_canopen_standalone_v4_* only)TX 26 / RX 34
Laser / PWM 1 / 2 / 312 / 4 / 2
LED data (64 px)13

In the hybrid build, extra CAN motors (stepper id ≥ 4) are not routed by the current firmware. See Serial & CANopen interface and First serial command.

connecting devices - max. configuration for Discovery line products​

  • connect the LED-Matrix to the Mainboard at LED1.
  • Connect the Z-stage to the position Z-Motor on the main board. Ensure there's a motor driver.
  • Connect the 3 Motors of the XYZ-Stage to the respective positions A-Motor, X-Motor, Y-Motor. Ensure there are motor drivers as well.
  • Connect the single fluorescence LED at PMW2.
  • Connect the single-color laser to the Mainboard at XH 4-pinor the dual-color laser at XH 6-pin. In the Webserial you control it with the PMW1 buttons
  • Plug in the USB-micro/USB-C at your ESP32 and connect to your PC.(USB-type depends on ESP32-type)
  • Plug in the 12V power cable.