User:Cisox/Prusa Mendel

From RepRapWiki
Jump to: navigation, search

Crystal Clear action run.png
Prusa Mendel

Release status: working

Description Prusa Mendel is a simpler remix of normal Mendel.
License GPL
Author Prusajr (design), Kliment (maintenance and documentation), Spacexula (documentation), GregFrost (ideas, refactoring)
Based-on Mendel
Categories Mendel Variations
CAD Models File:Prusa Mendel.EASM

File:Prusa Mendel.STEP

File:Prusa Mendel Solidworks 2007

External Link none


Main Body

Printed Parts

Quantity Description Type Comments Diagram
2 coupling RP coupling.stl Pm-coupler.jpg
3 endstop-holder RP endstop-holder.stl Pm-endstop-holder.png
1 x-carriage RP x-carriage.stl Pm-x-cariage.jpg
1 x-end-idler RP x-end-idler.stl Pm-x-idler.jpg
1 x-end-motor RP x-end-motor.stl Pm-x-motor.jpg
1 y-motor-bracket RP y-motor-bracket.stl Pm-y-motor-bracket.jpg
2 z-motor-mount RP z-motor-mount.stl Pm-z-motor.jpg
4 belt-clamp RP belt-clamp.stl Pm-belt-clamp.jpg
8 bar-clamp RP bar-clamp.stl Pm-bar-clamp.jpg
2 rod-clamp RP rod-clamp.stl Pm-rod-clamp.jpg
2 pulley RP pulley.stl Pm-pulley.jpg
4 frame-vertex with foot RP frame-vertex-without-foot.stl Pm-frame-vertex-foot.jpg
2 frame-vertex RP frame-vertex-with-foot.stl Pm-frame-vertex-footless.jpg
12 pla-bushing RP-PLA pla-bushing.stl. Check the file, it makes either 4 or 12 Pm-bushings.jpg

Non-Printed Parts ("vitamins")

Quantity Description Type Comments
83 M8 nut Fastener Buy a 100-pack to be on the safe side.
93 M8 washer Fastener Buy a 100-pack to be on the safe side.
6 M8×30 mudguard / fender washer Fastener
2 M4×20 bolt Fastener To mount the extruder
2 M4 nut Fastener To mount the extruder
2 M4 washer Fastener To mount the extruder
22 M3×10 bolt Fastener
16 M3×25 bolt Fastener Or eight M3×25 bolt plus eight M3x20 bolts. The M3x25 bolts are too long for the recent Prusa z-motor-holder and rod-clamp, and also for the Z motor couplings. See Section 8, steps 4 and 13 for details.
4 M3×40 bolt Fastener
70 M3 washer Fastener
40 M3 nut Fastener 8 optionally locknut / stop nut / nyloc
2 M3 grub screw / set screw Fastener M3x8 seems about ideal but anything 6mm or longer should do. If these are hard to get, additional M3×10 bolts will do the job instead.
3 608 roller skate / inline skate / skateboard bearing Bearings
4 ballpoint pen springs Spring To fit over M3 bolts. Ballpoint pens are a common, cheap source of suitable springs. They are about 25mm long and compress to about 10mm.
6 M8×370mm Threaded rod 3 per side

Note: The threaded rods can be cut from larger 6x1m pieces (see Threaded Rod Cut Order below).
4 M8×294mm Threaded rod front / rear
3 M8×440mm Threaded rod top / bottom
2 M8×210mm Threaded rod Z-leadscrew
1 M8×50mm Threaded rod or M8x30 or longer bolt for X idler. Take care: if the bolt is too long, it may not be threaded along a sufficient length
2 8mm×420mm Smooth rod X-bar

Note: 304 Stainless Steel or A2 Tool Steel are recommended for smooth rods as it can help to prevent friction from rust and manufacturing (straightness) standards are higher. Rust issues can be prevented on the normal steel rods by maintaining a coat of oil. The smooth rods can also be cut from larger 3x1m pieces (see Smooth Rod Cut Order below).
2 8mm×406mm Smooth rod Y-bar
2 8mm×350mm Smooth rod Z-bar
1 225mm×225mm print top plate Thick Sheet
1 140mm×225mm print bottom plate Thick Sheet
1 840mm×5mm T5 pitch timing belt Belt Y axis
1 900mm×5mm T5 pitch timing belt Belt X axis
4 NEMA 17 bipolar stepper motors Stepper Be sure to get ones with at least 20mm of shaft length. Shorter shafts require modifications to the X pulley assembly and Z motor couplers.
50 small cable binder / ziptie Misc
3 Mechanical endstop switches Switch Endstops are either optical switches or mechanical switches (Recommended), You need one for each of the X, Y, Z axes.
3 30mm×10mm Optoflags Thin Sheet Ff using optical endstops instead of mechanical endstops
2 8mm ID spring Spring to eliminate backlash in the z axis
1 object with precisely 290mm length for frame alignment
1 object with precisely 234mm length for frame alignment
1 PCB Heat Bed Allows almost warp-free and raftless printing of ABS plastic, over its full print area.

Note: You can combine the latter two by having a piece of thick sheet with dimensions 290mm×234mm. Make sure to mark which side is which.

Threaded Rod Cut Order (when cutting from 1m lengths):

 Required: 6x1m Long 8mm Threaded Rods (or 5x1m pieces + 1x50cm piece)
 Rod 1: 370mm, 370mm, 210mm, ~50mm (The last piece will end up somewhat shorter than 50mm. )
 Rod 2: 370mm, 370mm, 210mm, ~50mm ( Use it for your idler. Alternatively, an M8x30 or     )
 Rod 3: 370mm, 294mm, 294mm, ~42mm ( longer bolt can be used.                              )
 Rod 4: 370mm, 294mm, 294mm, ~42mm
 Rod 5: 440mm, 440mm, ~120mm
 Rod 6: 440mm

Smooth Rod Cut Order (when cutting from 1m lengths):

 Required: 3x1m Long 8mm Smooth Stainless Steel Rod 
 Rod 1: 420mm, 420mm 
 Rod 2: 406mm, 406mm
 Rod 3: 350mm, 350mm

The Prusa Mendel uses the 4 drivers in the standard Mendel electronics package to drive 5 motors by using two steppers wired in parallel to one driver [1].


Printed Parts

Quantity Description Type Comments Diagram
1 extruder block RP File:M8 Extruder M8-extruder-block-3.jpg
1 extruder idler block RP File:M8 Extruder M8-extruder-idler-block-2.jpg
1 11 tooth drive gear RP File:M8 11t17p.jpg
1 39 tooth M8 hub driven gear RP File:M8 39t17p.jpg

Non-Printed Parts

Quantity Description Type Comments
2 608 bearings, skateboard bearings Bearings
1 M8×50 bolt Fastener to be hobbed, M8×60 has a longer smooth part, allows a second lock-nut, and may be easier to find
1 M8 nut Fastener Nyloc works better, but a pair of nuts will also work
4-5 M8 washers Fastener to space the large gear clear of the motor retaining bolt heads
1 608 bearing, skateboard bearing Bearings
1 (M)8×20 Threaded rod
4 M4×60 or M4×45 hex head bolts Fastener Hex head will work best (they won't turn), and longer than 45 mm will be easier to assemble if you can find them.
4 M4 nuts Fastener typically wing nuts
8 M4 washers Fastener
4 ~4mm ID springs Spring Sized to fit over an M4 bolt, unsprung length of 10-12mm, each spring providing 25-35N load. For a given filament drive force, you'll need about twice the spring force - i.e., if you want 100N of filament drive, your springs need to push with about 50N each.
16 M4 washers Fastener optional; 4 washers on each M4X45 idler bolt between the main block and the idler block will limit the idler travel and make reloading filament easier.
NOTE: Some users have their extruders working without springs, but springs are recommended. A good source for these springs is in the cloth-cabinet on spring loaded skirt-hangers or trouser-hangers. Just cut the right length off the springs.
Hot End Mount
2 M3×35 bolts Fastener
4 M3 washers Fastener
2 M3 nuts Fastener
1 2.5mm drill See section Hot End
Stepper Motor Mount
3 M3×10 bolts Fastener Low profile bolt heads might work better here
3 M3 washers Fastener
1 M3 grub screw Fastener To secure the pulley, ideally 8mm long, but anything 6mm+ should be fine
1 M3 nut Fastener To secure the pulley
Stepper Motor
1 NEMA 17 bipolar stepper motors Stepper 5 kg*cm works well; Kysan 42BYGH4803 is what I used. Should be capable of creating a holding torque of at least 40Ncm, at the very least.
Extruder Mount
2 M4×20 bolts Fastener
2 M4 nuts Fastener
2 M4 washers Fastener


  • RepRap has the ability to use many different electronic platforms. The most popular of these are below. You will need to choose one of these or visit Alternative Electronics for information regarding non-standard electronics.


Version specific info
RAMPS 1.5 | RAMPS 1.4 | RAMPS 1.3 | RAMPS 1.2 (RAMPS 1.2 old) and older

Crystal Clear action run.png

Release status: Working

Description Arduino based modular RepRap electronics.
License GPL
Author johnnyr
Based-on Pololu Electronics
Categories Electronics
CAD Models none
External Link none

RepRap Arduino Mega Pololu Shield, or RAMPS for short. It is designed to fit the entire electronics needed for a RepRap in one small package for low cost. RAMPS interfaces an Arduino Mega with the powerful Arduino MEGA platform and has plenty room for expansion. The modular design includes plug in stepper drivers and extruder control electronics on an Arduino MEGA shield for easy service, part replacement, upgrade-ability and expansion. Additionally, a number of Arduino expansion boards can be added to the system as long as the main RAMPS board is kept to the top of the stack.


Version 1.4 uses surface mount capacitors and resistors to further cover edge issue cases. As of version 1.3 in order to fit more stuff RAMPS is no longer designed for easy circuit home etching. If you want to etch your own PCB either get version 1.25 or Generation 7 Electronics. Version 1.25 and earlier are "1.5 layer" designed boards (i.e. it's double sided board, but one of layers can easily be replaced with wire-jumpers) that is printable on your RepRap with the etch resist pen method, or home fabbed with toner transfer.

This board is mostly based on Adrian's Pololu_Electronics and work by Tonok. Copper etch resists methods suggested by Vik. Also inspired by Vik's work with EasyDrivers. Circuit design based mostly on Adrian's Pololu_Electronics. Joaz at supplied initial pin definitions and many design improvements. Much inspiration, suggestions, and ideas from Prusajr, Kliment, Maxbots, Rick, and many others in the RepRap community.


  • It has provisions for the cartesian robot and extruder.
  • Expandable to control other accessories.
  • 3 mosfets for heater / fan outputs and 3 thermistor circuits.
  • Fused at 5A for additional safety and component protection
  • Heated bed control with additional 11A fuse
  • Fits 5 Pololu stepper driver board
  • Pololu boards are on pin header sockets so they can be replaced easily or removed for use in future designs.
  • I2C and SPI pins left available for future expansion.
  • All the Mosfets are hooked into PWM pins for versatility.
  • Servo style connectors are used to connect to the endstops, motors, and leds. These connectors are gold plated, rated for 3A, very compact, and globally available.
  • USB type B receptacle
  • SD Card add on available -- Available now made by Kliment - Sdramps
  • LEDs indicate when heater outputs on
  • Option to connect 2 motors to Z for Prusa Mendel

Voltage and current notes

Standard RAMPS has a 5A PTC fuse that runs the Arduino Mega, the stepper motor drivers, and the D10 and D9 outputs. This PTC fuse is rated for a max of 30V, however other components on the board are rated for lower voltages, so care should be taken when using any voltage >12V.

Standard RAMPS has a 11A PTC fuse that runs the D8 output. This PTC fuse is rated for a max of 16V.

RAMPS was developed with 12V systems in mind, but it is possible to run it at 24V with various precautions. Most RAMPS boards will happily run at 13.8V or slightly higher with no modification. It is not recommended to exceed 15V for a standard setup, especially if you've bought your board from a cheaper supplier who may have used lower spec components than are recommended.


  • Some variants of RAMPS have real fuses in place of the PTC fuses (eg: GRRF RAMPS). The max current limits will of course be different.
  • Many PSU's overestimate their max current capability. The max current you require will depend on all your components and the voltage you run them at. For a standard RAMPS board, running a machine with a heated bed, your PSU should generate 12V at >16A (20+A is better, as some PSU's overestimate their capabilities).

Safety Tip

Generation3Electronics-achtung.gif Once you start putting electricity into your RepRap - even at just 12 volts - you have to take basic, common sense precautions to avoid fires.

Just in case these fail, test your workshop smoke detector. Don't have a smoke detector? Get one!


The primary channel for RAMPS support is the RAMPS Forum

Build and Use

See the page that corresponds with the version you are building RAMPS1.4,RAMPS1.3 or RAMPS 1.2



Current schematic shown. For older versions click the image. Click again for full image.

This is the schematic of the shield.


FILE ID# TYPE DESCRIPTION DOWNLOAD Eagle Files These are the files you need to make the board.(Use the File: link to the left to access older versions of the file.)
File:RepRapjr.lbr Eagle Libraries The components used in this board are here. see Eagle_Library media:RepRapjr.lbr

Custom Versions


Will have locking connectors for the motors. Uses the MAX6675 thermocouple sensor, which essentially replaces the AD595. Less vias, which should also increase building time. Bottom only, to enable the possibility of a RepRap or toner transfer method to fabricate the board. Moved the power LED to the front for easy identification. Providing the user has a proto-shield for Mega, there is plenty of pins left for them to play with. By using another tiered board, will alow the possibility of more extruders and LCD all of which can communicate over the I2C protocol.


Change Log

  • 1.4 August 4, 2011
  1. Changed capacitors and resistors to surface mount components
  2. Added LEDs to mosfet outputs
  3. Added bulk capacitors for each stepper driver
  4. Added pull up resistors to enable to override the Pololu drivers default enabled state
  5. Added mosfet gate resistors
  6. Added pull-ups for I2C
  7. Servo1 connector moved to pin 11 to free 7 for ADK
  8. Fixed thermals
  9. Servo 5V supply is only connected to VCC if a jumper is added
  10. Reset switch changed for small footprint
  11. Moved Aux conectors around a bit and increased board size ~0.1"
  12. Added some space around Q3 for a small heatsink
  • 1.3 May 13, 2011
  1. Added 5th stepper driver socket
  2. Added 3rd thermistor circuit
  3. Added Heated bed circuit w/ 11A PTC fuse, changed to 4 position pluggable input jack to accommodate additional current
  4. Increased board size to 4"x2.32"
  5. Pin order on heater outputs changed
  6. Increased spacing increased to accommodate different connectors
  7. Added connectors for optional 2 motors on Z driver
  8. Added connector for PS control
  9. Improved expansion connector layout
  10. Moved LED towards corner and added resistor to LED circuit
  11. No longer optimised for home etching :(
  12. License changed to GPL v3 or newer
  • v1.2 January 04, 2011
  1. Added 0.1" motor connector to RAMPS for each driver (motors no longer have to be connected on top of stepper drivers)
  2. Added breakouts for serial and I2C
  3. Changed extra power and pin headers around for easier connection to extra boards.
  4. Lost most extra analog breakouts
  5. More silk screen and bottom layer fixing
  • v1.1 September 30, 2010
  1. Replaced power barrel jack with plug-able screw terminal
  2. Added jumpers to select micro-stepping on stepper driver boards
  3. Added debug LED
  4. Changed mosfet pins to be compatible with FiveD firmware
  5. Reduced number of 100uF capacitors to 1
  6. Added 100nF capacitor to 12V input
  7. Put auxiliary 12VIN and GNDIN pads in a straight line
  8. Silk screen and bottom layer cleaned up
  • v1.0 Original RAMPS PCB design
  • v0.1? Point to point wired Arduino MEGA Prototype shield

How to get it

Bare PCB and components are available from

      • for maintainability purposes this section is going to be consolidated in the near future with the reprap buyers guide buyers guide all future webshop additions should go there

Fully assembled board are available from

Wish list

This shield would like to replicate with the following external boards

  1. Additional Stepper Driver.
  2. Replace the resettable fuse with a traditional holder. Blade fuse 15A (AU) and holder (AU US)? Surface mount fuse (US) and holder (US)?
  3. DC Driver
  4. Two additional Thermistors (for a second extruder and heated chamber)
  5. Include a second resistor in parallel to the thermistor to reduce self heating. See here
  6. Thermocouple
  7. SD Card -- Available now made by Kliment - Sdramps
  8. Control Panel w/LCD
  9. Ethernet
  10. Host USB
  11. Replace current MOSFETS with IRLB8743PBF, it's less expensive and has significantly lower Rds On.


  • Check List
  1. RAMPS shield firmly seated on Arduino MEGA
  2. No stray wires/metal to cause short
  3. All connections firmly seated, screws tight
  4. Power connection oriented correctly, connected to RAMPS shield (only USB is connected to MEGA)
  5. Thermistor connected to T0
  6. Firmware uploaded
  7. Stepper driver potentiometers to a sane setting (maybe 25% from CCW to start, adjust to enough power to drive axis + not overheat)
  8. Heater wires properly connected
  9. Power supply functioning properly
  • Cannot connect?
    • Verify firmware and host software baud rate matches
    • Disconnect USB, reconnect, and retry
    • It may be a problem with the software you're using (repsnapper). Try using pronterface.
  • Stepper motor getting too hot?
    • Adjust the potentiometer (small screw) on the stepper driver in question by rotating the screw counterclockwise to decrease the current going to the stepper motor.
  • My fan is not working.
    • If you have RAMPs 1.3+ and sprinter firmware (set with the default pins for RAMPs 1.3), try attaching the fan to D9 output.
    • In pronterface, the fan can be turned on by using the M106 command and turned off with M107.
  • Hot end/heated bed not working.
    • Check resistivity by disconnecting from RAMPs and measuring with multimeter
    • Check that host software obtains readings from thermistors

Stepper Driver Testing

If you are not sure whether you have a problem with your RAMPS or the stepper drivers you can test that the driver is getting the power and signals it needs to work.

  • Stepper motors getting too hot?
    • Adjust the potentiometer (small screw) on the stepper driver by rotating the screw counterclockwise to decrease the current going to the stepper motor.

Use a meter of some sort to test the signals at one of the motor drivers. Be careful not to short anything out. You can use a (-) pad in AUX-1 for ground and test the voltage on VMOT, VDD, EN, STEP, and DIR. If all of these are working correctly then the stepper driver is likely bad.

                    High(5V) when disabled, Low when enabled  EN-|     |-VMOT  12V (or voltage at 5A side of input power connector
                                              Set by Jumper  MS1-|     |-GND 0V                 
                                              Set by Jumper  MS2-|     |-1A     ---------------| <Motor Coil A   
                                              Set by Jumper  MS3-|     |-2A     ---------------|____
                                     Not used (tied to SLP)  RST-|     |-1B      -----------------/  |  <Motor Coil B
                                     Not used (tied to RST)  SLP-|     |-2B      -------------------/
                                  Pulse High for each step  STEP-|     |-VDD  5V
Switches between High and Low when driven direction changes  DIR-|     |-GND 0V

Known issues and limitations

1. Overheating 5V regulator on the Arduino Mega

Unless you provide external 5V power or provide 5V through USB cable, the regulator on the Arduino supplies 5V power to the Arduino, the RAMPS (which uses very little) and anything else connected to it. With nothing else powered from the RAMPS, the voltage regulator will run quite warm but not overheat (in tests, I was even able to turn up the input voltage from 12V to 15V without overheating it). With a 20x4 LCD connected, it's still OK with 12V input. However, if you power a servo or a graphic LCD from the RAMPS, then you will almost certainly overheat the voltage regulator. The usual symptom is that the system will not work unless it is connected to a PC via USB. Or the system may work for a few minutes, hours or days, then fail.

Workarounds include (a) removing D1 on the RAMPS and providing external 5V power to the Arduino/RAMPS; (b) driving the backlight of the graphical LCD from 12V through a series resistor instead of from 5V (a 120 ohm 1W resistor is about right for 12864-type displays), (c) using an Arduino variant with a more powerful voltage regulator (e.g. Taurino).

2. Overheating bed heater MOSFET

The STP55NF06L mosfet is not really adequate to drive a 10A heated bed without a heatsink, so on boards supplied without a heatsink it runs very hot. This is often exacerbated by the previous issue (overheating 5V regulator), which causes the voltage on the 5V rail to be significantly lower than 5V and insufficient to turn the mosfet fully on.

Workaround: either add a heatsink, or (preferably) replace the bed heater mosfet (Q3) by a better type such as IRLB8743PBF or IRLB3034PBF. Also check that the voltage on the 5V rail is close to 5V, preferably at least 4.75V.

3. USB data rate fails to keep up with the printer, resulting in slow, poor-quality prints

This is due to the lack of a true USB port on the Arduino Mega, which uses USB-over-serial instead, and the consequent lack of driver-level flow control. As a result, flow control has to be done at application level by the host program waiting to receive "OK" after sending each command. General purpose host operating systems such as Windows and Linux cannot do this efficiently. Some host programs and operating system combinations work better than others, but this issue has even been reported by some users running Octoprint on a dedicated Raspberry Pi host.

Workaround: print from SD card instead of over USB.


  • What power supply you recommend for your ramps board. I have just finished assembly and looking at the diagrams for a pc power supply and wondering about the separate amperages for the extruder and heated bed. Can they be higher amps without damage?

Yes, the power supply being capable of more amps than required is the desired configuration. The current shown are the max supported by RAMPS and is the minimum the power supply should be capable of. It is also OK to have both of the inputs on RAMPS connected to one PSU with enough capacity. If you are not using a heated bed the entire thing can run off the 5A side (D8 will just not work).

  • I got a RAMPS V1.3 as part of a kit, but it doesn't have any installation instructions - just a schematic. Can you point us to a good tutorial for connecting everything? (i.e. stepper motors, opto flag pcb's, power, data, etc) Some of it (like the single USB port) is obvious, but some of it isn't.

See RAMPS1.3 for instructions for version 1.3. There is a version navigation bar at the top of the RAMPS pages that allow you to jump to a specific versions instructions. There is a very helpful graphic under Final Check section.

  • For RAMPS V1.3 the power section of the schematic shows several places with GND/12V (C4/C6, X4-2/1, X4-4/3, VCC/D12). Which one is the GND/12V from the power supply? Is it the round power plug like a laptop power plug? Also, is the outside of that plug GND while the inside is +12V? My kit came with a note warning not to reverse the input power or it would cook the board . . . and a plug adapter with no labels that can be installed either way.

See the connecting power section of your version's page. The round plug is on the Arduino MEGA and will only power the MEGA. You need to power the green pluggable connector, it should not be reversible and the board should be marked (+) and (-). If for some reason your board is not marked you can follow the diagrams and pictures in the wiki.

  • What connectors can I use to attach my own wires to the board? 2 pin 3 pin and 4 pin headers with wires are good and sold, but what if I want to make my own with Dupont terminals and crimps or with JST connectors and crimps(which are cheaper).

Can JST connectors be used, what contact pitch- 1mm or 2mm, will there be enough space on sides on standard RAMPS board?

The pins on the board are on .100" (2.54mm) centers, which is standard configuration. Standard single-row headers are .100" (2.54mm) wide. As long as your connectors are not larger than .100" x .100" (2.54mm x 2.54mm) they will fit.


This page describes the Sanguinololu versions 0.7 and newer, including the current versions. For older versions see Sanguinololu_0.6.

Crystal Clear action run.png

Release status: working

Description Release Version 1.3a
License GPL 2.0
Author Joem
Based-on Pololu Electronics#Sanguinololu
Categories Electronics
CAD Models Eagle
External Link none

Sanguinololu is a low-cost all-in-one electronics solution for Reprap and other CNC devices. It features an onboard Sanguino clone using the ATmega644P though a 644, 1284 or 1284P is easily dropped in. Its four axes are powered by Pololu pin compatible stepper drivers. The board is designed to be flexible in its power source, working with a 12V/5V ATX power supply or any 7V-35V power source via the on-board voltage regulator.


  • Small design – board is 100mm x 50mm (4" x 2") – barely an inch longer than a business card
  • Sanguino clone, Atmel ATmega644P – ATmega1284 drop-in compatible
  • 4 Pololu (compatible) stepper driver boards on-board (X,Y,Z,Extruder)
  • Supports multiple power configurations
– Logic and motors supplied by ATX power supply
– Motors supplied by 5mm screw terminal 7-35V
– Logic supplied by USB
– Logic supplied by on-board voltage regulator
  • Supports multiple communication configurations
– FT232RL on-board for USB connectivity
– USB2TTL header is available for FTDI cable or BlueSMIRF bluetooth module
  • 2 thermistor connectors with circuitry
  • 2 N-MOSFETs for extruder/heated bed
  • Selectable 12v(or supply voltage)/5v endstop voltage
  • Edge connectors enabling right-angle connections
  • Silkscreen for connectors on both sides of the board, facilitating bottom cable connections
  • 13 extra pins – 5 analog and 8 digital – available for expansion and development, with the following capabilities
– UART1 (RX and TX)
– I2C (SDA and SCL)
– PWM (1)
– Analog I/O (5)
  • All through-hole components (except FTDI chip) for easy DIY soldering


The Sanguinololu design has spawned several derivatives, including the Teensylu, which replaces the microcontroller with one supporting on-board USB, rendering the FT232RL superfluous, and following on from that the Printrboard, which also has directly incorporated stepper drivers and SD card reader on-board.


  • The USB 5V VBUS is connected to the output of the 5V regulator. This is bad for the regulator and bad for the PC. Some users report the regulator getting very hot (because it is trying to power the PC), other users report the PC giving USB over current errors. Nophead and Nothinman recommend cutting the 5V track to the USB connector. The only downside is the board needs the 12V supply before it will do anything, but who cares?
An alternate fix for the 1.3a board is to cut the trace between the USB chip pin 4 and C13. This is functionally identical to building a Sanguinololu without the USB port and FT232RL and using an offboard USB-serial cable. The advantage over cutting the 5V trace at the USB connector is that the USB serial port doesn't disappear from the host PC when the printer is switched off, which can anger host software that is still running.
Another fix that seems to work using Schottky diodes:,400825
Another fix is to strip the insulation and shield from the USB cable and cut the 5V wire. This has the advantages that, if the board is powered off, another cable with all wires intact can be used to communicate with the board and it does not require a board modification. The 5V wire can be identified by searching for USB pinouts and can be checked by sticking a needle through the wire insulation to measure conductivity.
  • When the bootstrap loader runs during reset and when downloading firmware the motors are enabled due to pull-downs on the Pololus (The enable pins are pulled up by 100K resistors on the Sanguinololu but they are pulled down by 100K on each Pololu). The step pins are floating and this can cause random motor movements. The E step pin is next to E dir pin which the bootstrap thinks is an LED to be flashed. Crosstalk can cause the extruder to spin when firmware is being loaded. This is not good as it will be cold, so could damage the hot end. Nophead recommends changing the enable line pull ups (R7 and R8) to 4K7 to ensure the motors are disabled until the firmware enables them.
A software fix is to use the the Gen7 boot strap that does not flash the non-existent LED.
  • The pads and traces on the board are not robust enough to handle the high current involved when controlling the heated bed with the sanguinololu's dedicated mosfet. If left as is, the board will heat up in this area, could be damaged and the plastic connectors discolored. To fix, simply add a direct current path by way of (preferably insulated) wire from the 12v input to the 12v pins on the Heated Bed (HB) connector; from the center pin of the HB mosfet to the two ground pins on the HB connector; and from the ground pin on the mosfet to the ground input of the board (probably the ground side of the 12v connector). Find the appropriate traces using continuity check or resistance mode on your multimeter, and check after to ensure you didn't create a short between any of these components in the process. It would be prudent to check for shorts before starting so you don't waste effort trying to fix a short you think you just created but was already there before you applied this fix. To understand this fix, pretend that no traces exist between the high current pathways of the 12v input and 12v pins of the HB connector; the ground input and the ground pin on the mosfet, and the center pin of the mosfet and ground pins on the HB connector. Assume you must create these pathways, then do so!

Schematic & Board Images

Reference Renders

(Click to view older versions.)

Where to get it

You can get the bare pcb, a complete kit or assembled boards at:

(If any other resellers have this available, please add to this section.)

You will also need four Pololu stepper drivers or compatibles like the StepStick.

EAGLE files, parts list

Schematics, board layout, images:

Parts list:

Warning-general-2.gif.png Caution
This parts list is reported to be both incorrect and incomplete. The IC should be a 644P, not simply a 644. Check the assembly instructions (below) for the parts needed. Also, ensure to buy 1/4 watt resistors, since larger ones won't fit the PCB.

Assembly Instructions

For users soldering a 1.3a board:

  • You'll have a 2-pin male header and jumper shunt to solder for the AUTO-RST function of the FTDI. This is located right above the ATmega chip. TODO: Get pics and incorporate this into the instructions below.

A step-by-step build guide to the 1.2 PCB is available with low, medium and high resolution images.

Modifying Older Boards (from Version 1.1 and 1.2 to Version 1.3a)

To modify a v1.1 PCB to make it (electrically/firmware) equivalent to a v1.2 PCB, the image below and this drawing show the track cuts and additional wire links required.

Sanguinololu PCB Modded from v1.1 to v1.2.JPG

Infobox info icon.svg.png Note
Wire bridges are now used in place of R7 and R8 on v1.2 and v1.1 boards modified to v1.2 electrical/firmware equivalence.

To create a 1.3a equivalent PCB from a v1.1 board modified as above, or a standard v1.2 board, the following changes are required:

  • Mount C7 in a socket so that it can be unplugged - as per Adrians Prusa Notes.
  • Adding two 100k pull-up resisitors, one each between 5V and Pin 20 and Pin 35 of the ATmega chip.
Warning-general-2.gif.png Caution
As at 2011-09-12 the above mod (from v1.1 modded or v1.2 standard to v1.3a) has yet to be functionally tested/verified.


Gather the tools you will need to perform through-hole soldering, and if you opted for the on-board FTDI IC, some SMT soldering as well. Soldering pencil and/or iron, solder, and most importantly: flux! I can't stress how much easier flux makes soldering the SMT device.

Carefully inspect your board for defects. Look for strange connections between traces. Become familiar with the locations of devices from the back as well as the front.

Gather your components and ensure you have the complete parts list for your selection. This photo shows enough parts for two Sanguinololus - one with ATX connectors and the other with screw terminal and voltage regulator.

Sanguinololu 1.0 Build 0. parts.JPG

Soldering the FTDI USB to serial IC

Install the FT232RL FTDI IC. Note the orientation of the silkscreen. Solder using your favourite SMT soldering method. The board pictured was tinned from the fabrication shop. After applying flux to the pads, and carefully placing the chip, it was easily soldered by touching the tip of the soldering pencil to the end of a pad to tack the chip down, and then on the pin itself to flow the solder correctly. If you're not sure you want to tackle the SMT soldering, boards are available with this IC pre-soldered. An alternative is to use a USB to TTL-converter instead of this IC.


 IC100    FT232RL          FT232RLSSOP              

Sanguinololu 1.0 Build 1. flux the pads.JPG Sanguinololu 1.0 Build 2. soldered ftdi.JPG Sanguinololu 1.0 Build 2a. soldered ftdi.JPG

Next install the FT232RL support components, minding the polarization of the electrolytic capacitor (C16).


 J1       USB              USBPTH                   
 C7       0.1uF            CAPPTH2
 C8       0.1uF            CAPPTH2                  
 C11      0.1uF            CAPPTH2                  
 C15      0.1uF            CAPPTH2                  
 C16      4.7uF            CAP_POLPTH2              

Sanguinololu 1.0 Build 3. ftdi components.JPG

Now is a good time to test the FTDI chip. Plug a USB cable into the port. The device should show up as a COM port or a TTY device and allow itself to be opened. If you temporarily connect the 'TX' and 'RX' pins on the USB2TTL port on the back of the board anything you type in your terminal application (such as PuTTy) should be echoed back to you. Be sure that your jumper doesn't short to the case of the USB connector just below it and fool you into thinking you have a problem when you do not.

Note that when you have finished the assembly and want to connect to the board using your printer software, then if you are using Windows XP you will need to load the FTDI drivers from the FTDI Virtual Com Port Drivers webpage. As of (2015?) FTDI made driver installation noticeably easier on a machine running Windows. Only one Windows setup executable file should be required to be downloaded and installed, though it is still possible to do it manually by downloading the CPU dependent (32 or 64-bit) CDM zip archive from the same webpage. After the drivers are installed by either method, on first connecting Sanguinolou via USB cable to a computer running Windows, the FTDI chip will be recognized and the the driver install process will be completed.

Soldering the Sanguinololu core

Next, solder the female headers, making sure they're straight and completely seated on the PCB. Where two lengths of header strip are placed so they join in the middle, they may be fractionally too long to lie flat on the board at the join. In this case, carefully file off some of the plastic at the adjoining ends until they fit together in the space available.


 4x Female Pin Header 16 Pin

Sanguinololu 1.0 Build 4. female sockets.JPG

Solder MS1, MS2 and MS3 jumper headers. I find that it is easier to solder the 2-pin header if the jumper shunt is installed. Ensure they're completely seated and straight. Leaving the jumper shunt in place will pull the MS pins high, i.e. set the Pololu controller to sixteenth step resolution. This turned out to be the appropriate setting for my out-of-the-box firmware. If your motors move erratically, check these.


 12x Male Pin Header 2 Pin
 12x Jumper Shunt

Sanguinololu 1.0 Build 5. microstepping jumpers.JPG

Install the LED current-limiting resistor and the MS1 pull-down resistors (MS2 and MS3 have internal pull-down resistors).


 R1       1k (1.5k)        RESISTORPTH1
 R2       100k             RESISTORPTH1
 R3       100k             RESISTORPTH1             
 R4       100k             RESISTORPTH1             
 R5       100k             RESISTORPTH1             

Sanguinololu 1.0 Build 6. pulldown and led resisitor.JPG

Solder the driver decoupling capacitors. Before soldering, bend the leads to the side so the capacitor lays down. Mind the polarization!


 C1       100uf            CAP_POLPTH1
 C2       100uf            CAP_POLPTH1              
 C3       100uf            CAP_POLPTH1              
 C4       100uf            CAP_POLPTH1              

Sanguinololu 1.0 Build 7. decup caps.JPG

Install the thermistor high pass RC filters. Mind the polarization of the capacitors. Install the MOSFET pulldown resistors.

Infobox info icon.svg.png Important Note
If you're building a Sanguinololu 1.3a, install 100K resistors as R7 and R8.

If you're building a Sanguinololu 1.2, do not install resistors in R7 and R8. Instead, replace them with wire jumpers - for example, two clipped leads from a previously soldered part.


 R6       10k               RESISTORPTH1             
 R11      10k               RESISTORPTH1             
 R7       100k - 1.3a only! RESISTORPTH1             
 R8       100k - 1.3a only! RESISTORPTH1             
 C9       10uF              CAP_POLPTH2
 C10      10uF              CAP_POLPTH2              
 R9       4.7k              RESISTORPTH1             
 R10      4.7k              RESISTORPTH1             

Sanguinololu 1.0 Build 8. mosfet resisitors, highpass filters.JPG

Install the DIP socket and ceramic resonator. Before soldering, bend the resonator leads so that it lays down within the dip socket. It doesn't matter which way round it goes.


 Y1       16MHz 22pF       RESONATORPTH             

Sanguinololu 1.0 Build 9. dip socket, resonator.JPG

Install the two ceramic caps for the ATmega and the reset pull up resistor.


 C14      0.1uF            CAPPTH2
 C13      0.1uF            CAPPTH2                  
 R12      100k             RESISTORPTH1                   

Sanguinololu 1.0 Build A. resistors & filter caps.JPG

Solder the MOSFETs, the large charge capacitor, the reset button, and the power LED. The power LED's negative lead is on the flat side, or the shorter lead. The negative lead goes to the left in the picture.


 C12      1000uF           CAP_POLPTH4              
 S1       RESET            TAC_SWITCHPTH            
 LED1     POWER            LED3MM 

Sanguinololu 1.0 Build B. reset button, led, big cap, mosfets.JPG

ATX power supply

If you are using the ATX power supply, install those connectors.


 HDDPWR   5v/12v           DRIVEPWRVERTICAL                           

Sanguinololu 1.0 Build C. atx connectors.JPG

Infobox info icon.svg.png Important Note
It has been suggested (thanks Kliment & tonokip) that the 5V coming from the ATX power supply may not be as stable at 5V as one could hope. It would be better here instead of using the 4-pin hard-drive connector to use only the 4-pin ATX connector and the voltage regulator. The 4-pin ATX connector will still provide enough power for the board. One could even forgo the voltage regulator and power the logic side of the board solely by USB.

Voltage regulator & screw terminal

If you are using the voltage regulator and screw terminal, install those parts now. Note the orientation of the LM7805. Label the screw terminal with a felt tip marker which side is positive and which is negative. On later versions of the board the screw terminals mount at right angles to the way shown so the wire they connect to comes out parallel to the USB lead.


 IC1      LM7805           VREG
 C5       0.33uF           CAPPTH2
 C6       0.1uF            CAPPTH2
 JP23     SCREW            M025MM         

Sanguinololu 1.0 Build D. voltage reg and screw term.JPG


Finally, solder the motor, end stop, thermistor, and bed/tip connectors. Optionally solder the 12V (or supply voltage) connectors along the top of the board, and the ISP 6-pin header (for programming the ATmega).

Sanguinololu 1.0 Build E. connectors & isp.JPG

For speeding up the soldering of the connectors in case you use pin headers, you can use longer strips and just snip the unused positions, like this (top strip left, endstops right), resulting in a board as shown:

SL11 Toprow.jpg SL11 Endstoprow.jpg SL11 Boardstrip.jpg

Alternative build, using IRLB8743 Mosfet

See [],

Step 1

Solder FTDI chip on back of PCB,
4 X 0.1uF (100nF) capacitors to C7, C8, C11, C15
1 X 10uF capacitor goes in C16, change from Sanguinolu, square marking notes positive anode
1 X USB hub
attach USB to computer and confirm the FTDI chip is read

Step 2

R1 1k or 1.5k
R2 100k
R3 100k
R4 100k
R5 100k
R6 4.7k (create3D)
R11 4.7k (create3D)
R7 100k
R8 100k
R9 4.7k
R10 4.7k
Capacitors, note polarity
C1 100uF, bent flat
C2 100uF, bent flat
C3 100uF, bent flat
C4 100uF, bent flat
C9 10uF
C10 10uF
C6 100nF, optional, if LM7805 is used

Step 3

2 Pin Jumper Shunt X12
32 Pin Header X2

Step 4

Y1 16Mhz 22pF Ceramic Resonator, bend it flat, label up
C13 100nF
C14 100nF
R12 100k
Dip 40 Socket, note alignment to co-ordinate with chip
optional 2X1 header

Step 5

C12 1000uF
S1 Tact Switch
LED1 Green, 3mm, the - lead goes left, the + lead is nearest the corner hole


Missing IC1 LM7805
Missing C5 0.33uF, right of LM7805

Missing power
Missing headers

These all go depending on power and pin layout decision.



When you solder the pin strips onto the Pololus you will find it easiest to insert the strips in the appropriate place in the Sanguinololu. Then just drop the Pololu boards on top and solder them in place. Check the polarity is correct - don't trust checking it against an image on this wiki. Make sure that pins 1a, 1b, 2a, & 2b are closest to the edge of the board. You can then unplug them later if you want.


Mechanical micro-switch endstops are recommended for their simplicity and reliability. It is recommended to wire the switch terminals Common (C) and Normally Open (NO) to GND and SIG on Sanguinololu (the two outside pins on the endstop connectors). Ensure you set Endstops_Inverting to true in your firmware.

If you are using optical endstops or proximity sensors (or other endstops that require power) you can use either 5V or 12V (or supply voltage) depending on what endstop device you want to use. This is selected by soldering a little link labeled "Stop Volt" on the back of the board. With the text the right way up, joining the left pad to the middle one gives 12V (or supply voltage), right to middle gives 5V. Take care not to short all three together.


The 1.3a board does not have a separate PWM output for a 12 V cooling fan. You can adapt a spare 5 V output with a firmware edit and an external power transistor circuit. Example here.


Warning-general-2.gif.png Caution
The detailed instructions in this section are outdated. They apply to the ATmega644P and old Arduino IDEs only. For more recent instructions, refer to the Arduino IDE Support page for the Gen7 electronics. This includes downloads, installation instructions and bootloader upload instructions. It will show you how to handle the ATmega644, ATmega644P and ATmega1284P and how to make use of recent Arduino IDEs. The Gen7 Arduino IDE support package works for a Sanguinololu just fine.

To run the printer, you'll need host software on your computer to send instructions to the Sanguinololu (unless you equip it with an SD card reader and your firmware supports printing direct from SD card). Software choices are listed at RepRap_Options#G-code_sender.

Additionally, you need two pieces of software on the Sanguinololu itself:

  • A bootloader, to facilitate uploading a firmware over the serial port. Most RepRap vendors deliver ATmegas with a bootloader already installed. No matter which firmware you prefer, there is no need to replace the bootloader as long as it works.
  • A firmware, which contains all the logic to make your printer move according to the G-code commands sent to it.


If you can already upload a firmware over the serial port or prefer to upload your firmware with a programmer, you can skip this step. Bootloader and firmware are entirely independent of each other.

For your Sanguinololu to accept firmware over the USB connection you first need to burn the bootloader (coming with Gen7 Arduino IDE Support) to the ATmega. There are several ways to accomplish this, detailed under AVR Programmers.

Fuse Settings

The fuses for the ATmega must be changed from the default factory settings to disable JTAG.

Symptoms of incorrect fuse settings:

  • X axis only moves in one direction.
  • Endstops do not work.

644P Fuse Settings

The settings come from the bootloader's boards.txt file.

Example using avrdude and usbtiny.

avrdude -B 8 -patmega644P -c usbtiny -U lfuse:w:0xFF:m -U hfuse:w:0xDC:m -U efuse:w:0xFD:m

1284P Fuse Settings

Use Arduino as ISP to upload ATmegaBOOT_168_atmega1284p.hex bootloader found on

avrdude -p atmega1284p -c stk500v1 -b 19200 -V -e -U lfuse:w:0xD6:m -U hfuse:w:0xDA:m -U efuse:w:0xFD:m -U flash:w:ATmegaBOOT_168_atmega1284p.hex:i

9/19/15: The hfuse setting above sets the frequency incorrectly IMO (I consulted the ATmega datasheet, but would someone double check?). I set it to D6 for a ceramic resonator, slowly rising power.

Checked as requested: The lfuse setting controls the oscillator, not hfuse. The only functional difference between your setting D6 (nominally for ceramic resonator) and the Gen7 setting F7 (nominally for crystal oscillator) is that D6 only allows 258 clock cycles for the resonator to stabilise on start-up, while F7 allows 16000 clock cycles. Furthermore, note that the ATmega data sheet specifies that D6 "should only be used when not operating close to the maximum frequency of the device, and only if frequency stability at start-up is not important for the application". In all cases (ceramic and crystal), F7 should be at least as reliable, the only downside being a ~1 ms delay in start-up time. For simplicity, I would suggest using the Gen7 settings (which I have confirmed working) in all cases. Given the large degree of confusion surrounding fuse settings, I will edit this page to remove all the conflicting information and settle on the Gen7 settings in a few days unless I see an objection.


You will need to upload a RepRap firmware to your Sanguinololu once the bootloader has been burnt. You can do this using the Arduino IDE (v0022, 1.0 has issues with the Arduino library coming with the Sanguino extensions). Compatible firmwares include:

  • Sprinter The instructions in the readme are outdated. Use the Gen7 Arduino IDE package as noted above. Check the Configuration.h to ensure that Sanguinololu is selected as your board: board 62 for v1.2 and newer, board 6 for v1.1 and older.
  • Marlin
  • Teacup In older Teacup versions, copy config.sanguino-xxx.h to config.h, in newer Teacup versions choose board.sanguinololuxxx.h as board. "xxx" stands for your Sanguinololu version.
  • Repetier-Firmware



avrdude: stk500_recv(): programmer is not responding 

Possible causes:

  • Arduino IDE / bootloader mismatch.
  • Wrong baud rate (the bootloader requires its own baud rate which doesn't necessarily match the firmware's baud rate).
  • Hardware issue.


avrdude: stk500_getsync(): not in sync: resp=0x00 
avrdude: stk500_disable(): protocol error, expect=0x14, resp=0x51

To resolve for boards older than Rev 1.3a, hold the reset button on your Sanguinololu for about 10 seconds. While still holding the button, try to upload the firmware again. Let go of the reset button as soon as the Arduino IDE reports, "Binary sketch size: ###### bytes (of a 63488 byte maximum)". The firmware should now be accepted.

Permanent fix

A fix was added in Rev 1.3a. If unpopulated, solder a 2-pin header to the "Autoreset Enable" jumper labeled AUTO RST on the silkscreen. This is located between the Z stepper motor socket and pins 8-10 of the ATMEGA644P socket. In addition, you should also set your Virtual COM port parameter "RTS on close" to ON. Adding the jumper allows the PC to reset the Sanguinololu board during programming and interactive sessions. Removing the jumper allows the printer to run in standalone mode; that is, the board will not reset mid-print when the PC is disconnected or reconnected.

Other possibilities

Another thing to check is the baudrate in "hardware/Gen7/boards.txt". Gen7xxx.upload.speed should be 115200. The Arduino IDE will not see changes to this file until it is restarted.

Another item to check is whether virtual com port drivers are installed correctly. Make sure you see "USB Serial Port" under the heading "Ports (COM & LPT)". If you see a USB driver in the "Other" category with a question mark, you need to manually select the driver for the FTDI chip with drivers from the website.

Another stk500 error

avrdude: stk500_recv(): programmer is not responding 

IRC was very helpful asked me to edit the sanguino boards.txt and change the programmer type to 'arduino' instead of 'stk500'. Which gave me:

avrdude: Can't find programmer id "arduino"

Then I was to check if I had any files in, which I do. After that it spat out:

avrdude: error: no usb support. please compile again with libusb installed.

As I already had avrdude installed, I just moved the old avrdude binary that came with Arduino 0018 and made a symlink from /usr/bin/ to where the old binary was:

mv ~/tmp/arduino-0018/hardware/tools/avrdude ~/tmp/arduino-0018/hardware/tools/avrdudeOLD
ln -s /usr/bin/avrdude ~/tmp/arduino-0018/hardware/tools/

Final Check

Pololu drivers current limit configuration

Before going further, it's very important to configure the current limit of your Pololu drivers or you'll risk burning out your stepper motors or the Pololus. This should be done with the board powered but before connecting the motors. Always power off before connecting or disconnecting the motors.

First of all, note that there are usually two types of NEMA 17 motors :

  • high voltage stepper motors, that work usually on 12 to 14V, the working current is usually below 1A. These don't work well with microstepping chopper drivers and are not recommended.
  • low voltage stepper motors, that work usually on 2 to 4V, the rated current is usually over 1A.

It is safe to drive low voltage stepper motors at a much higher voltage because the Pololu A4988 has current limit functionality. The higher the voltage applied compared to the motor's rated one, the faster your stepper motor can run. The A4988 chip can only provide up to 2A per coil so choose your stepper motor accordingly.

A good starting point for the current is $ 0.7 $ times its rated current. This is typically ~1A with the recommended 1.68A NEMA17 motors and that is about the maximum current the Pololu can deliver without a heatsink or a fan. Note that the rated current of a motor is usually that which gives an 80C temperature rise, which is too hot for plastic brackets, hence the reason to under-run them.

The recommended way to set Pololu drivers current limit is to measure the voltage at the Vref test point. The A4988 datasheet gives all the required information to configure the current limit of a Pololu driver :

The peak current $ I = \dfrac{V_{REF}}{8 \times R_S} $

where $ R_S $ is the resistance of the sense resistor ($ \Omega $) and $ V_{REF} $ is the input voltage on the REF pin (V).

On the Pololu driver board, the $ R_S $ value is $ 0.05 \Omega $ and the $ V_{REF} $ can be measured on the test point shown below, or the metal wiper of the pot. $ I $ is equal to the recommended current limit for your stepper motor multiplied by $ 0.7 $. Thus you can determine the $ V_{REF} $ you'll need with:

$ V_{REF} = I \times 8 \times 0.05 = 0.4 \times I $

For example if your motor is rated 2.8V at 1.68A, you adjust the pot so that you measure the following value for $ V_{REF} $ :

$ V_{REF} = 1.68A \times 0.7 \times 0.4 = 0.47 V $


Note that the StepStick pin compatible driver has 0.2$ \Omega $ sense resistors and the current is limited to a little over 1A with $ V_{REF} $ = 1.7V.

Symptoms of not enough current are skipping steps and poor microstepping linearity. Too much current will cause the motor or the driver to overheat. When the driver overheats it shutsdown for a few seconds and then restarts again when it cools. This makes the motor twitch when it is stationary and pause during motion.

See also Pololu's presentation on calibrating/testing the driver boards: [2]

Wiring shematics


Powering Sanguinololu

Your chosen power solution will determine what kind of power requirements will be in play:

Screw terminal: Connect your power supply with at least 7V and at most 30V to the screw terminal. The negative lead is the one closest to the screw hole.

ATX Power Connector: Connect the ATX-4 pin connector. The ATX power supply must also be rigged to turn on when plugged in & the switch is on. This is done by shorting the !PWR_ENABLE pin to ground on the main ATX-20 pin connector. This is usually the green wire shorted to a black wire. I use a staple crammed in the socket, and use the switch on the power supply case to control system power.

Pin Assignments

Chip layout v1.2+                                                      | Tabular format v1.2+              | Tabular format v0.7 - v1.1
                          +---vv---+                                   |                                   |
   e-dir       (D0) PB0  1|        |40  PA0 (AI0 / D31) ext            | e-dir              D0        PB0  | e-dir               D0        PB0
  e-step       (D1) PB1  2|        |39  PA1 (AI1 / D30) ext            | e-step             D1        PB1  | e-step              D1        PB1
   z-dir INT2  (D2) PB2  3|        |38  PA2 (AI2 / D29) ext            | z-dir              D2        PB2  | z-dir               D2        PB2
  z-step  PWM  (D3) PB3  4|        |37  PA3 (AI3 / D28) ext            | z-step             D3        PB3  | z-step              D3        PB3
     ext  PWM  (D4) PB4  5|        |36  PA4 (AI4 / D27) ext            |                                   | step-enable-x-y-e-z D4        PB4
     spi MOSI  (D5) PB5  6|        |35  PA5 (AI5 / D26) !step-enable-z | !hotbed            D12       PD4  |
     spi MISO  (D6) PB6  7|        |34  PA6 (AI6 / D25) b-therm        | !hotend            D13       PD5  | hotend              D13       PD5
     spi  SCK  (D7) PB7  8|        |33  PA7 (AI7 / D24) e-therm        | !step-enable-x-y-e D14       PD6  | hotbed              D14       PD6
                    RST  9|        |32  AREF                           | x-step             D15       PD7  | x-step              D15       PD7
                    VCC 10|        |31  GND                            |                                   |
                    GND 11|        |30  AVCC                           | x-stop             D18       PC2  | x-stop              D18       PC2
                  XTAL2 12|        |29  PC7 (D23)       y-dir          | y-stop             D19       PC3  | y-stop              D19       PC3
                  XTAL1 13|        |28  PC6 (D22)       y-step         | z-stop             D20       PC4  | z-stop              D20       PC4
    ftdi  RX0  (D8) PD0 14|        |27  PC5 (D21) TDI   x-dir          | x-dir              D21       PC5  | x-dir               D21       PC5
    ftdi  TX0  (D9) PD1 15|        |26  PC4 (D20) TDO   z-stop         | y-step             D22       PC6  | y-step              D22       PC6
     ext  RX1 (D10) PD2 16|        |25  PC3 (D19) TMS   y-stop         | y-dir              D23       PC7  | y-dir               D23       PC7
     ext  TX1 (D11) PD3 17|        |24  PC2 (D18) TCK   x-stop         | e-therm            D24  AI7  PA7  | e-therm             D24  AI7  PA7
 !hotbed  PWM (D12) PD4 18|        |23  PC1 (D17) SDA   ext            | b-therm            D25  AI6  PA6  | b-therm             D25  AI6  PA6
 !hotend  PWM (D13) PD5 19|        |22  PC0 (D16) SCL   ext            | !step-enable-z     D26       PA5  | 
!step-en  PWM (D14) PD6 20|        |21  PD7 (D15) PWM   x-step         |                                   | 
                          +--------+                                   |                                   |

Microstepping Jumper Settings

Sanguinololu Jumpers.JPG

SD / Bluetooth Adapters

At least two adapters exist for the Sanguinololu using the IO and ISP headers.

Revision History

Rev.1.3b2 by - updated August 19, 2014 This version has no schematic changes from version 1.3a - the bootloader however is changed to reflect the CPU upgrade though your 1.2+ compatible firmware should still work fine. The hardware changes:

  • ATX 4-pin Mini-Fit connector were removed so only the 2-pin screw terminal remains
  • Solder jumper for endstop voltage selection removed, now fixed to 5 volt rail
  • Through-hole MS1, 2 & 3 pinheaders substituted by solder jumpers
  • Through-hole enable/disable USB auto-reset pinheader substituted by solder jumper
  • Through-hole 16MHz oscillator crystal substituted by equivalent SMD type
  • Through-hole Voltage regulator (TO-220 LM7805) substituted by equivalent SMD type
  • Through-hole reset button substituted by equivalent SMD type
  • 3-pin endstop connector substituted by 4-pin CDROM type (the two center pins are Ground)
  • The space between the ICSP/SPI header and the expansion port has been enlarged from 50 to 100 mils
  • General optimizations of traces in circuit layout
  • FTDI pin header beneath the USB plug were removed
  • ATMEGA644P was substituted by ATMEGA1284P to give more space for firmware (more functionality: SD-cardreader, display etc.)
  • Change of bootloader, now uses ATmegaBOOT_168_atmega1284p.hex which can be found on

The resulting PCB now mostly consists of SMD components thereby facilitating easier production

Rev 1.3a Version 1.3a has no firmware changes -- the pin assignments remain the same and v1.2-compatible firmware should work fine. The hardware changes:

  • Removed the Molex HDD connector in favor of using the voltage regulator - some power supplies give a dirty 5V signal when there is no motherboard load, so it's better to just use the power supply's ATX+4 connector and the 5V voltage regulator.
  • Added a jumper to enable/disable USB auto-reset. This way if you're printing from an SD card using SDSL you can disconnect your USB and reconnect it without interrupting a print.
  • R7 and R8 are now 100k pull-up resistors on the stepper-enable lines. This ensures the stepper motors stay disabled and don't move while uploading new firmware, rebooting, etc. The current limiting resistors for the FTDI are gone.
  • There is an extra Z-motor header for Prusa Mendel.

Rev 1.3 Custom modification for WebSpider -- it spaces the hottip and hotbed connectors better. No firmware changes.

Rev 1.2 Updated June 15, 2011.

While v1.1 is completely functional, there were some requests from users for pin assignment changes. Version 1.2 implements these firmware changes.

  • Z-Enable is now on its own pin.
  • PWM devices have been moved to OC0 and OC1 freeing up OC2 for internal timing.
  • The expansion port is now a pin shorter -- the Z-Enable feature ate an analog pin here.

Version 1.2 still includes the footprint for the Molex HDD connector, though it may be wise to disregard it and always install the 5V regulator as not all ATX power supplies' 5V lines are stable and clean. NOTE: On the bottom side of the board, the footprint for the Molex HDD connector is backwards (beveled edges facing towards the edge of the board). Take care if soldering from the bottom side of the board to orient the HDD connector with the beveled edges facing towards the center of the board, as shown on the top side silkscreen.

Rev 1.1 Corrected silkscreen mistake. Added open hardware logo.

Rev 1.0 Release revision: tighter DRC rules and rotated screw terminal footprint. There is one tiny mistake on the 1.0 board: the leftmost pin on the expansion header labelled 5V is actually 12V (or supply voltage).

Rev 0.7 Added more pins to the expansion header, made I2C and SPI available for use. Combined all stepper motor enable nets into one pin.

Added footprints for voltage regulator for those wanting to use laptop power brick, etc. The vreg component footprints are hidden under the ATX power supply for space saving and to prevent both from being in use.

Enabled USB bus power for logic side.

Connected the 5v pin on the USB2TTL header so that either a FTDI cable can power the board or the board can power a bluetooth serial module (bluesmirf).

See Sanguinololu_0.6 for older revision history.

Generation 6 Electronics

Generation 6, or Gen6, can be described as a dedicated, Plug-&-Play, single board solution for FFF/FDM 3D Printers. It is designed to be professionally manufactured, with many small surface mount components, as opposed to Generation 7 which is designed to be printed on a Mendel(among other design goals).

Another major difference with Gen6 electronics is that they use Texas Instruments DRV8811 chips to drive the stepper motors. This means they require firmware modifications from the normal Polulu-based electronics which use Allegro A4983 chips.

Generation 7 Electronics

This is a RepRap controller electronics board designed to be do-it-yourselfable. Replication is what makes RepRap unique, so this is now extended to electronics. All Gen7 PCBs can be manufactured on a RepRap, on a general CNC milling machine, etched with the toner transfer method, or they can even be bought. A long term future goal is to print the electrical tracks directly.

The circuitry design is very similar to other single/stacked board solutions, like RAMPS or Sanguinololu. Generation 7 Electronics can drive the same hardware. Additionally, it comes with a few nice details to make it more reliable.

Generation 3 Electronics

The electronics are the 'brain' of the system. They control all the various motors and actuators, read all the various inputs (endstops, temperature, etc) as well as communicate with the host system to get directions, report status, etc. The Generation 3 electronics are our latest attempt at improving these systems. The stepper drivers are smaller, more powerful and cheaper. The main processor has been upgraded from an atmega168 (Arduino) to and atmega644p (Sanguino). Likewise, the extruder controller boards have been consolidated onto a single board which itself contains an atmega168 (Arduino) which allows it to pursue its own individual tasks without the constant attention of the main board. The Generation 3 electronics also introduces an RS485 communications bus which allows the Motherboard to talk to the various extruder controllers in a nice, simple way.