Interconnect Tables
Every wire connection in both systems. Use this as the wiring reference when building.
Apparatus Connections (24V System)
Power
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Fuse |
| Mains |
L/N/G |
24V PSU |
AC input |
Mains cable |
Breaker |
| 24V PSU |
+24V |
Main fuse |
In |
14 AWG |
- |
| Main fuse (12A) |
Out |
24V bus (Wago) |
In |
14 AWG |
- |
| 24V bus |
Out |
TMC2209 #1 |
VMOT |
18 AWG |
100uF 50V cap at driver |
| 24V bus |
Out |
TMC2209 #2 |
VMOT |
18 AWG |
100uF 50V cap at driver |
| 24V bus |
Out |
TMC2209 #3 |
VMOT |
18 AWG |
100uF 50V cap at driver |
| 24V bus |
Out |
TMC2209 #4 |
VMOT |
18 AWG |
100uF 50V cap at driver |
| 24V bus |
Out |
24V Fans |
+24V |
22 AWG |
- |
| 24V PSU |
GND |
GND bus (Wago) |
In |
14 AWG |
- |
| ESP32 3.3V |
Out |
TMC2209 #1-4 |
VIO |
22 AWG |
Shared logic supply |
| USB adapter |
USB |
ESP32 |
USB port |
USB cable |
- |
Signal
| From |
Pin |
To |
Pin |
Cable |
Notes |
| ESP32 |
GPIO 32 (STEP) |
TMC2209 #1 |
STEP |
Jumper |
Yaw axis |
| ESP32 |
GPIO 33 (DIR) |
TMC2209 #1 |
DIR |
Jumper |
Yaw axis |
| ESP32 |
GPIO 25 (STEP) |
TMC2209 #2 |
STEP |
Jumper |
Pitch axis |
| ESP32 |
GPIO 26 (DIR) |
TMC2209 #2 |
DIR |
Jumper |
Pitch axis |
| ESP32 |
GPIO 23 (STEP) |
TMC2209 #3 |
STEP |
Jumper |
Roll axis |
| ESP32 |
GPIO 22 (DIR) |
TMC2209 #3 |
DIR |
Jumper |
Roll axis |
| ESP32 |
GPIO 19 (STEP) |
TMC2209 #4 |
STEP |
Jumper |
Belt motor |
| ESP32 |
GPIO 18 (DIR) |
TMC2209 #4 |
DIR |
Jumper |
Belt motor |
| ESP32 |
GPIO 16 (RX) / GPIO 17 (TX) |
TMC2209 #1-4 |
RX (PDN_UART) |
Jumper |
Shared bus, 1k resistor on TX, direct RX |
| TMC2209 #1 |
MS1/MS2 |
GND/GND |
- |
Jumper |
Address 0 |
| TMC2209 #2 |
MS1/MS2 |
3.3V/GND |
- |
Jumper |
Address 1 |
| TMC2209 #3 |
MS1/MS2 |
GND/3.3V |
- |
Jumper |
Address 2 |
| TMC2209 #4 |
MS1/MS2 |
3.3V/3.3V |
- |
Jumper |
Address 3 |
| TMC2209 #1-4 |
CLK |
GND |
- |
Jumper |
Internal 12MHz clock |
| TMC2209 #1 |
A1/A2/B1/B2 |
Stepper #1 |
Coils |
6-to-4 pin cable |
1M length |
| TMC2209 #2 |
A1/A2/B1/B2 |
Stepper #2 |
Coils |
6-to-4 pin cable |
1M length |
| TMC2209 #3 |
A1/A2/B1/B2 |
Stepper #3 |
Coils |
6-to-4 pin cable |
1M length |
| TMC2209 #4 |
A1/A2/B1/B2 |
Stepper #4 |
Coils |
6-to-4 pin cable |
1M length |
| ESP32 |
WiFi |
Raspberry Pi |
WiFi |
Wireless |
Coordinated operation |
GEO-DUDe Connections (12V System)
AC Mains (through slip ring)
| From |
Terminal |
To |
Terminal |
Connector Type |
Notes |
| Wall outlet |
Plug |
IEC C16 panel socket (gantry) |
Spade terminals |
Crimp spade 6.3mm insulated |
Panel-mounted on gantry |
| IEC C16 socket |
L (hot) |
AC inline fuse (6A) |
In |
Crimp/solder |
|
| AC inline fuse |
Out |
Slip ring wire 1 |
Stationary input |
Solder or crimp butt |
15A rated |
| IEC C16 socket |
N (neutral) |
Slip ring wire 2 |
Stationary input |
Solder or crimp butt |
15A rated |
| IEC C16 socket |
G (ground) |
Slip ring wire 3 |
Stationary input |
Solder or crimp butt |
15A rated |
| Slip ring wire 1 |
Rotating output |
12V PSU |
AC Live |
Screw terminal |
Inside GEO-DUDe |
| Slip ring wire 2 |
Rotating output |
12V PSU |
AC Neutral |
Screw terminal |
Inside GEO-DUDe |
| Slip ring wire 3 |
Rotating output |
12V PSU |
AC Ground |
Screw terminal / chassis |
Inside GEO-DUDe |
DC Power (all internal to GEO-DUDe)
12V Bus and Always-On Path (before toggle switch)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 12V PSU |
+12V |
Main DC fuse (30A) |
In |
2x 16 AWG parallel |
|
| Main DC fuse |
Out |
12V bus (Wago) |
In |
2x 16 AWG parallel |
|
| 12V bus |
Out |
Buck 2 fuse (3A inline) |
In |
18 AWG |
Always on (before toggle switch) |
| Buck 2 fuse |
Out |
Buck conv 2 |
VIN+ |
18 AWG |
|
| Buck conv 2 (5V) |
VOUT+ |
5V Pi Wago |
In |
18 AWG |
Pi + PCA9685 only |
| 5V Pi Wago |
Out |
Raspberry Pi |
5V GPIO pin |
20 AWG |
|
| 5V Pi Wago |
Out |
PCA9685 |
VCC |
22 AWG |
Logic power only |
Toggle Switch and Buck Converters (after toggle switch)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 12V bus |
Out |
40A Toggle Switch |
Input |
2x 16 AWG parallel |
Jtron SPST, manual panel mount |
| 40A Toggle Switch |
Output |
Buck conv 1 |
VIN+ |
18 AWG |
Via 8A fuse |
| Buck conv 1 (7.4V) |
VOUT+ |
Arm 1 Fuse Board |
7.4V in |
18 AWG |
Elbow fuse |
| Buck conv 1 (7.4V) |
VOUT+ |
Arm 2 Fuse Board |
7.4V in |
18 AWG |
Elbow fuse |
| 40A Toggle Switch |
Output |
Buck conv 3 |
VIN+ |
18 AWG |
Via 8A fuse |
| Buck conv 3 (5V) |
VOUT+ |
Arm 1 Fuse Board |
5V in |
18 AWG |
Wrist fuses |
| Buck conv 3 (5V) |
VOUT+ |
Arm 2 Fuse Board |
5V in |
18 AWG |
Wrist fuses |
Arm 1 Fuse Board (perfboard, 5 fuses)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 40A Toggle Switch |
12V output |
Arm 1 Base fuse (8A) |
In |
16 AWG |
Glass tube slow-blow |
| Arm 1 Base fuse |
Out |
Arm 1 Base servo |
Power + |
servo lead |
HOOYIJ 150kg |
| 40A Toggle Switch |
12V output |
Arm 1 Shoulder fuse (8A) |
In |
16 AWG |
Glass tube slow-blow |
| Arm 1 Shoulder fuse |
Out |
Arm 1 Shoulder servo |
Power + |
servo lead |
ANNIMOS 150kg |
| Buck conv 1 (7.4V) |
Via board |
Arm 1 Elbow fuse (5A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 1 Elbow fuse |
Out |
Arm 1 Elbow servo |
Power + |
servo lead |
ANNIMOS 80kg |
| Buck conv 3 (5V) |
Via board |
Arm 1 Wrist Rotate fuse (3A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 1 Wrist Rotate fuse |
Out |
Arm 1 Wrist Rotate servo |
Power + |
servo lead |
RDS3218 |
| Buck conv 3 (5V) |
Via board |
Arm 1 Wrist Pan fuse (3A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 1 Wrist Pan fuse |
Out |
Arm 1 Wrist Pan servo |
Power + |
servo lead |
RDS3218 |
Arm 2 Fuse Board (perfboard, 5 fuses -- identical to Arm 1)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 40A Toggle Switch |
12V output |
Arm 2 Base fuse (8A) |
In |
16 AWG |
Glass tube slow-blow |
| Arm 2 Base fuse |
Out |
Arm 2 Base servo |
Power + |
servo lead |
HOOYIJ 150kg |
| 40A Toggle Switch |
12V output |
Arm 2 Shoulder fuse (8A) |
In |
16 AWG |
Glass tube slow-blow |
| Arm 2 Shoulder fuse |
Out |
Arm 2 Shoulder servo |
Power + |
servo lead |
ANNIMOS 150kg |
| Buck conv 1 (7.4V) |
Via board |
Arm 2 Elbow fuse (5A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 2 Elbow fuse |
Out |
Arm 2 Elbow servo |
Power + |
servo lead |
ANNIMOS 80kg |
| Buck conv 3 (5V) |
Via board |
Arm 2 Wrist Rotate fuse (3A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 2 Wrist Rotate fuse |
Out |
Arm 2 Wrist Rotate servo |
Power + |
servo lead |
RDS3218 |
| Buck conv 3 (5V) |
Via board |
Arm 2 Wrist Pan fuse (3A) |
In |
18 AWG |
Glass tube slow-blow |
| Arm 2 Wrist Pan fuse |
Out |
Arm 2 Wrist Pan servo |
Power + |
servo lead |
RDS3218 |
Other Power (after toggle switch)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 40A Toggle Switch |
Output |
ESC (40A) |
Power + |
16 AWG |
MACE reaction wheel |
| 40A Toggle Switch |
Output |
12V fan |
+12V |
22 AWG |
Via 1A fuse |
GND (star topology via Wago bus)
| From |
Terminal |
To |
Terminal |
Wire Gauge |
Notes |
| 12V PSU |
GND |
GND bus (Wago) |
In |
2x 16 AWG parallel |
Star ground point |
| GND bus |
Out |
Arm 1 Fuse Board |
GND rail |
16 AWG |
|
| Arm 1 Fuse Board |
GND |
Arm 1 Base servo |
GND |
16 AWG |
Star topology |
| Arm 1 Fuse Board |
GND |
Arm 1 Shoulder servo |
GND |
16 AWG |
Star topology |
| Arm 1 Fuse Board |
GND |
Arm 1 Elbow servo |
GND |
18 AWG |
Star topology |
| Arm 1 Fuse Board |
GND |
Arm 1 Wrist Rotate |
GND |
18 AWG |
Star topology |
| Arm 1 Fuse Board |
GND |
Arm 1 Wrist Pan |
GND |
18 AWG |
Star topology |
| GND bus |
Out |
Arm 2 Fuse Board |
GND rail |
16 AWG |
|
| Arm 2 Fuse Board |
GND |
Arm 2 Base servo |
GND |
16 AWG |
Star topology |
| Arm 2 Fuse Board |
GND |
Arm 2 Shoulder servo |
GND |
16 AWG |
Star topology |
| Arm 2 Fuse Board |
GND |
Arm 2 Elbow servo |
GND |
18 AWG |
Star topology |
| Arm 2 Fuse Board |
GND |
Arm 2 Wrist Rotate |
GND |
18 AWG |
Star topology |
| Arm 2 Fuse Board |
GND |
Arm 2 Wrist Pan |
GND |
18 AWG |
Star topology |
| GND bus |
Out |
12V fan |
GND |
22 AWG |
Star topology |
| GND bus |
Out |
Buck conv 1 |
GND |
18 AWG |
Star topology |
| GND bus |
Out |
Buck conv 2 |
GND |
18 AWG |
Before toggle switch path |
| GND bus |
Out |
Buck conv 3 |
GND |
18 AWG |
Star topology |
| GND bus |
Out |
Pi |
GND GPIO |
20 AWG |
Star topology |
| GND bus |
Out |
PCA9685 |
GND |
22 AWG |
Star topology |
| GND bus |
Out |
Limit switches (all 10) |
GND |
22 AWG |
Star topology |
Signal (all via PCA9685 I2C PWM driver)
| From |
Pin |
To |
Pin |
Cable |
Notes |
| Pi |
I2C SDA (GPIO 2) |
PCA9685 |
SDA |
Dupont jumper |
|
| Pi |
I2C SCL (GPIO 3) |
PCA9685 |
SCL |
Dupont jumper |
|
| PCA9685 |
Ch 0 |
Arm 1 Base servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 1 |
Arm 1 Shoulder servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 2 |
Arm 1 Elbow servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 3 |
Arm 1 Wrist Rotate |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 4 |
Arm 1 Wrist Pan |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 5 |
Arm 2 Base servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 6 |
Arm 2 Shoulder servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 7 |
Arm 2 Elbow servo |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 8 |
Arm 2 Wrist Rotate |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 9 |
Arm 2 Wrist Pan |
Signal |
22 AWG |
PWM |
| PCA9685 |
Ch 14 |
ESC |
PWM |
22 AWG |
MACE reaction wheel |
Limit Switches (Pi GPIO direct)
| From |
Pin |
To |
Pin |
Cable |
Notes |
| Pi |
GPIO 4 |
Arm 1 Base limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 5 |
Arm 1 Shoulder limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 6 |
Arm 1 Elbow limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 17 |
Arm 1 Wrist Rotate limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 27 |
Arm 1 Wrist Pan limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 22 |
Arm 2 Base limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 23 |
Arm 2 Shoulder limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 24 |
Arm 2 Elbow limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 25 |
Arm 2 Wrist Rotate limit switch |
Signal |
22 AWG |
Internal pull-up |
| Pi |
GPIO 26 |
Arm 2 Wrist Pan limit switch |
Signal |
22 AWG |
Internal pull-up |
Other Signal
| From |
Pin |
To |
Pin |
Cable |
Notes |
| Pi |
CSI connector |
Pi Camera |
Ribbon |
Ribbon cable |
|
Connector Reference
| Connection Point |
Connector Type |
Notes |
| IEC C16 socket terminals |
Crimp spade terminals (6.3mm insulated) |
Need crimping tool |
| Slip ring wires |
Solder or crimp butt connectors |
Secure with heat shrink |
| 12V PSU AC input |
Screw terminals (on PSU) |
Strip and insert |
| 12V PSU DC output |
Screw terminals (on PSU) |
Strip and insert |
| DC bus distribution |
Wago lever connectors |
Tool-free, from Mach |
| 40A Toggle Switch |
Screw terminals |
Jtron waterproof panel-mount |
| Buck converter I/O |
Screw terminals (on board) |
Strip and insert |
| Arm fuse boards |
Glass tube fuse holders soldered to perfboard |
5 fuses per board |
| Servo power/signal |
Bare leads or JST |
Cut servo connector if needed |
| Pi GPIO |
Dupont jumper pins |
Standard 2.54mm headers |
| PCA9685 servo headers |
3-pin male headers |
Signal only (power wired separately) |
| Pi Camera |
CSI ribbon cable |
Comes with camera |
| Limit switches |
Bare wire to Dupont |
Solder leads, crimp Dupont for Pi |