MKS Robin Nano V3 Controller Board¶

The MKS Robin Nano V3 is the main controller board used by the My-Cloner Rev A.

It controls the printer's:

Stepper motors
Stepper drivers
Hotend heater
Heated bed
Temperature sensors
Cooling fans
Probe and auxiliary sensors
Display interfaces

The board communicates with the Raspberry Pi Zero 2 W running Klipper.

My-Cloner Rev A

The My-Cloner Rev A uses the MKS Robin Nano V3 with a 24 V DC system supply and 5 × TMC2209 stepper drivers.

The Raspberry Pi Zero 2 W is powered separately through a 24 V → 5 V LM2596 converter.

Official References¶

The information on this page is based on the official Makerbase and Klipper project files.

The official Makerbase schematic identifies the board as MKS Robin Nano V3, hardware revision V3.0_004, using an STM32F407VGT6 microcontroller.

Main Controller¶

Item	Specification
Controller	MKS Robin Nano V3
MCU	STM32F407VGT6
Firmware	Klipper
My-Cloner system voltage	24 V DC
Stepper driver positions	5
Driver positions	X, Y, Z, E0, E1
My-Cloner drivers	TMC2209
Driver communication	UART
Host	Raspberry Pi Zero 2 W
Host communication	USB
Primary UI	Mainsail

The board-level schematic separates the controller into functional blocks for:

MCU
Power
MOSFET outputs
Thermistors
Endstops and sensor inputs
Stepper drivers
USB
SD card
Display / auxiliary connections

Stepper Driver Interfaces¶

The Robin Nano V3 provides five replaceable stepper-driver positions:

Driver Position	My-Cloner Rev A Assignment
X	X Axis
Y	Y Axis
Z	Left Z Axis
E0	Extruder
E1	Right Z Axis

The My-Cloner Rev A uses TMC2209 drivers in UART mode.

Rev A Assignment

Using the E1 driver for the second Z motor is a My-Cloner-specific assignment.

It must be physically validated during machine bring-up.

STEP / DIR / ENABLE Pins¶

Driver	STEP	DIR	ENABLE
X	`PE3`	`PE2`	`PE4`
Y	`PE0`	`PB9`	`PE1`
Z	`PB5`	`PB4`	`PB8`
E0	`PD6`	`PD3`	`PB3`
E1	`PD15`	`PA1`	`PA3`

The official Klipper generic configuration confirms the X, Y, Z and E0 mappings above and provides the E1 interface as an additional driver channel.

The final Klipper configuration may use the ! prefix to invert the direction or enable signal where required.

TMC2209 UART¶

The Robin Nano V3 provides dedicated UART signals for the five stepper-driver positions.

Driver	UART Pin
X	`PD5`
Y	`PD7`
Z	`PD4`
E0	`PD9`
E1	`PD8`

These pins will be used by the corresponding Klipper [tmc2209 ...] sections.

Example:

[tmc2209 stepper_x]
uart_pin: PD5

Driver Configuration

The UART pin identifies the board connection only.

Motor current, StallGuard threshold and other TMC2209 parameters must be configured for the actual My-Cloner motors and validated on the physical machine.

DIAG and Endstop Interfaces¶

The Robin Nano V3 provides DIAG routing for compatible TMC drivers.

The official board schematic maps the available driver DIAG signals to endstop inputs.

Driver	DIAG / Endstop Input	MCU Pin
X	X-	`PA15`
Y	Y-	`PD2`
Z	Z-	`PC8`
E0	Z+	`PC4`
E1	E1-	`PE7`

For the My-Cloner Rev A:

X uses TMC2209 sensorless homing
Y uses TMC2209 sensorless homing
Z uses the P.I.N.D.A. probe

The X/Y sensorless homing configuration requires physical tuning and is not considered validated until it has been tested on the machine.

Heater Outputs¶

The board provides separate MOSFET-controlled outputs for the hotend, heated bed and an additional heater channel.

The official schematic exposes HEATER1, HEATER2 and HOTBED outputs.

Board Output	MCU Pin	My-Cloner Rev A
HE0	`PE5`	Hotend Heater
HE1	`PB0`	Not currently used
H-BED	`PA0`	Heated Bed

The generic Klipper configuration confirms PE5 for the primary hotend heater and PA0 for the heated bed.

24 V System

The My-Cloner Rev A uses 24 V heaters.

Always verify heater voltage and wiring before power is applied.

Temperature Sensor Inputs¶

The Robin Nano V3 provides three thermistor inputs.

The Makerbase schematic identifies:

TH1
TH2
TB

Input	MCU Pin	My-Cloner Rev A
TH1	`PC1`	Hotend Thermistor
TH2	`PA2`	Available
TB	`PC0`	Heated Bed Thermistor

The generic Klipper configuration uses:

Hotend: PC1
Heated Bed: PC0

Thermistor Type

The MCU input pin and the Klipper sensor_type are separate settings.

The exact thermistor model installed on the machine must be confirmed before the final firmware configuration is released.

Fan Outputs¶

The Robin Nano V3 provides two controllable fan outputs.

Output	MCU Pin	My-Cloner Assignment
FAN1	`PC14`	TBD
FAN2	`PB1`	TBD

The My-Cloner Rev A uses:

4010 24 V hotend cooling fan
5015 24 V part-cooling blower

The final FAN1/FAN2 assignment will be confirmed during electrical wiring and physical validation.

The official Klipper generic configuration uses PC14 as its example [fan] output and lists PB1 as the second fan output.

Probe and Auxiliary Inputs¶

The Robin Nano V3 exposes several inputs that may be used by probes and auxiliary sensors.

Function	MCU Pin	My-Cloner Status
X Endstop / X DIAG	`PA15`	X sensorless homing
Y Endstop / Y DIAG	`PD2`	Y sensorless homing
Z Endstop / Z DIAG	`PC8`	Available
Z+ / E0 DIAG	`PC4`	Available
E1 DIAG	`PE7`	Available
Material Detect 1	`PA4`	Candidate filament sensor input
Material Detect 2	`PE6`	Available
Power Detect	`PA13`	Not currently implemented
Power Off	`PB2`	Not currently implemented
BLTouch Control	`PA8`	Not currently assigned

P.I.N.D.A. Probe

The My-Cloner uses a P.I.N.D.A. probe, not a BLTouch.

The final P.I.N.D.A. signal connection will be defined from the My-Cloner wiring schematic and physically validated.

The BLTouch control pin must not automatically be treated as the P.I.N.D.A. input.

Filament Sensor¶

The My-Cloner Rev A uses an MK3-style IR filament sensor.

The Robin Nano V3 provides two material-detection inputs:

Input	MCU Pin
MT_DET1	`PA4`
MT_DET2	`PE6`

The final My-Cloner assignment will be defined in the electrical schematic and validated on the physical printer.

EXP1 / EXP2 Headers¶

The board provides two display / auxiliary headers.

EXP1¶

Header Pin	MCU / Signal
EXP1_1	`PC5`
EXP1_2	`PE13`
EXP1_3	`PD13`
EXP1_4	`PC6`
EXP1_5	`PE14`
EXP1_6	`PE15`
EXP1_7	`PD11`
EXP1_8	`PD10`
EXP1_9	GND
EXP1_10	5 V

EXP2¶

Header Pin	MCU / Signal
EXP2_1	`PA6`
EXP2_2	`PA5`
EXP2_3	`PE8`
EXP2_4	`PE10`
EXP2_5	`PE11`
EXP2_6	`PA7`
EXP2_7	`PE12`
EXP2_8	RESET
EXP2_9	GND
EXP2_10	3.3 V

These mappings are also defined by the official Klipper board aliases.

The MKS TS35 V2.0 integration with the final Klipper system is still under validation.

Mainsail remains the primary user interface for the My-Cloner Rev A.

USB Communication¶

The My-Cloner uses USB communication between:

graph LR
    A[Raspberry Pi Zero 2 W] -->|USB| B[MKS Robin Nano V3]

The official Klipper generic configuration specifies:

MCU: STM32F407
Bootloader: 48KiB
Communication: USB

It also notes that the normal make flash procedure is not used for this board. Instead, the compiled Klipper binary is renamed to:

Robin_nano_v3.bin

and flashed using an SD card.

Firmware Installation

The complete firmware compilation and flashing procedure will be documented separately in the Firmware Configuration section.

Board Power¶

The official Makerbase pin map identifies the Robin Nano V3 main supply as 12/24 V compatible.

The My-Cloner Rev A operates exclusively from:

24 V DC

The controller receives its 24 V supply from the Mean Well LRS-350-24.

The Raspberry Pi is not powered directly from the mainboard in the current My-Cloner architecture.

Instead:

graph LR
    A[24 V DC] --> B[LM2596]
    B -->|5 V DC| C[Raspberry Pi Zero 2 W]

My-Cloner Usage Summary¶

Board Function	My-Cloner Rev A
X Driver	X Axis TMC2209
Y Driver	Y Axis TMC2209
Z Driver	Left Z TMC2209
E0 Driver	Extruder TMC2209
E1 Driver	Right Z TMC2209
HE0	24 V Hotend Heater
HE1	Unused
H-BED	24 V Heated Bed
TH1	Hotend Thermistor
TH2	Available
TB	Heated Bed Thermistor
FAN1	Assignment TBD
FAN2	Assignment TBD
X-	X Sensorless Homing
Y-	Y Sensorless Homing
P.I.N.D.A.	Final input TBD
MT_DET	IR Filament Sensor — final input TBD
EXP / Display	TS35 V2.0 — integration under validation
USB	Raspberry Pi / Klipper communication

For the complete My-Cloner-specific mapping:

I/O Map

For motor and homing configuration:

Motors & Homing

For heater and sensor connections:

Heaters & Temperature Sensors

For power wiring:

Power Distribution

For the future Klipper configuration:

Firmware Configuration