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My-Cloner Rev A — I/O Map

This page defines the electrical I/O mapping used by the My-Cloner Rev A.

The purpose of this document is to provide a single reference between:

  • Physical printer hardware
  • MKS Robin Nano V3 connectors
  • STM32F407 MCU pins
  • TMC2209 stepper drivers
  • Klipper configuration
  • Electrical schematic
  • Hardware validation status

Engineering Reference

This document contains both board-level pin mappings confirmed by the official Makerbase and Klipper sources and My-Cloner-specific assignments.

My-Cloner-specific assignments must be physically validated before the machine is considered ready for operation.

Official References

The board-level mappings in this document are based on the official project sources:

The official Makerbase schematic identifies the controller as the MKS Robin Nano V3, based on the STM32F407VGT6 MCU.

Owner-Reported Hardware and Test Status

The owner confirmed these details on 2026-09-28. They describe the assembled My-Cloner Rev A; they are not a complete commissioning record.

Item Confirmed hardware / connection Status
Controller MKS Robin Nano V3.0 Rev A assignment
Host Raspberry Pi Zero 2 W; microSD and reader available; clean Klipper/Mainsail installation required Rev A assignment
X / Y / left Z / right Z motors 17HS13-0404S1; manufacturer rating 0.4 A per phase Rev A assignment
Extruder motor 17HS10-0704S; manufacturer rating 0.7 A per phase; direct gear drive without reduction Rev A assignment
X/Y transmission GT2 20-tooth pulleys, as listed in the mechanical BOM Rev A assignment
Z transmission 2 mm pitch; 8 mm lead per revolution Rev A assignment
X/Y homing TMC2209 sensorless homing selected; DIAG jumpers reported installed Rev A assignment
P.I.N.D.A. V1, three wires; Z- / PC8, GND and 5 V as reported by owner Rev A assignment
Hotend fan 4010, 24 V; FAN1 / PC14 Rev A assignment
Part-cooling fan 5015, 24 V; FAN2 / PB1 Rev A assignment
Filament sensor IR V0.4; MT_DET1 / PA4 Rev A assignment
Hotend heater 24 V, 40 W; cartridge Ø6 × 21 mm Rev A assignment
Hotend thermistor Owner-identified ATC Semitec 104GT-2, NTC 100 kΩ; reported cartridge Ø3 × 15 mm Rev A assignment
Heated bed Ender 3 type, 24 V, 220 W, 235 × 235 mm Rev A assignment
Bed thermistor Original bed NTC 100 kΩ; exact curve / Klipper sensor_type still TBD Pending validation

The owner reports checking the hotend heater resistance against the expected 12–15 Ω range and the hotend thermistor against approximately 100 kΩ at 25 °C. Exact readings and measurement conditions were not recorded here. The P.I.N.D.A. responds to nearby metal; its Klipper open/triggered polarity and Z offset still require verification.

Earlier Klipper tests were performed and errors were resolved, but calibration was unfinished and no printer.cfg or log survives. A clean installation and a new configuration are planned. Recheck each subsystem with that configuration before marking it Validated.

The owner's provisional X/Y travel estimate is 10 mm beyond each edge of the 235 mm bed (255 mm total span per axis). This is not a measured printable area or approved position_min/position_max. Coordinate origin, X/Y limits, Z travel and probe offsets remain pending measurement.

Motor Sources

Motor nameplate current is not an automatically validated Klipper run_current. Driver settings remain to be selected and tested.

Controller Overview

Item My-Cloner Rev A
Controller board MKS Robin Nano V3.0
MCU STM32F407VGT6
Main supply 24 V DC
Firmware Klipper
Host Raspberry Pi Zero 2 W
Stepper drivers 5 × TMC2209
Driver communication UART
X/Y homing TMC2209 sensorless homing
Z reference P.I.N.D.A. probe
Primary user interface Mainsail
Local display MKS TS35 V2.0 — integration: Pending validation

Stepper Driver Mapping

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

  • X
  • Y
  • Z
  • E0
  • E1

The My-Cloner Rev A uses all five driver positions.

Board Driver My-Cloner Function Driver Communication Status
X X Axis TMC2209 UART Rev A assignment
Y Y Axis TMC2209 UART Rev A assignment
Z Left Z Axis TMC2209 UART Rev A assignment
E0 Extruder TMC2209 UART Rev A assignment
E1 Right Z Axis TMC2209 UART Rev A assignment

Z Motor Assignment

The current Rev A assignment uses the board's Z driver for the Left Z motor and the E1 driver for the Right Z motor.

This assignment must be confirmed during the physical wiring and Klipper bring-up process.

Step / Direction / Enable Pins

Function Board Driver STEP DIR ENABLE Klipper Section Status
X Axis X PE3 PE2 PE4 [stepper_x] Source confirmed
Y Axis Y PE0 PB9 PE1 [stepper_y] Source confirmed
Left Z Axis Z PB5 PB4 PB8 [stepper_z] Source confirmed
Extruder E0 PD6 PD3 PB3 [extruder] Source confirmed
Right Z Axis E1 PD15 PA1 PA3 [stepper_z1] Source confirmed / Rev A assignment

The final Klipper configuration may invert individual direction or enable pins using the ! prefix.

The required polarity will be confirmed during motor-direction testing.

TMC2209 UART Mapping

The official MKS Robin Nano V3 pin map provides a dedicated UART line for each stepper-driver position.

Board Driver UART Pin My-Cloner Function Status
X PD5 X Axis Source confirmed
Y PD7 Y Axis Source confirmed
Z PD4 Left Z Axis Source confirmed
E0 PD9 Extruder Source confirmed
E1 PD8 Right Z Axis Source confirmed

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

Example structure:

[tmc2209 stepper_x]
uart_pin: PD5

[tmc2209 stepper_y]
uart_pin: PD7

[tmc2209 stepper_z]
uart_pin: PD4

[tmc2209 extruder]
uart_pin: PD9

[tmc2209 stepper_z1]
uart_pin: PD8

Do Not Copy Driver Settings Yet

UART pin assignments are board-level information.

Driver current, run_current, hold_current, interpolation and StallGuard settings must be defined and validated separately for the actual My-Cloner motors.

Sensorless Homing

The My-Cloner Rev A uses TMC2209 sensorless homing on the X and Y axes.

This is a Rev A design assignment. The final driver current, StallGuard threshold, homing speed and homing repeatability remain pending physical validation.

The MKS Robin Nano V3 exposes the driver DIAG signals as follows:

Driver DIAG Board Endstop Input MCU Pin My-Cloner Use Status
X DIAG X- PA15 X sensorless homing Rev A assignment
Y DIAG Y- PD2 Y sensorless homing Rev A assignment
Z DIAG / Z- Z- PC8 Assigned to P.I.N.D.A. V1; Z sensorless homing not used Rev A assignment
E0 DIAG Z+ PC4 Not currently used Source confirmed
E1 DIAG E1- PE7 Not currently used Source confirmed

The official Makerbase circuit maps the DIAG signals to the corresponding endstop inputs.

Sensorless Homing Requires Physical Tuning

Sensorless homing cannot be considered validated from configuration alone.

The following must be tested on the physical printer:

  • Driver current
  • StallGuard threshold
  • Homing speed
  • Mechanical friction
  • Belt tension
  • Homing direction
  • Repeatability

The final StallGuard values will therefore be added only after physical machine testing.

Z Probe

The My-Cloner Rev A uses a P.I.N.D.A. inductive probe for Z referencing and bed probing.

Function Device Board Input MCU Pin Status
Z Probe P.I.N.D.A. V1, three wires Z- PC8 Rev A assignment

The MKS Robin Nano V3 provides several possible probe-related inputs, including the Z endstop input and a dedicated BLTouch interface.

The owner reports Z- / PC8, GND and 5 V connections. Response to metal has been observed; Klipper trigger polarity, electrical interface and offsets remain pending validation.

Do Not Assume BLTouch Wiring

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

The dedicated MKS Robin Nano V3 BLTouch control pin (PA8) must not automatically be assumed to be the correct P.I.N.D.A. signal input.

PC8 is the reported Rev A signal input. Confirm the electrical interface and open/triggered readings before Z homing.

Extruder

Function Device Board Driver / Output MCU Pin Status
Extruder Motor NEMA17 Pancake E0 STEP PD6 Source confirmed
Extruder Direction — E0 DIR PD3 Source confirmed
Extruder Enable — E0 EN PB3 Source confirmed
Extruder Driver UART TMC2209 E0 PD9 Source confirmed

The E0 driver is reserved for the direct-drive extruder.

Hotend

Heater

Function Board Output MCU Pin Voltage Status
Hotend Heater HE0 PE5 24 V DC Source confirmed

The generic Klipper configuration uses:

heater_pin: PE5

The My-Cloner Rev A uses a 24 V V6-style heater cartridge.

The owner identifies the cartridge as 24 V, 40 W, Ø6 × 21 mm and reports checking its resistance against the expected 12–15 Ω range.

Thermistor

Function Board Input MCU Pin Status
Hotend Thermistor TH1 PC1 Source confirmed

The generic Klipper configuration uses PC1 for the hotend thermistor input.

Temperature Validation Pending

The electrical input pin is confirmed.

The owner identifies the installed hotend thermistor as ATC Semitec 104GT-2. Temperature readings and thermal limits must be verified with the new configuration.

Do not copy the generic Klipper thermistor type without validating the installed sensor.

Heated Bed

Heater

Function Board Output MCU Pin Voltage Status
Heated Bed H-BED PA0 24 V DC Source confirmed

The generic Klipper configuration uses:

heater_pin: PA0

Thermistor

Function Board Input MCU Pin Status
Heated Bed Thermistor TB PC0 Source confirmed

The generic Klipper configuration uses:

sensor_pin: PC0

The generic Klipper example specifies an EPCOS 100K thermistor.

The installed Ender 3 bed is 24 V, 220 W and 235 × 235 mm, with its original NTC 100 kΩ thermistor. Its exact curve / sensor_type remains TBD; the generic EPCOS example is not confirmation of the fitted sensor.

Cooling Fans

The MKS Robin Nano V3 provides two controllable fan outputs.

Function Board Output MCU Pin My-Cloner Device Status
Hotend fan FAN1 PC14 4010, 24 V Rev A assignment
Part-cooling fan FAN2 PB1 5015, 24 V Rev A assignment

The My-Cloner uses:

  • 1 × 4010 24 V hotend cooling fan
  • 1 × 5015 24 V part-cooling blower

The owner reports these fan connections on the assembled printer. PWM, airflow and control under the new configuration remain pending validation.

Klipper Generic Configuration

The generic MKS Robin Nano V3 Klipper example uses PC14 as the primary [fan] output and lists PB1 as the second available fan output.

The My-Cloner configuration does not need to follow that functional assignment if the wiring requires a different mapping.

Filament Sensor

The My-Cloner Rev A uses an MK3-style IR filament sensor with the mechanical ball and magnet mechanism.

The MKS Robin Nano V3 provides two material-detection inputs:

Board Input MCU Pin My-Cloner Use Status
MT_DET1 PA4 IR V0.4 filament sensor Rev A assignment
MT_DET2 PE6 Available / not assigned Source confirmed

MT_DET1 / PA4 is the owner-reported connection; sensor supply, signal polarity and runout behaviour remain pending validation.

Display

The My-Cloner Rev A hardware includes an MKS TS35 V2.0 display.

Its final Klipper integration is still under investigation.

EXP1 Header

Pin MCU / Function
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 / Function
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

Display Integration Pending Validation

These are the MKS Robin Nano V3 EXP-header pin mappings.

They do not by themselves confirm that the MKS TS35 V2.0 will operate directly through Klipper.

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

Raspberry Pi and MCU Communication

The Raspberry Pi Zero 2 W will run Klipper and Mainsail.

The MKS Robin Nano V3 generic Klipper configuration is intended for:

  • MCU: STM32F407
  • Bootloader: 48 KiB
  • Communication: USB

The official generic configuration instructs users to compile Klipper for the STM32F407 and use USB communication.

The Raspberry Pi is powered separately through the My-Cloner 24 V → 5 V LM2596 supply.

Power Control and Auxiliary Inputs

The MKS Robin Nano V3 also exposes the following auxiliary signals:

Function MCU Pin My-Cloner Rev A
Power Detect PA13 Not currently implemented
Power Off PB2 Not currently implemented
MT_DET1 PA4 IR V0.4 filament sensor
MT_DET2 PE6 Available
BLTouch Control PA8 Not currently assigned

Power Panic / power-loss recovery is not implemented in the current My-Cloner Rev A.

These signals remain available for future development.

My-Cloner Rev A Summary

Function Board Connection MCU Pin Klipper Section Status
X Motor STEP X PE3 [stepper_x] Source confirmed
X Motor DIR X PE2 [stepper_x] Source confirmed
X Motor EN X PE4 [stepper_x] Source confirmed
X TMC UART X PD5 [tmc2209 stepper_x] Source confirmed
X Sensorless X- PA15 [stepper_x] Rev A assignment
Y Motor STEP Y PE0 [stepper_y] Source confirmed
Y Motor DIR Y PB9 [stepper_y] Source confirmed
Y Motor EN Y PE1 [stepper_y] Source confirmed
Y TMC UART Y PD7 [tmc2209 stepper_y] Source confirmed
Y Sensorless Y- PD2 [stepper_y] Rev A assignment
Left Z STEP Z PB5 [stepper_z] Source confirmed
Left Z DIR Z PB4 [stepper_z] Source confirmed
Left Z EN Z PB8 [stepper_z] Source confirmed
Left Z UART Z PD4 [tmc2209 stepper_z] Source confirmed
Right Z STEP E1 PD15 [stepper_z1] Rev A assignment
Right Z DIR E1 PA1 [stepper_z1] Rev A assignment
Right Z EN E1 PA3 [stepper_z1] Rev A assignment
Right Z UART E1 PD8 [tmc2209 stepper_z1] Rev A assignment
Extruder STEP E0 PD6 [extruder] Source confirmed
Extruder DIR E0 PD3 [extruder] Source confirmed
Extruder EN E0 PB3 [extruder] Source confirmed
Extruder UART E0 PD9 [tmc2209 extruder] Source confirmed
Hotend Heater HE0 PE5 [extruder] Source confirmed
Hotend Thermistor TH1 PC1 [extruder] Source confirmed
Heated Bed H-BED PA0 [heater_bed] Source confirmed
Bed Thermistor TB PC0 [heater_bed] Source confirmed
Hotend fan 4010 FAN1 PC14 [heater_fan hotend_fan] planned Rev A assignment
Part-cooling fan 5015 FAN2 PB1 [fan] planned Rev A assignment
P.I.N.D.A. V1 Z- PC8 [probe] Rev A assignment
IR V0.4 Filament Sensor MT_DET1 PA4 [filament_switch_sensor] Rev A assignment
Display EXP / TBD TBD TBD Pending validation

Status Definitions

Source confirmed applies only to the board mapping. Rev A assignment records a design choice; neither status confirms hardware operation. Combined entries describe these separate aspects. No physical test result is established by this page.

MT_DET denotes the material-detection input family; use MT_DET1 or MT_DET2 for an identified connector. The owner reports the IR V0.4 sensor connected to MT_DET1 / PA4; supply, polarity and runout behaviour still require verification.

Status Meaning
Source confirmed Mapping is confirmed by the official board/Klipper source
Rev A assignment My-Cloner-specific design decision based on the available board resources
Planned Intended configuration but not physically validated
Pending validation Requires schematic or physical-machine confirmation
TBD Value or assignment has not yet been determined
Validated Tested successfully on the physical My-Cloner Rev A

Validation Procedure

Each My-Cloner I/O point should pass through the following process:

  1. Confirm the board-level pin from the official Makerbase documentation.
  2. Confirm the Klipper MCU pin mapping.
  3. Confirm the My-Cloner QElectroTech wiring.
  4. Verify connector orientation and supply voltage.
  5. Add the corresponding configuration to printer.cfg.
  6. Test the function safely on the physical machine.
  7. Record the result.
  8. Change the status to Validated only after successful testing.

Never Validate by Assumption

A correct MCU pin does not guarantee that a connected device is wired correctly.

Voltage, polarity, connector orientation and device specifications must always be verified before power is applied.