Electronics, PCB and wiring

All electronics can also be bought from eBay and similar sites. I used cheap stepper drivers from eBay but you can buy any stepper driver that can supply enough current for the steppers.

Check how i wired my arm in this file: FAZE4 Robotic arm electronics setup.pdf on github page: https://github.com/PCrnjak/Faze4-Robotic-arm (These instructions are for V1 version of board that is not recommended)


From experience, i found out that cheaper stepper drivers tend to make more noise, so if you want a quiet robot arm buy more expensive drivers. I foung ones from stepper online to be good.

Faze4 distribution PCB V2


To use code seen in videos and in github repo you will need to modify some pin definitions!


Faze4 Distribution board V2 allows you to connect stepper drivers, limit switches, sensors, displays, microcontrollers, computers, and more with each other with clean and simple wiring. It is designed for Faze4 robotic arm but you can use it for any project from CNCs, 3D printers to use in the industrial assembly line.

It is designed to use the TEENSY 3.5 microcontroller but in near future, it will support boards like with STM32 microcontrollers and Atmegas. Read more about Teensy here: https://www.pjrc.com/store/teensy35.html

Board outputs have level shifters that boost 3v3 from the microcontroller to 5V. That allows you to use a larger set of stepper drivers since they are usually designed for 5v logic. 5v is also much better for relays.

Inputs for the board support limit switches and 24V sensors (like inductive, capacitive…) used in the industry. Inputs are also isolated with optocouplers from a microcontroller and use current signals that ensure no voltage induction in wires can accidentally trigger on microcontroller inputs that can cause errors and damage in real life. Inputs also have LED indicators that tell you when the signal is present.

Board also has 2 UART ports routed that can extend its communication abilities.

It also supports typical 128x64 OLED displays.


When buying OLED display note the location of vcc and gnd pins.

  • Order of pins should be: GND, vcc, SCL, SDA
  • Check image below (LEFT ONE IS GOOD, RIGHT ONE IS BAD)

When connecting FTDI USB TTL Serial Adapter Module to PCB connect it like this. Board supports 2 modules operating at the same time!


Board use guide

Connect your teensy 3.5 to board. Once connected it uses onboard 5v regulator on teensy to level shift all 3v3 signals to 5v. If you see problems with stability of signals connect external 5V power source to the connector on the bottom right corner.

To use inputs on top of the board you NEED 24V power source. Once you connect 24V power to the bottom right connetor you can connect limit switches to the ports labled with (A1 B1, A2 B2, A3 B3 …) When connecting limit switches connect one end of limit switch to the A1 and other end to B1. There are total of 6 ports for limit switch inputs.

Ports labeled with HV_GND, SIGNAL, 24V are used by Industrial sensor that output 24V signal. One example is inductive sensor.

There is one port on the right side and it is used for grippers. It outputs 3v3 signal.