Hardware: BOM Issue 7.10 and E-01 rev1.4

What we are building
The 2.0 mobile base (two ZLTECH hub motors on a ZLAC8015D, 8S LiFePO4 battery, STM32H723ZG base controller, Jetson Orin NX) with a DOLD Hexalift V4 lift and two OpenArm 2.0 arms, behind a hardwired PNOZ s3 safety chain.
Where we are
The design baseline is documented in P-03 rev19.7, E-01 rev1.4 (file title rev1.3) and BOM Issue 7.10 (136 rows, 53 purchase packages; updated 20 Oct, corrected 24 Oct). No package is recorded as ordered or received: 43 packages are HOLD, 5 CONDITIONAL, and BUY-32 is blocked on quotes (procurement state). Open gates: BUY-32 (contactors), the PNOZ reset setting, the charging interface (WCM-500 wiring and receiver model) and the open shared-base differences. Nothing is built or accepted: the contactor order is blocked, the 2.0 firmware is not on main, and no physical test is recorded.
What is next
Close the GX11CAC datasheet checks (BUY-32), land the E-01 chain in the hardware repository, decide the rc.1 controller (STM32 go/no-go 6 Nov), then supervised bench tests from 23 Nov.
runtime: works in simulation with fixture runtime evidence (rounded) · physical: none recorded physical acceptance (box)

One shared base for release 001 and 2.0

recorded (P-03 rev19.7 item 23, register SHARED-BASE) One shared base design for release 001 and 2.0 (project-lead decision of 19 Oct 2026, recorded in P-03 rev19.7 item 23 and decisions.yaml SHARED-BASE)

The base electrical system now being designed for the release 001 build (Option A, to be built at the release 001 build site) is the foundation for OpenAMRobot 2.0 (Option B). It is designed once, built from scratch, and transferred to 2.0 as the same solution.

Source: project-lead decision by @BotshareAI (project lead), 19 Oct 2026. Recorded in decisions.yaml as SHARED-BASE by .github #55 (1c3f516, 22 Oct) and in P-03 rev19.7 item 23 (20 Oct), with the WCM-500-24 charging path on both robots.

Shared, designed to be identical:

  1. Safety chain
  2. Charging
  3. E-stop wiring and logic
  4. Power distribution, battery and related protection
  5. Proximity sensing (integration, mounting and wiring approach)

Intended differences (base controller and sensor types only):

WhatRelease 001 planned build2.0
Base controllerTeensy 4.0STM32H723ZG
Proximity sensor typesultrasonic JSN-SR04T and 4 x IR E18-D80NK4 x MB7060 ultrasonic and 2 x TF-Luna ToF (BOM 7.10)

Three stages: release 001 today, the planned build, and 2.0

What this shows: what exists today on release 001, the planned release 001 build (the shared base), and 2.0 (the same shared base plus the 2.0 controller and sensors).

How to read it: left exists today (lead-acid, no safety chain); the middle and right columns are planned and not built; boxes with two rings are the shared base; each box has a coloured left bar, a status chip with an icon and the status in words.

Three stages: today, the planned build, and 2.0Release 001 todayexists (owner statement, 19 Oct 2026)2 x 12 V 7 Ah lead-acid in series24 VMotor drivers24 V directMotors24 V to 5 V DC-DCone converter, fed from the 24 V batteryPi 5, Teensy, encoders, LiDAR5 VNo protection or safety chainNot present: E-stops, RESET, fuses, distributionboards, relays, contactors, PNOZ safety relayRelease 001 planned build (the shared base)planned, not builtSafety chainChargingE-stop wiring and logicPower distribution, battery and relatedprotectionProximity sensing (integration, mountingand wiring approach)Release 001 controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonic JSN-SR04T and 4x IR E18-D80NK2.0 (shared base plus 2.0 controller andsensors)planned, not builtShared base (same design as the plannedbuild)safety chain, charging, E-stop wiring and logic,power distribution, proximity sensing approach2.0 controller and sensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060 ultrasonic and2 x TF-Luna ToF (BOM 7.10)2.0-only loadsJetson Orin NX, DOLD Hexalift V4 lift, two OpenArm2.0 arms
Three stages: today, the planned build, and 2.0Release 001 todayexists (owner statement, 19 Oct 2026)2 x 12 V 7 Ah lead-acid in series24 VMotor drivers24 V directMotors24 V to 5 V DC-DCone converter, fed from the 24 V batteryPi 5, Teensy, encoders, LiDAR5 VNo protection or safety chainNot present: E-stops, RESET, fuses,distribution boards, relays, contactors,PNOZ safety relayRelease 001 planned build (the shared base)planned, not builtSafety chainChargingE-stop wiring and logicPower distribution, battery andrelated protectionProximity sensing (integration,mounting and wiring approach)Release 001 controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonicJSN-SR04T and 4 x IR E18-D80NK2.0 (shared base plus 2.0 controller and sensors)planned, not builtShared base (same design as theplanned build)safety chain, charging, E-stop wiring andlogic, power distribution, proximitysensing approach2.0 controller and sensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060ultrasonic and 2 x TF-Luna ToF (BOM 7.10)2.0-only loadsJetson Orin NX, DOLD Hexalift V4 lift,two OpenArm 2.0 arms

Source: statement and target by @BotshareAI (project lead), 19 Oct 2026, recorded in P-03 rev19.7 item 23 and the register; E-01 BOM rev1.2; E-01 rev1.4; BOM 7.10; wire list rev1.5 draft · 24 Oct 2026

Target shared core and the intended differences

What this shows: the five subsystems that are to be shared in the centre, with the controller and sensor types of each robot at the sides.

How to read it: select a shared subsystem to jump to its row of the equivalence table; 'evidence carries over' is yes, partly or no.

One base, two robots: the target shared core and the intended differencesShared core (P-03 rev19.7 item 23; register SHARED-BASE)Safety chainevidence carries over: partlyChargingevidence carries over: partlyE-stop wiring and logicevidence carries over: partlyPower distribution, battery and related protectionevidence carries over: partlyProximity sensing (integration, mounting and wiring approach)evidence carries over: noRelease 001 planned build:controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonicJSN-SR04T and 4 x IR E18-D80NKOpenAMRobot 2.0: controller andsensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060ultrasonic and 2 x TF-Luna ToF (BOM7.10)
One base, two robotsSafety chainevidence carries over to 2.0: partlyChargingevidence carries over to 2.0: partlyE-stop wiring and logicevidence carries over to 2.0: partlyPower distribution, battery andrelated protectionevidence carries over to 2.0: partlyProximity sensing (integration,mounting and wiring approach)evidence carries over to 2.0: noRelease 001 planned build:controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonicJSN-SR04T and 4 x IR E18-D80NKOpenAMRobot 2.0: controller andsensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060ultrasonic and 2 x TF-Luna ToF (BOM 7.10)

Source: project-lead decision of 19 Oct 2026 by @BotshareAI (project lead), recorded in P-03 rev19.7 item 23 and decisions.yaml SHARED-BASE; equivalence table below · 24 Oct 2026

Equivalence table: current state of the drafts (19 Oct 2026)

One row per shared subsystem: the release 001 planned build (not built) beside 2.0 (not built). This is the state of the drafts, not of built hardware. Sources: E-01 BOM safety and power rev1.2 (columns "Qty 2.0" and "Qty release 001"), E-01 rev1.4, BOM Issue 7.10, Sheet A and Sheet B draft rev1.4 and wire list rev1.5 draft (by @Evans-Kwashie (electrical and firmware lead)), the state machine draft, and the project lead statement of 19 Oct 2026. 2.0 physical acceptance is none recorded on every row.

Shared subsystemRelease 001 planned build2.0Evidence will carry over to 2.0
Safety chain
Part and revision
PNOZ s3 750103; K1/K2 Gigavac GX11CAC with linked NC auxiliaries; KCHG 1NO+1NC; ISO1212 Y32 input; TPL7407L
Wiring reference
Sheet B rev1.4; wire list rev1.5 WB-01 to WB-53
Configuration
PNOZ reset dial open; Teensy diagnostics only
Acceptance criterion
Bench tests 1 to 6 in the state machine draft (planned, with @ArkaStark (bench and integration))
Test evidence
physical: none recorded
Part and revision
Same parts (E-01 BOM rev1.2: SAF-002, SAF-003, SAF-006, CTL-004, CTL-018, WCH-004)
Wiring reference
E-01 rev1.4 sections 5 and 6 (interface level)
Configuration
PNOZ reset dial open; STM32 diagnostics
Acceptance criterion
Supervised safety-chain tests, 23 Nov to 18 Dec
Test evidence
physical: none recorded
partly

because same parts by design. The wire list is based on E-01 rev1.1 and not re-checked against rev1.4; the acceptance criteria are not yet written once for both; no test evidence exists on either robot.

Charging
Part and revision
TZBOT WCM-500-24 receiver (same as 2.0; P-03 rev19.7 item 23, BOM Issue 7.10). The WCM-300 is only the unit on release 001 today
Wiring reference
Sheet A WA-06, WA-07 and Sheet B WB-28 to WB-46 still drawn for the WCM-300: Sheet A to be updated
Configuration
Charger start through KCHG NO; fault line to the controller
Acceptance criterion
not written
Test evidence
physical: none recorded
Part and revision
TZBOT WCM-500-24 set; SB50 charge connector; F-CHG MIDI 30 A
Wiring reference
E-01 rev1.4; BOM 7.10 WCH-001 to WCH-007
Configuration
Charger start through KCHG NO; fault line to the STM32
Acceptance criterion
not written
Test evidence
physical: none recorded
partly

because the receiver is the same on both robots (decision 20 Oct). Remaining gap: Sheet A to be updated for the WCM-500-24 (charge wiring, fuse and cable checked against its output), and the WCM-500-24 signal pinout confirmed in writing before the Sheet B signal wiring; no test evidence yet.

E-stop wiring and logic
Part and revision
2 x Schneider XB4BS8445 + ZBE-102 (front and back); RESET XB4BW36B5
Wiring reference
WB-10 to WB-19, spare NO WB-47 to WB-50
Configuration
Two NC channels in series to PNOZ S11-S12 and S21-S22; spare NO to the controller
Acceptance criterion
Bench tests 2 to 4 (planned)
Test evidence
physical: none recorded
Part and revision
1 x XB4BS8445 + ZBE-102 at the base front; chest E-stop from the OpenArm kit; RESET XB4BW36B5
Wiring reference
E-01 rev1.4 section 5
Configuration
Same two-channel series chain
Acceptance criterion
Supervised safety-chain tests
Test evidence
physical: none recorded
partly

because base E-stop, RESET and chain logic are the same design; the second E-stop differs (back-panel button on release 001, chest button from the arm kit on 2.0).

Power distribution, battery and protection
Part and revision
F0 Class T 110 A, QS1 BS-6004B, FB-A/FB-B SafetyHub 150, FB-C 5046, U5V RSD-60G-5, U24 RSD-100B-24; battery: own pack, voltage and chemistry to be decided
Wiring reference
Sheet A rev1.4; wire list WA-01 to WA-35
Configuration
SAFE bus feeds only the two drivers
Acceptance criterion
not written
Test evidence
physical: none recorded
Part and revision
Same distribution and protection parts; battery 8S1P EVE LF105 LiFePO4 with Daly BMS
Wiring reference
E-01 rev1.4 sections 3 and 4
Configuration
SAFE bus feeds drive, lift and brake release (F-LIFT) and the arms
Acceptance criterion
not written
Test evidence
physical: none recorded
partly

because distribution and protection parts match; the battery, the traction branch and the SAFE bus loads differ (rows below).

Proximity sensing (integration, mounting, wiring approach)
Part and revision
JSN-SR04T ultrasonic and 4 x IR E18-D80NK (project lead); the wire list still carries ToF and ultrasonic 5 V pairs
Wiring reference
WA-26 to WA-34 (flagged)
Configuration
Teensy pins 7, 2, 3, 4 planned for IR
Acceptance criterion
not written
Test evidence
physical: none recorded
Part and revision
4 x MB7060 (UART) and 2 x TF-Luna cliff (UART)
Wiring reference
P-03 items 14 and 19; sensor mounts in platform-hw
Configuration
Sequential triggering from the STM32
Acceptance criterion
not written
Test evidence
physical: none recorded
no

because sensor types differ by design, so sensor evidence cannot carry over; the shared mounting and wiring approach is not yet written down for release 001.

Open differences to resolve (beyond controller and sensors)

The intended differences are the base controller and the sensor types only. Each row below is an open difference in the current drafts, to be resolved so the final sheets describe one shared base; none is a permanent variant.

TopicRelease 001 planned build (draft)2.0OwnerAction planSource note
Battery pack
open difference to resolve		Today 2 x 12 V 7 Ah lead-acid in series (project lead); planned: own pack, 8S?, voltage and chemistry to be decided (Sheet A, WA-01)8S1P EVE LF105 LiFePO4 with Daly BMS (E-01 BOM rev1.2, BOM 7.10 PWR-001, PWR-002)@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3F0 110 A holds only if the pack is LiFePO4 (wire list WA-01).
Motor drivers and traction fuse
open difference to resolve		2 x ZBLD.C20; F-TRAC ATO 20 A; wire size to be decidedZLAC8015D; F-TRAC MIDI 40 A; 10 mm2@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3E-01 BOM rev1.2 F-TRAC row; wire list WA-21, WA-22.
Second E-stop
open difference to resolve		Back-panel XB4BS8445Chest E-stop from the OpenArm kit (gate ESTOP-KIT)@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3E-01 BOM rev1.2 S1 and S2 rows.
Compute and its supply
open difference to resolve		Raspberry Pi 5 on the 5 V rail (up to 5 A)Jetson Orin NX on its own fuse F-J401@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3Wire list WA-11; E-01 BOM rev1.2.
SAFE bus loads
open difference to resolve		Two drivers onlyDrive, SAFE 24 V converter for lift and brake release (F-LIFT), arms (F-ARM-L/R), precharge (conditional)@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3E-01 BOM rev1.2.
Wheel feedback
open difference to resolve		Encoders powered today (project lead); removed from the harness in wire list rev1.5 (@Evans-Kwashie (electrical and firmware lead), 19 Oct)Hub motor encoders through the ZLAC8015D@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3Where wheel feedback comes from on release 001 is an open check in the wire list.
Release 001 sensor list
open difference to resolve		Project lead: JSN-SR04T and 4 x IR E18-D80NK; @Evans-Kwashie (electrical and firmware lead) 18 Oct: camera, LiDAR, IMU; wire list: LiDAR, ToF, ultrasonic, IMU pairsBOM 7.10 sensor set@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3Three sources disagree; the wire list keeps WA-27, WA-28 flagged.
Wire list basis
open difference to resolve		E-01 rev1.1 sizes (not re-checked)E-01 rev1.4@Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead)step 3Wire list header.

Procurement risk: K1/K2 contactors (BUY-32), affects both robots BLOCKED

  • documented plan The K1/K2 row of the E-01 BOM (rev1.2) names Gigavac GX11CAC but its link points to a product page for GX11CC, a different order code. Source: E-01 BOM rev1.2, K1/K2 row (read in this review).
  • owner statement GX11CAC shows out of stock at two distributors; other GX11 codes show about 16 weeks lead time; a firm quote is needed (BUY-32 blocked on quotes on 24 Oct). Source: project lead, 19 Oct 2026 (stock not re-checked in this review).
  • documented plan BUY-32 is still blocked on the Sensata datasheet checks (DC duty at 29.2 V / 80 A, coil pull-in against F-SAFE 2 A, auxiliary minimum load, fit, availability). Source: BOM 7.10 BUY-32.
  • recorded (P-03 rev19.7 item 23, register SHARED-BASE) K1/K2 are in the shared core, so this risk delays the safety chain of release 001 and of 2.0. Source: shared base, P-03 rev19.7 item 23 and register SHARED-BASE.

Shared base drawings

Power distribution (redrawn from Sheet A)

What this shows: the planned release 001 power path (not built) that is to become the shared base: battery, main fuse, disconnect, BAT bus fuse block, contactors K1/K2, SAFE bus, 24 V and 5 V rails, drivers, charging receiver and 5 V loads.

How to read it: blue boxes with two rings are the shared core; dashed orange outlines are release 001 draft values: controller or sensor types, or open differences to resolve (2.0 values in brackets); arrows carry the wire size or rail; each box has a coloured left bar, a status chip with an icon and the status in words.

Draft rev1.4 / wire list rev1.5, proposed until BUY-32 clears

13 items
Power distribution, release 001 planned build (shared core marked)Battery (J-BAT)own pack; voltage andchemistry to be decidedF0 Class T 110 ABlue Sea 5112 + 5007100QS1 lockabledisconnectBlue Sea BS-6004BBAT bus (BUS+ /BUS-)touch-protected busbarsFB-A BAT bus fuseblockSafetyHub 150: F-CHG 30A, F-5V 5 A, F-24V 7.5 ACharging receiverTZBOT WCM-500-24 on bothrobots (decision 20Oct); Sheet A stillshows the WCM-300, to beupdatedU5V 24 V to 5 VMEAN WELL RSD-60G-5 toTB-5V5 V loadsPi 5, Teensy, LiDAR,ToF?, ultrasonic?, IMU(2.0: sensors only)U24 regulated 24 VMEAN WELL RSD-100B-24 toFB-CFB-C 24 V rail fuseblockBlue Sea 5046; F-SAFE 2A to the safety chainK1 + K2 contactorsin seriesGigavac GX11CAC (BUY-32blocked)FB-B SAFE bus fuseblockSafetyHub 150: F-TRAC 20A (2.0: 40 A)2 x ZBLD.C20 driverstraction (2.0:ZLAC8015D)bat to f0: +BAT 25 mm2f0 to qs1: 25 mm2qs1 to bus: 25 mm2bus to fba: 25 mm2wcm to fba: charge in, 6 mm2fba to u5v: 1.5 mm2u5v to l5v: +5 Vfba to u24: 1.5 mm2u24 to fbc: +24 Vbus to k12: 25 mm2k12 to fbb: SAFE bus 25 mm2fbb to drv: F-TRAC+BAT 25 mm225 mm225 mm225 mm2charge in, 6 mm21.5 mm2+5 V1.5 mm2+24 V25 mm2SAFE bus 25 mm2F-TRACshared core (blue fill)release 001 draft value: controller or sensor type, or an open differencesafety or power pathdiagnostic signal, not a safety function
Power distributionBattery (J-BAT)own pack; voltage and chemistry to bedecidedto F0 Class T 110 A: +BAT 25 mm2F0 Class T 110 ABlue Sea 5112 + 5007100to QS1 lockable disconnect: 25 mm2QS1 lockable disconnectBlue Sea BS-6004Bto BAT bus (BUS+ / BUS-): 25 mm2BAT bus (BUS+ / BUS-)touch-protected busbarsto FB-A BAT bus fuse block: 25 mm2to K1 + K2 contactors in series: 25 mm2FB-A BAT bus fuse blockSafetyHub 150: F-CHG 30 A, F-5V 5 A,F-24V 7.5 Ato U5V 24 V to 5 V: 1.5 mm2to U24 regulated 24 V: 1.5 mm2Charging receiverTZBOT WCM-500-24 on both robots (decision20 Oct); Sheet A still shows the WCM-300,to be updatedto FB-A BAT bus fuse block: charge in, 6mm2U5V 24 V to 5 VMEAN WELL RSD-60G-5 to TB-5Vto 5 V loads: +5 V5 V loadsPi 5, Teensy, LiDAR, ToF?, ultrasonic?,IMU (2.0: sensors only)U24 regulated 24 VMEAN WELL RSD-100B-24 to FB-Cto FB-C 24 V rail fuse block: +24 VFB-C 24 V rail fuse blockBlue Sea 5046; F-SAFE 2 A to the safetychainK1 + K2 contactors in seriesGigavac GX11CAC (BUY-32 blocked)to FB-B SAFE bus fuse block: SAFE bus 25mm2FB-B SAFE bus fuse blockSafetyHub 150: F-TRAC 20 A (2.0: 40 A)to 2 x ZBLD.C20 drivers: F-TRAC2 x ZBLD.C20 driverstraction (2.0: ZLAC8015D)

Source: Sheet A power and Sheet B safety, draft rev1.4, and wire list rev1.5 draft, by @Evans-Kwashie (electrical and firmware lead) (design inputs, not public documents); E-01 rev1.4; E-01 BOM rev1.2 · 24 Oct 2026

Safety chain (redrawn from Sheet B)

What this shows: the hardwired chain: two E-stops, the PNOZ s3, K1/K2, RESET, the charge interlock, and the controller diagnostics through the ISO1212 input and the TPL7407L driver.

How to read it: red arrows are the safety function (hardwired); blue dashed arrows are diagnostic signals to the controller, not a safety function; dashed orange outlines are release 001 draft values: controller or sensor types, or open differences to resolve.

Draft rev1.4 / wire list rev1.5, proposed until BUY-32 clears

10 items
Safety chain and RESET, release 001 planned build (shared core marked)E-stop front S1XB4BS8445 + ZBE-102 (2 NC +spare NO)E-stop back S1same part (2.0: chest E-stopfrom the arm kit)RESET S3XB4BW36B5 lamp; NO to PNOZ, NCto controllerKCHG charge relayNC opens the PNOZ supply A1while charging; NO starts thechargerPNOZ s3 safety relay750103; reset dial setting openTPL7407L driverRESET lamp and KCHG coil (lowside)K1 / K2 contactorscut the SAFE bus; linked aux NCin the reset loopISO1212 inputY32 (SAFETY_OK); output polarityto verifyCharger signalsWCM-500-24 start, fault andground; pinout to confirm inwriting (Sheet B still drawn forthe WCM-300)Controller diagnosticsrelease 001: Teensy 4.0, pinsproposed; also reads the E-stopspare NO contacts and the RESETNC (2.0: STM32)esf to esb: NC ch1 + ch2 in seriesesb to pnoz: to S12 and S22rst to pnoz: NO in the reset loopkchg to pnoz: NC in A1 (charge interlock)pnoz to k12: coils; aux NC back to S34pnoz to iso: Y32iso to mcu: SAFETY_OKmcu to tpl: lamp, charge requesttpl to kchg: coilwcm to mcu: fault (open collector)NC ch1 + ch2 in seriesto S12 and S22NO in the reset loopNC in A1 (charge interlock)coils; aux NC back to S34Y32SAFETY_OKlamp, charge requestcoilNO: charger startfault (open collector)shared core (blue fill)release 001 draft value: controller or sensor type, or an open differencesafety or power pathdiagnostic signal, not a safety function
Safety chainE-stop front S1XB4BS8445 + ZBE-102 (2 NC + spare NO)to E-stop back S1: NC ch1 + ch2 in seriesE-stop back S1same part (2.0: chest E-stop from the armkit)to PNOZ s3 safety relay: to S12 and S22RESET S3XB4BW36B5 lamp; NO to PNOZ, NC tocontrollerto PNOZ s3 safety relay: NO in the resetloopKCHG charge relayNC opens the PNOZ supply A1 whilecharging; NO starts the chargerto PNOZ s3 safety relay: NC in A1 (chargeinterlock)to Charger signals: NO: charger startPNOZ s3 safety relay750103; reset dial setting opento K1 / K2 contactors: coils; aux NC backto S34to ISO1212 input: Y32TPL7407L driverRESET lamp and KCHG coil (low side)to KCHG charge relay: coilK1 / K2 contactorscut the SAFE bus; linked aux NC in thereset loopISO1212 inputY32 (SAFETY_OK); output polarity toverifyto Controller diagnostics: SAFETY_OKCharger signalsWCM-500-24 start, fault and ground;pinout to confirm in writing (Sheet Bstill drawn for the WCM-300)to Controller diagnostics: fault (opencollector)Controller diagnosticsrelease 001: Teensy 4.0, pins proposed;also reads the E-stop spare NO contactsand the RESET NC (2.0: STM32)to TPL7407L driver: lamp, charge request

Source: Sheet A power and Sheet B safety, draft rev1.4, and wire list rev1.5 draft, by @Evans-Kwashie (electrical and firmware lead) (design inputs, not public documents); E-01 rev1.4; E-01 BOM rev1.2 · 24 Oct 2026

Safety state machine (release 001 Teensy path)

What this shows: the two firmware states and only the transitions in the state machine draft; the controller applies a secondary inhibit only.

How to read it: numbered arrows match the numbered transitions under the drawing; green is the only way into RUN; red returns to LOCKED.

Draft rev1.4 / wire list rev1.5, proposed until BUY-32 clears

NOT STARTED Design draft, not implemented (issue #17)

Safety state machine (release 001, Teensy path): Design draft, not implemented (issue #17)LOCKED (boot state)Motor PWM 0, FWD and REV low/cmd_vel ignoredRESET lamp onRUNMotors follow /cmd_velfunctional 200 ms /cmd_vel watchdog: ownerstatement, not testedRESET lamp off123, 45, 6 (from any state)7: flags CHARGING and charger-fault latch1. Power-on or Teensy reset2. RESET short press released (under 2 s, to confirm), both E-stop inputs released, no charge request; RUN if SAFETY_OK rises within the reset-response timeout3. E-stop input LOW (either button; any state), publish /estop4. SAFETY_OK drops (not while RESET is held): secondary inhibit5. RESET held 5 s (any state): reboot request to the Pi, Teensy reset, stays LOCKED6. Charge request from the task layer: force LOCKED, then energise KCHG; after charging stays LOCKED and needs RESET (request path to be decided)7. Charger fault LOW while charging: drop the charge request, publish the fault; the request must be cycled to retry
Safety state machine (release 001, Teensy path): Design draft, not implemented (issue #17)LOCKED (boot state)Motor PWM 0, FWD and REV low/cmd_vel ignoredRESET lamp onRUNMotors follow /cmd_velfunctional 200 ms /cmd_vel watchdog:owner statement, not testedRESET lamp off1. start to LOCKED: Power-on or Teensy reset2. LOCKED to RUN: RESET short press released(under 2 s, to confirm), both E-stop inputsreleased, no charge request; RUN ifSAFETY_OK rises within the reset-responsetimeout3. RUN to LOCKED: E-stop input LOW (eitherbutton; any state), publish /estop4. RUN to LOCKED: SAFETY_OK drops (not whileRESET is held): secondary inhibit5. any state to LOCKED: RESET held 5 s (anystate): reboot request to the Pi, Teensyreset, stays LOCKED6. any state to LOCKED: Charge request fromthe task layer: force LOCKED, then energiseKCHG; after charging stays LOCKED and needsRESET (request path to be decided)7. while charging to flag: Charger fault LOWwhile charging: drop the charge request,publish the fault; the request must becycled to retry

Source: safety state machine and Teensy pin map, draft to verify (by @Evans-Kwashie (electrical and firmware lead)), built on E-01 rev1.4 sections 5, 6 and 10 and decisions of @BotshareAI (project lead) (15 and 18 Oct); platform-fw issue #17 · 24 Oct 2026

Open points (for the project lead)

  1. Is releasing RESET after the 5 s hold acceptable, given the PNOZ may close K1/K2 on release while the firmware stays LOCKED?
  2. How does the charge request reach the controller, and who decides?
  3. Does the under-2 s short-press rule still apply?

Verify before sending

  • Placeholder pins are free in the v0.0.1 firmware
  • ISO1212 output polarity on the bench
  • Idle and active levels of every input on the bench
  • Reset-response timeout value
  • Pull-up and series resistor values
  • Short-press and long-press thresholds

Principle: The PNOZ s3 and the contactors K1 and K2 are the safety function. The controller only reports and applies a secondary inhibit; nothing in this design may be relied on for safety.

AR-05: Planned closure of AR-05 for the Teensy path (commands held at zero across E-stop and RESET until an explicit operator release). The STM32 path needs the same behaviour; no design for it exists yet. See AR-05 and issue #17.

Open: The PNOZ reset setting (falling-edge dial position) stays open. The 200 ms /cmd_vel watchdog is functional (not part of the safety chain) and an owner statement, not tested: the firmware documentation on main describes it, but no test record exists.

Connection diagram (2.0)

What this shows: the eight 2.0 hardware blocks, their BOM parts and the connections between them at interface level. How to read it: each block header carries its delivery status; select a part for its details and connections; the views filter by connection type.

8 items
OpenAMRobot 2.0 hardware · BOM Issue 7.10 (18 Oct 2026) and E-01 rev1.4 · interface level, not a pin-released schematicChargingDOCUMENTED ONLY · physical: none recordedWCH-001 WCM-500-24, 24 V class, 8 to 15 A, outputWCH-002 WCM-500-24 onboard receiverWCH-003 WCM-500-24 station transmitter, input 220WCH-004 24 V coil, 1NO + 1NCWCH-005 Fault open collector, max 30 V, 200 mA, pWCH-006 Receiver output to F-CHG and BAT busWCH-007 Receiver bracketPWR-019 SB50 charge connector for the TZBOT receiPWR-022 F-CHG 30 A MIDIPWR-005 Daly 28.4 V / 20 A charger, bench chargerPowerDOCUMENTED ONLY · physical: none recordedBAT 25.6 V nominal, 20 to 29.2 VSAFE removed by either E-stopPWR-001 8S1P EVE LF105, 25.6 V, 105 Ah, 2.688 kWhPWR-002 Daly M-series configured 8S LiFePO4 150 APWR-003 Blue Sea 5112 Class T fuse 110 A with BluPWR-004 Blue Sea BS-6004B lockable disconnect, 30PWR-017 Touch-protected DC distribution blocksPWR-018 Keyed touch-protected DC connectorPWR-007 MEAN WELL RSD-60G-5PWR-012 RSD-100B-24PWR-006 Blade fuse block 8-way + fuses per scheduPWR-009 TVS and EMI/inrush network selected againPWR-029 Matched J401 input protectionPWR-016 INA228 breakout, product 5832PWR-030 20 to 30 V in, 24 V out, at least 200 W; PWR-031 Fuse/contactor/branch parts to be confirmSafety chainBLOCKED · physical: none recordedSAF-001 XB4BS8445 plus ZBE-102 (2NC + 1NO), base ARM-008 Exact kit stop assemblySAF-002 Pilz PNOZ s3 24 V DC (750103), selectedSAF-003 GX11CAC: 150 A main NO; 24 V coil with inSAF-006 One SPST-NC auxiliary per GX11CAC, mechanSAF-005 XB4BW36B5, the only reset button: 1NO to SAF-004 DC relay, exact contact/coil SKU pendingPWR-014 Value and pulse rating after capacitance PWR-015 Coordinated with precharge resistor and wCTL-004 Complete 24 V field-input / isolated 3.3 CTL-018 TPL7407LDriveDOCUMENTED ONLY · physical: none recordedDRV-001 ZLLG80ASM250-L-BDRV-002 ZLAC8015D V4.2DRV-003 Harness per fuse/wiring scheduleSAF-007 Matched brake coil transient controlMEC-015 Laser-cut / bent / bolted bracket assemblMEC-002 LPA-VSTH 35K, unbraked swivel plate castoMEC-016 Laser-cut 0.5 / 1 / 2 mm full-footprint pSensorsMERGED UNTESTED · physical: none recordedNAV-001 RPLIDAR S3M1-R2 (S3)NAV-003 USB-to-UART adapter + regulated 5 V cableCAM-001 Gemini 336LCAM-002 Gemini 336L compatible USB 3 cableSNS-001 TF-LunaSNS-002 MB7060 XL-MaxSonar-WR, housing -2XX (3/4 SNS-003 six near-field sensors: four MB7060 UART MEC-008 Existing MMP.07 A1 bracket and 10 mm stanMEC-009 3D-printed PETG Gemini 336L mount with 2 MEC-010 3D-printed PETG TF-Luna mounting sets, onMEC-011 3D-printed PETG MB7060 serial ultrasonic MEC-021 3/4 inch NPS lock nutBase controllerNOT STARTED · physical: none recordedCTL-001 NUCLEO-H723ZGCTL-002 Arduino UNO click shieldCTL-003 Waveshare SN65HVD230 CAN BoardCTL-014 CAN Isolator 3 Click, MIKROE-5785 (MAX148CTL-015 CAN3 transceiver + 120 ohm terminationCTL-016 Connector and cable set, to be confirmedCTL-009 120 ohm termination at two physical endsCTL-010 120 ohm termination at two physical endsCTL-011 Exact BMS CAN harnessCTL-008 Host-to-NUCLEO connector-compatible data IMU-001 6DOF IMU 14 Click, MIKROE-4237, ICM-42688CTL-012 SPI/INT1 harness and mechanical retentionComputeDOCUMENTED ONLY · physical: none recordedCMP-001 Jetson Orin NX 16 GB (P3767-0000)CMP-002 reComputer Robotics J401 (exact SKU Q-01)CMP-003 M.2 2280 NVMe PCIe Gen3 x4, 512 GBCMP-005 Matched Robotics J401 / Orin NX heatsink CMP-006 24 V COTS fan; exact size/SKU after thermCMP-007 J401-compatible Wi-Fi kit or external accCMP-009 ST7300USBME, 7-port industrial USB 3 hubUI-001 ZX10 exact generation/SKU pendingUI-002 Matched ZX10 mountPWR-008 24 V in, USB-C PD 15 to 30 WUpper bodyIN REVIEW · physical: none recordedMEC-018 Selected DOLD Hexalift V4 SKU BS-HM240G35MEC-020 Exact delivered variant to be confirmedMEC-019 10 mm 6082-T6 aluminum revision-B plate. MEC-003 HFS6-60120, 340 mm, end-tapped both ends MEC-004 MEC-004 drawing revision TBDCTL-017 Small MCU or ready-made CAN interface, exARM-001 OpenArm 2.0 Full Option target: bimanual ARM-003 ZED-121210; USB 3 Type-C; no GMSL2; supplARM-004 Exact integrated OpenArm 2.0 fingertip-caARM-005 OpenArm 2.0 compact grippersARM-006 Exact supported adapter revisionARM-009 Stereolabs ZED Mini USB 3 Type-C cable/inARM-011 Supplied mount holds the ZED Mini at its PWR-001 to PWR-003: battery, 25.6 V nominal, 25 mm2PWR-003 to PWR-004: battery, F0 110 A Class TPWR-004 to BAT: battery, lockable disconnectBAT to PWR-012: 24V, F-24V 7.5 ABAT to PWR-007: 5V, F-5V 5 ABAT to CMP-002: battery, F-J401 10 A, inrush and TVSBAT to SAF-003: actuator, K1 then K2 in seriesSAF-003 to SAFE: actuator, SAFE busSAFE to DRV-002: actuator, F-TRAC 40 A, 10 mm2SAFE to ARM-001: actuator, F-ARM-L / F-ARM-R 30 A, 6 mm2SAFE to PWR-030: actuator, F-LIFT 15 A, 2.5 mm2PWR-030 to MEC-018: actuator, SAFE 24 V: lift via CTL-017PWR-030 to DRV-003: actuator, SAFE 24 V: brake releasePWR-012 to SAF-002: 24V, F-SAFE 2 ASAF-001 to SAF-002: safety, NC1 / NC2, dual channelARM-008 to SAF-002: safety, chest E-stop NC1 / NC2SAF-002 to SAF-003: safety, 13-14 K1 coil, 23-24 K2 coilSAF-006 to SAF-002: safety, K1/K2 NC aux in S12-S34 reset loopSAF-005 to SAF-002: safety, RESET NO: monitored resetSAF-005 to CTL-001: GPIO, RESET NC: long-press reboot (diagnostic)SAF-002 to CTL-004: GPIO, Y32 via ISO1212 (diagnostic)SAF-001 to CTL-001: GPIO, spare NO (diagnostic only)WCH-004 to SAF-002: safety, KCHG NC opens PNOZ supply A1 while chargingCTL-018 to WCH-004: GPIO, TPL7407L: KCHG coil, RESET lampWCH-002 to PWR-019: charge, receiver output 28.4 VPWR-019 to BAT: charge, SB50, F-CHG 30 AWCH-005 to CTL-001: GPIO, TZBOT fault line (open collector)PWR-007 to CTL-001: 5V, NUCLEO-H723ZGPWR-007 to NAV-001: 5V, RPLIDAR S3PWR-007 to SNS-003: 5V, near-field sensorsCTL-001 to CTL-003: CAN1, FDCAN1: traction onlyCTL-003 to DRV-002: CAN1, CANopen; stop on loss of STM32 linkCTL-001 to CTL-014: CAN2, FDCAN2: isolated BMS busCTL-014 to PWR-002: CAN2, Daly BMS: faults stop motion and lockCTL-001 to CTL-015: CAN3, FDCAN3: upper-body auxiliary actuatorsCTL-015 to CTL-017: CAN3, CAN-to-lift interface (no safety function)CTL-001 to IMU-001: SPI, dedicated SPI, Mode 0, <= 8 MHzSNS-002 to CTL-001: UART, 4 x MB7060, one UART each 9600 8N1 + trigger GPIOSNS-001 to CTL-001: UART, 2 x TF-Luna, one UART eachCTL-001 to CMP-002: Ethernet, micro-ROS over UDP (USB bench only)NAV-001 to CMP-002: USB2, USB to UART, 1,000,000 baudCAM-001 to CMP-002: USB3, Gemini 336LARM-003 to CMP-002: USB3, ZED Mini (USB 3 Type-C)ARM-006 to ARM-001: CANFD, two USB to CAN-FD adapters, one per armCMP-002 to ARM-006: USB2, arm CAN-FD adaptersPWR-016 to CTL-001: I2C, INA228 bus voltage (on hold)

Blocks: delivery status and physical acceptance

Delivery status is about the repository and procurement record; the last column shows the purchase package from the BOM Issue 7.10 purchase view and its procurement state. Physical acceptance is none recorded for every block; the window is 23 Nov to 18 Dec 2026.

Power DOCUMENTED ONLY physical: none recorded

E-01 rev1.4 and BOM 7.10; platform-hw #27 is a draft

Fuses: F0 110 A Class T (battery cable); F-J401 10 A ATO (compute); F-5V 5 A ATO (5 V rail); F-24V 7.5 A ATO (regulated 24 V); F-TRAC 40 A MIDI (traction, SAFE bus); F-ARM-L 30 A MIDI; F-ARM-R 30 A MIDI; F-LIFT 15 A ATO, 2.5 mm2 (SAFE 24 V converter: lift and brake release); F-CHG 30 A MIDI (charge branch); 24 V block: F-SAFE 2 A, F-PD 3 A, F-HUB 3 A, F-FAN 2 A

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
PWR-001Battery pack8S1P EVE LF105, 25.6 V, 105 Ah, 2.688 kWh1SelectedBUY-16: not yet requested
PWR-002Smart BMSDaly M-series configured 8S LiFePO4 150 A common port1SelectedBUY-16: not yet requested
PWR-003Main fuse and holderBlue Sea 5112 Class T fuse 110 A with Blue Sea 5007100 holder, 20 kA interrupt1Specified; SKU pendingBUY-18: not yet requested
PWR-004Battery disconnectBlue Sea BS-6004B lockable disconnect, 300 A, key lock in OFF1Specified; SKU pendingBUY-18: not yet requested
PWR-017Positive and negative distribution blocksTouch-protected DC distribution blocks2Specified; SKU pendingBUY-19: not yet requested
PWR-018Battery main mating connector setKeyed touch-protected DC connector1Specified; SKU pendingBUY-28: not yet requested
PWR-0075 V isolated DC/DC converterMEAN WELL RSD-60G-51Exact SKU selected; electrical release pendingBUY-20: not yet requested
PWR-012Regulated 24 V supply for coils and low-current peripheralsRSD-100B-241Selected: retain RSD-100B-24BUY-21: not yet requested
PWR-006Fuse block and branch fusesBlade fuse block 8-way + fuses per schedule (F1..F5)1Specified; SKU pendingBUY-19: not yet requested
PWR-009Bus TVS clamps and EMI filter for compute branchTVS and EMI/inrush network selected against each rail limit1Specified; SKU pendingBUY-23: not yet requested
PWR-029Compute inrush limiter / protected inputMatched J401 input protection1Specified; SKU pendingBUY-23: not yet requested
PWR-016Ready-made actuator-bus voltage measurement moduleINA228 breakout, product 58321Recommended COTS module; wiring review requiredBUY-27: not yet requested
PWR-030SAFE 24 V converter for lift and hub-motor brake releasePart TBD; 20 to 30 V DC input; 24 V DC output; at least 200 W1Required; part selection pendingBUY-53: not yet requested
PWR-031Reserved fused contactor-switched 24 V auxiliary-actuator branchFuse/contactor/branch parts to be confirmed1Reservedno purchase package (allocation or kit content)

Requirement rows that need hardware: UC1-81

OA-23 · code openamr-platform-hw (main) · owner to be confirmed · closes when: Register check passes on each repository carrying the E-01 rev1.4 chain; two human approvals
Safety chain BLOCKED physical: none recorded

BUY-32 (GX11CAC) blocked on datasheet checks and supply; PNOZ reset setting open

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
SAF-001Base front E-stop button assemblyXB4BS8445 plus ZBE-102 (2NC + 1NO), base front, selected1SelectedBUY-30: not yet requested
ARM-008Kit E-stop allocated as one of the TWO robot buttonsExact kit stop assembly1Kit button selected; schematic/integration pendingBUY-14: not yet requested
SAF-002Dual-channel monitored safety relay with manual reset and feedback loopPilz PNOZ s3 24 V DC (750103), selected1Candidate SKU verified; system design pendingBUY-31: not yet requested
SAF-003K1 and K2 series contactors with integrated NC auxiliary contactsGX11CAC: 150 A main NO; 24 V coil with internal suppression; 38 cm leads; SPST-NC auxiliary mechanically linked to main contacts2Selected candidate; BUY-32 blocked pending Sensata confirmationBUY-32: blocked on quotes (BUY-32)
SAF-006Integrated NC auxiliary contacts for K1 and K2 (no separate feedback assemblies)One SPST-NC auxiliary per GX11CAC, mechanically linked to its main contacts2Selected as part of GX11CAC; BUY-32 remains blockedBUY-32: blocked on quotes (BUY-32)
SAF-005One illuminated manual reset pushbuttonXB4BW36B5, the only reset button: 1NO to the PNOZ reset, 1NC to the controller, 5 s hold reboots electronics1Specified; SKU pendingBUY-33: not yet requested
SAF-004Kpre: conditional actuator-bus precharge relayDC relay, exact contact/coil SKU pending1Specified; SKU pendingBUY-26: not yet requested (conditional)
PWR-014Precharge pulse resistorValue and pulse rating after capacitance measurement1Specified; SKU pendingBUY-26: not yet requested (conditional)
PWR-015Precharge branch fuse and holderCoordinated with precharge resistor and wiring1Specified; SKU pendingBUY-26: not yet requested (conditional)
CTL-004Complete isolated input module for PNOZ Y32Complete 24 V field-input / isolated 3.3 V logic-output module; channel 1 Y32, channel 2 spare1Required; module selection pendingBUY-07: not yet requested
CTL-018Low-side output driver for RESET lamp and KCHG coilTPL7407L, 7 channels; 3.3 V logic; 40 V maximum; internal clamp diodes1Selected (P-03 rev19.7 item 22)BUY-07: not yet requested

Requirement rows that need hardware: UC1-03 UC1-04 UC1-70 UC1-71 UC1-72 UC1-73

OA-23 · code openamr-platform-hw (main) · owner to be confirmed · closes when: Register check passes on each repository carrying the E-01 rev1.4 chain; two human approvalsOA-38 · owner to be confirmed · closes when: Evidence record location and procedure exist; supervised bench record attachedOA-01 · code .github/decisions.yaml · owner to be confirmed · closes when: check_decisions.py flags LEV100H as current; register validates
Drive DOCUMENTED ONLY physical: none recorded

ZLTECH supplier data confirmed 18 Oct (120 kg per pair, brake data); Q-03 driver input range open; no ZLAC firmware

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
DRV-001Rigid-mounted hub motor with encoder and integrated e-brakeZLLG80ASM250-L-B2SelectedBUY-01: not yet requested
DRV-002Dual-axis CANopen servo driverZLAC8015D V4.21SelectedBUY-02: not yet requested
DRV-003Integrated motor brake and OEM brake harness allocationHarness per fuse/wiring schedule1Specified; SKU pendingBUY-01: not yet requested
SAF-007Brake coil suppression / switching hardwareMatched brake coil transient control1Specified; SKU pendingBUY-01: not yet requested
MEC-015Rigid motor shaft-flat bracket setsLaser-cut / bent / bolted bracket assembly2Rigid architecture confirmedBUY-45: not yet requested
MEC-002Four rigid swivel castors, no suspensionLPA-VSTH 35K, unbraked swivel plate castor4Preferred exact-height candidate; fit and terrain validation pendingBUY-39: not yet requested
MEC-016Rigid caster height-shim assortmentLaser-cut 0.5 / 1 / 2 mm full-footprint plates or suitable COTS shims1Specified; SKU pendingBUY-39: not yet requested

Requirement rows that need hardware: UC1-27 UC1-35

Base controller IN REVIEW physical: none recorded

STM32H723ZG CubeMX project in review (platform-fw #22; boards/stm32 is empty on main); Gate A runs the Teensy overlay (MERGED UNTESTED; pid.h missing, so it cannot be rebuilt from the repository); I/O documented in platform-fw #19 (in review). Go/no-go 6 Nov, fallback Teensy (P-02 rev19.2).

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
CTL-001STM32H723ZG base controller (Gate B)NUCLEO-H723ZG1Selected prototypeBUY-04: not yet requested
CTL-002mikroBUS adapter for the NucleoArduino UNO click shield1Selected prototypeBUY-04: not yet requested
CTL-003CAN1 non-isolated 3.3 V transceiver boardWaveshare SN65HVD230 CAN Board1Candidate SKU verified; integration pendingBUY-05: not yet requested
CTL-014CAN2 isolated signal-and-power transceiver boardCAN Isolator 3 Click, MIKROE-5785 (MAX14882)1Candidate SKU verified; integration pendingBUY-06: not yet requested
CTL-015CAN3 upper-body auxiliary transceiver and terminationCAN3 transceiver + 120 ohm termination1Specified; part to be confirmedno purchase package (allocation or kit content)
CTL-016CAN3 upper-body auxiliary actuators / lift carriage interface connectorConnector and cable set, to be confirmed1Specified; part to be confirmedno purchase package (allocation or kit content)
CTL-009CAN1 termination resistors120 ohm termination at two physical ends2Termination requirement fixed; purchase count conditionalBUY-08: not yet requested
CTL-010CAN2 termination resistors120 ohm termination at two physical ends2Termination requirement fixed; purchase count conditionalBUY-08: not yet requested
CTL-011BMS CAN mating cableExact BMS CAN harness1Specified; SKU pendingBUY-08: not yet requested
CTL-008USB data cable, host to MCUHost-to-NUCLEO connector-compatible data cable1Specified; SKU pendingBUY-09: not yet requested
IMU-0016-DoF IMU module6DOF IMU 14 Click, MIKROE-4237, ICM-42688-P1SelectedBUY-03: not yet requested
CTL-012IMU shield interconnect and retentionSPI/INT1 harness and mechanical retention1Specified; SKU pendingBUY-03: not yet requested

Requirement rows that need hardware: UC1-82

OA-14 · code openamr-platform-fw/boards/stm32/.gitkeep · owner @Evans-Kwashie (electrical and firmware lead) · closes when: I8 Gate B evidence on the NUCLEO-H723ZG bench (owner implements; agents do not write safety logic)OA-19 · code openamr-platform-fw/docs/architecture/base-controller-2-0-io.md:30 · owner @Evans-Kwashie (electrical and firmware lead) · closes when: Closure test to be defined by the owner
Sensors MERGED UNTESTED physical: none recorded

Frames in the URDF on main; real drivers not installable (OA-06); simulated sensors only

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
NAV-0012D navigation LiDARRPLIDAR S3M1-R2 (S3)1Selected - P-03 current revision item 13BUY-10: not yet requested
NAV-003LiDAR USB-to-UART adapter and regulated 5 V cable setUSB-to-UART adapter + regulated 5 V cable set1Specified; SKU pendingBUY-10: not yet requested
CAM-001Base front RGB-D cameraGemini 336L1SelectedBUY-51: not yet requested
CAM-002Base camera USB cableGemini 336L compatible USB 3 cable1Specified; SKU pendingBUY-51: not yet requested
SNS-0012 x TF-Luna ToF cliff sensors, front and rear panel centre holes, one MCU UART eachTF-Luna2SelectedBUY-11: not yet requested
SNS-002MaxBotix MB7060 serial ultrasonic rangerMB7060 XL-MaxSonar-WR, housing -2XX (3/4 inch NPS WRC), RS232, 7-pin default connection, no chemical protection4Selected for Use Case 1 audit baselineBUY-12: not yet requested
SNS-003Sensor harness and panel mountssix near-field sensors: four MB7060 UART drops (with trigger GPIO) and two TF-Luna UART drops1Specified; SKU pendingBUY-13: not yet requested
MEC-008LiDAR spacer plate, aluminium, A1 hole pattern below, 4 x M2.5 S3 pattern aboveExisting MMP.07 A1 bracket with 17.5 mm printed spacer MMP.07.00.00.002 and no standoffs; scan plane 222.05 mm above the floor; scan window fully open with no translucent cover.1Design requiredBUY-43: not yet requested
MEC-009Base RGB-D camera bracket3D-printed PETG Gemini 336L mount with 2 x M4 heat-set inserts and longer spacers; spacer length to be set in the drawing. Base bracket has 5/10/15 degree up-tilt positions, baseline 10 degrees.1Design requiredBUY-51: not yet requested
MEC-0103D-printed PETG TF-Luna mounting sets, one front centre and one rear centre, pitched 10 degrees down (P-03 rev19.7 item 19 D6; bench test confirms the return on real floors; sensor positions pending the owner CAD confirmation)3D-printed PETG TF-Luna mounting sets, one front centre and one rear centre, pitched 10 degrees down (P-03 rev19.7 item 19 D6; bench test confirms the return on real floors; sensor positions pending the owner CAD confirmation)2Design requiredBUY-44: not yet requested
MEC-0113D-printed PETG or COTS MB7060 retention sets, one per edge hole (front left, front right, rear left, rear right)3D-printed PETG MB7060 serial ultrasonic mounting sets, one front and one rear4Design requiredBUY-44: not yet requested
MEC-0213/4 inch NPS lock nut for MB70603/4 inch NPS lock nut4Specified; SKU pendingBUY-12: not yet requested

Requirement rows that need hardware: UC1-10 UC1-52 UC1-55

OA-06 · code openamr-platform-sw/ros2/src/openamrobot_drivers/package.xml · owner to be confirmed · closes when: Clean-machine rosdep check exits 0; root colcon build passesOA-10 · code openamr-platform-sw/ros2/src/openamrobot_description/urdf/sensors.xacro:125 · owner to be confirmed · closes when: Frame check in CI against the register passesOA-11 · code openamr-platform-sw/ros2/src/openamrobot_description/urdf/sensors.xacro:116 · owner to be confirmed · closes when: Owner decision recorded; frame check passesOA-69 · scenario S10, S12 · code openamr-platform-sw/ros2/src/openamrobot_nav2/config/nav2_params.yaml · owner @skunal3318 (navigation lead) · closes when: Collision monitor and local costmap list the ToF and ultrasonic sources, or the register records their role
Compute DOCUMENTED ONLY physical: none recorded

Jetson Orin NX 16 GB on J401 selected; system image not pinned

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
CMP-001Jetson Orin NX 16 GB compute moduleJetson Orin NX 16 GB (P3767-0000)1SelectedBUY-50: not yet requested
CMP-002Robotics carrier boardreComputer Robotics J401 (exact SKU Q-01)1SelectedBUY-50: not yet requested
CMP-003NVMe SSDM.2 2280 NVMe PCIe Gen3 x4, 512 GB1Specified; SKU pendingBUY-50: not yet requested
CMP-005Jetson heatsink and fan kitMatched Robotics J401 / Orin NX heatsink and fan kit1Specified; SKU pendingBUY-50: not yet requested
CMP-006Chassis cooling fan24 V COTS fan; exact size/SKU after thermal test1Specified; SKU pendingBUY-35: not yet requested
CMP-007Wi-Fi interface and antennasJ401-compatible Wi-Fi kit or external access point1Specified; SKU pendingBUY-36: not yet requested (conditional)
CMP-009USB 3 powered hubST7300USBME, 7-port industrial USB 3 hub1ConditionalBUY-37: not yet requested (conditional)
UI-001Detachable operator tabletZX10 exact generation/SKU pending1Selected candidateBUY-38: not yet requested
UI-002Tablet dock / retention mountMatched ZX10 mount1Specified; SKU pendingBUY-38: not yet requested
PWR-008USB-PD module for operator tablet charging24 V in, USB-C PD 15 to 30 W1Specified; SKU pendingBUY-22: not yet requested

Requirement rows that need hardware: UC1-80 UC1-83

Upper body IN REVIEW physical: none recorded

Model in PR #14 (draft). Lift approved in principle; holding on E-stop, supplier CAD, weighed mass, CAN3 interface and F2S rerun remain release gates

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
MEC-018DOLD Hexalift V4 350 mm lift columnSelected DOLD Hexalift V4 SKU BS-HM240G350530-MFF24; 350 mm stroke; 530 mm retracted; 880 mm extended; 24 V; 800 N push; 400 N pull; 18 mm/s; 11.7 kg catalogue; mounted with its 240 mm side fore-aft1Supplier evidence pendingBUY-53: not yet requested
MEC-020TiMOTION TL3 400 mm lift column fallbackExact delivered variant to be confirmed1Supplier evidence pendingBUY-53: not yet requested
MEC-019Lift base plate, two fore-aft positions10 mm 6082-T6 aluminum revision-B plate. Upper-deck attachment is separate: four selected M8 class 8.8 fasteners, with legacy STEP evidence of DIN 967 M8 x 25 hardware at a 190 x 300 mm rectangle; confirm whether the revision-B deck uses through-bolts, threaded inserts or nuts, plus edge margins, screw length, washer stack and torque. DOLD lift attachment is a separate 4 x M8 inner or outer interface using DOLD corresponding screws and 20 mm minimum effective thread depth. Do not tap the aluminum; final drawing/FEA/F2S pendingUpper deck: selected 4 x M8 class 8.8 fasteners; legacy STEP 4 x M8 x 25 at 190 x 300 mm; confirm current through-bolt or insert interface, length, washer stack and torque. DOLD: inner or outer 4 x M8 pattern; official 20 mm minimum thread depth for specified DIN 7500 self-forming screws; confirm pitch and edge distancesDrawing pendingBUY-53: not yet requested
MEC-003Arm profile on the lift / OpenArm J1\_A supportHFS6-60120, 340 mm, end-tapped both ends (confirm MISUMI drawing)1Selected design; mechanical release pendingBUY-40: not yet requested
MEC-004Lift adapter plate, rear upright and profile fastenersMEC-004 drawing revision TBD1Design requiredBUY-40: not yet requested
CTL-017CAN-to-lift interface module on CAN3Small MCU or ready-made CAN interface, exact part to be confirmed1Part selection pendingBUY-53: not yet requested
ARM-001Primary application arms (bimanual set)OpenArm 2.0 Full Option target: bimanual arms with two fingertip cameras and ZED-121210 top stereo camera; exact supplier revision and packing list to be confirmed1SelectedBUY-14: not yet requested
ARM-003Head stereo camera, Stereolabs ZED MiniZED-121210; USB 3 Type-C; no GMSL2; supplied lift-carriage mount and routing fit to be confirmed1Selected for Use Case 1 audit baselineBUY-14: not yet requested
ARM-004Wrist RGB camerasExact integrated OpenArm 2.0 fingertip-camera SKU, mount geometry and optical transforms to be confirmed from supplier kit CAD and calibration evidence2Specified; SKU pendingBUY-14: not yet requested
ARM-005GrippersOpenArm 2.0 compact grippers2Specified; SKU pendingBUY-14: not yet requested
ARM-006Arm USB-to-CAN-FD adaptersExact supported adapter revision2Specified; SKU pendingBUY-14: not yet requested
ARM-009Head camera data/power cableStereolabs ZED Mini USB 3 Type-C cable/interface; no GMSL2 path for ZED-121210; supplied length and contents to be confirmed1Specified; SKU pendingBUY-14: not yet requested
ARM-011Head-camera supplied mount and OpenAMRobot adapterSupplied mount holds the ZED Mini at its ends; OpenAMRobot pitch bracket on the profile top pivots on the lens line, 15 to 35 degrees down in 5 degree steps, baseline 25; lens 22 mm ahead of and 223 mm above the shoulder1Fit check pendingBUY-53: not yet requested

Requirement rows that need hardware: UC1-14 UC1-75 UC1-74

OA-64 · scenario S8 · code PR #14 (branch evidence) · owner @Tushargoel230 (upper-body model) · closes when: Rerun S8 with the lift in the planning group: 48 of 48 and every margin above 0.05 radOA-13 · code openamr-upperbody-sw/ros2/src/openamrobot_upperbody_description/urdf/openamrobot_upperbody.xacro:66 · owner @Tushargoel230 (upper-body model) · closes when: Closure test to be defined by the ownerOA-37 · code openamr-platform-sw (main) · owner to be confirmed · closes when: Integration test both directions: arm goal rejected while base moves; base goal rejected while arm moves
Charging DOCUMENTED ONLY physical: none recorded

TZBOT WCM-500-24 selected; written confirmation of 28.4 V, 15 A, signal wiring and 230 V input pending

BOM IDComponentModel / order codeQtySelectionProcurement (package: state)
WCH-001TZBOT WCM-500-24 wireless charging setWCM-500-24, 24 V class, 8 to 15 A, output 28.4 V1Selected; written confirmation pendingBUY-29: not yet requested
WCH-002TZBOT onboard receiverWCM-500-24 onboard receiver1Selected; written confirmation pendingBUY-29: not yet requested
WCH-003TZBOT station transmitterWCM-500-24 station transmitter, input 220 V 50 Hz1Selected; written confirmation pendingBUY-29: not yet requested
WCH-004Charge relay KCHG24 V coil, 1NO + 1NC1Selected; exact SKU pendingBUY-29: not yet requested
WCH-005TZBOT start and fault lines to STM32Fault open collector, max 30 V, 200 mA, pull-up1Selected; interface evidence pendingBUY-29: not yet requested
WCH-006Receiver output branchReceiver output to F-CHG and BAT bus1Selected; interface evidence pendingBUY-29: not yet requested
WCH-007Receiver bracketReceiver bracket1Selected; CAD pendingBUY-29: not yet requested
PWR-019SB50 charge connectorSB50 charge connector for the TZBOT receiver output and the bench charger1Specified; SKU pendingBUY-29: not yet requested
PWR-022Single wired charge-branch fuse and holderF-CHG 30 A MIDI1Specified; SKU pendingBUY-29: not yet requested
PWR-005Bench chargerDaly 28.4 V / 20 A charger, bench charger only, on the SB50 charge connector, E-stop pressed1SelectedBUY-17: not yet requested

Requirement rows that need hardware: UC1-53

Procurement state by purchase package (BOM Issue 7.10)

BOM Issue 7.10 has 136 component rows in 53 purchase packages. The purchase view records 43 packages as HOLD and 5 as CONDITIONAL; none is recorded as ordered or received, and no quote is recorded as received. A selected component is not an ordered one.

ordered: 0 · quote received: 0 · quote requested: 0 · not yet requested: 52 · blocked: 1

PackageWhat to orderRelease status (purchase view)BOM rowsProcurement state
BUY-01Drive motor pairHOLD - release checks firstDRV-001, DRV-003, SAF-007not yet requested
BUY-02Drive driverHOLD - release checks firstDRV-002not yet requested
BUY-03IMU module and mountingHOLD - release checks firstIMU-001, CTL-012not yet requested
BUY-04STM32 board and IMU shieldBENCH PROCUREMENT - verify exact kit / stockCTL-001, CTL-002not yet requested
BUY-05CAN1 transceiverHOLD - release checks firstCTL-003not yet requested
BUY-06Isolated CAN2 transceiverSTOCK RISK - manufacturer out of stock 27 Sep 2026CTL-014not yet requested
BUY-07Controller diagnostic and output modulesBENCH ONLY - stock checkCTL-004, CTL-018not yet requested
BUY-08Base CAN harnessesHOLD - release checks firstCTL-009, CTL-010, CTL-011, WIR-002not yet requested
BUY-09MCU USB cableHOLD - release checks firstCTL-008not yet requested
BUY-10LiDAR and supplied cablesHOLD - release checks firstNAV-001, NAV-003not yet requested
BUY-11Two ToF cliff sensorsHOLD - release checks firstSNS-001not yet requested
BUY-12Four ultrasonic sensorsHOLD - release checks firstSNS-002not yet requested
BUY-13Sensor harness lotHOLD - release checks firstSNS-003not yet requested
BUY-14OpenArm bimanual kitHOLD - release checks firstARM-001, ARM-003, ARM-004, ARM-005, ARM-006, ARM-007, ARM-008, ARM-009, ARM-010not yet requested
BUY-15KER leader kitHOLD - release checks firstARM-002, CAP-002, CAP-005not yet requested
BUY-16Finished battery packHOLD - release checks firstPWR-001, PWR-002, PWR-023, PWR-024, PWR-025, PWR-026, PWR-027, PWR-028not yet requested
BUY-17Daly bench chargerHOLD - release checks firstPWR-005not yet requested
BUY-18Main fuse and disconnectHOLD - release checks firstPWR-003, PWR-004not yet requested
BUY-19Branch fuses and distributionHOLD - release checks firstPWR-006, PWR-017not yet requested
BUY-205 V converterEXACT SKU SELECTED - load / thermal release pendingPWR-007not yet requested
BUY-2124 V converterSELECTED - load validation before installationPWR-012not yet requested
BUY-22Tablet power interfaceHOLD - release checks firstPWR-008not yet requested
BUY-23Input protection / inrushHOLD - release checks firstPWR-009, PWR-029not yet requested
BUY-24Regen hardware, conditionalCONDITIONAL - do not orderPWR-010not yet requested (conditional)
BUY-25Arm conversion, conditionalCONDITIONAL - do not orderPWR-013not yet requested (conditional)
BUY-26Precharge kit, conditionalCONDITIONAL - do not orderSAF-004, PWR-014, PWR-015not yet requested (conditional)
BUY-27Bus voltage moduleHOLD - release checks firstPWR-016not yet requested
BUY-28Main power connector setHOLD - release checks firstPWR-018not yet requested
BUY-29Wireless charge branchHOLD - release checks firstPWR-019, PWR-022, WCH-001, WCH-002, WCH-003, WCH-004, WCH-005, WCH-006, WCH-007not yet requested
BUY-30Base front E-stopHOLD - release checks firstSAF-001not yet requested
BUY-31Safety relayHOLD - release checks firstSAF-002not yet requested
BUY-32GX11CAC contactors with integrated NC auxiliariesHOLD - release checks firstSAF-003, SAF-006blocked on quotes (BUY-32)
BUY-33Illuminated reset buttonHOLD - release checks firstSAF-005not yet requested
BUY-34Power and signal harness materialsHOLD - release checks firstWIR-001not yet requested
BUY-3524 V base fanHOLD - release checks firstCMP-006not yet requested
BUY-36Wi-Fi / antennas if not bundledCONDITIONAL - do not orderCMP-007not yet requested (conditional)
BUY-37USB3 powered hub if requiredCONDITIONAL - USB test firstCMP-009not yet requested (conditional)
BUY-38Tablet with dock and mountHOLD - release checks firstUI-001, UI-002, MEC-012not yet requested
BUY-39Rigid castors with fitting shimsHOLD - release checks firstMEC-002, MEC-016not yet requested
BUY-40Arm profile and adapter plate on the liftHOLD - release checks firstMEC-003, MEC-004not yet requested
BUY-41Platform electronics plate and mast cable routeHOLD - release checks firstMEC-005, MEC-006not yet requested
BUY-42Battery trayHOLD - release checks firstMEC-007not yet requested
BUY-43LiDAR bracketHOLD - release checks firstMEC-008not yet requested
BUY-44Sensor mounting kitHOLD - release checks firstMEC-010, MEC-011not yet requested
BUY-45Rigid drive mounting setsHOLD - release checks firstMEC-015not yet requested
BUY-46Fasteners and cable protectionHOLD - release checks firstMEC-013, MEC-014not yet requested
BUY-47Capture workstation + storageHOLD - release checks firstCAP-001, CAP-003not yet requested
BUY-48Calibration targetHOLD - release checks firstCAP-004not yet requested
BUY-49Docking target and passive stationHOLD - release checks firstDOC-001, DOC-002not yet requested
BUY-50Jetson compute, carrier, SSD and coolingHOLD - inventory / release checksCMP-001, CMP-002, CMP-003, CMP-005not yet requested
BUY-51Base camera, cable and bracketHOLD - inventory / release checksCAM-001, CAM-002, MEC-009not yet requested
BUY-52Robot 2.0 chassis/deck and panelsHOLD - inventory / release checksMEC-001not yet requested
BUY-53Lift, SAFE 24 V converter and interfaceHOLD - release checks firstMEC-018, MEC-019, MEC-020, CTL-017, ARM-011, PWR-030not yet requested

Source: BOM Issue 7.10 purchase view and Hardware BOM sheet (20 Oct, corrected 24 Oct); prices, supplier and distributor names and quote numbers are not published · 24 Oct 2026

Open design items and minor parts

Open design items (part TBD)

BOM IDItemState
CTL-016CAN-to-lift interface (CAN3 to the DOLD Hexalift V4)Connector, cable set and interface part to be confirmed; lift interlock firmware platform-fw #20 due 13 Nov
PWR-030SAFE 24 V converter (lift and hub-motor brake release)20 to 30 V DC in, 24 V DC out, at least 200 W; part selection pending (BUY-53)
CTL-004Isolated input module for the PNOZ Y32 diagnosticComplete 24 V field-input to isolated 3.3 V module; channel 2 spare; module selection pending (BUY-07, bench EVM only)

Minor parts still to be listed in the BOM

Not blockers; they need BOM rows before the purchase view can be complete.

PartNote
Motor-brake harness connectorUL1569 20 AWG brake leads arrive without a connector; DRV-003 says part to be selected
Branch-fuse rowsTraction (F-TRAC 40 A), arms (F-ARM-L, F-ARM-R 30 A), compute (F-J401 10 A), 5 V (F-5V 5 A), 24 V (F-24V 7.5 A) and lift (F-LIFT 15 A) are in E-01 but have no BOM rows; F-SAFE, F-PD, F-HUB, F-FAN and the fuse blocks FB-A, FB-B, FB-C do
Lift cable chainCable routing along the 350 mm lift stroke; no BOM row yet

Source: BOM Issue 7.10 (PWR-030, CTL-004, CTL-016, DRV-003, fuse rows), E-01 rev1.4 fuse schedule · 24 Oct 2026

Hardware values with known drift

The design value is the one this page uses. Each marker links to the row in the Known drift list on the progress page.

ItemDesign valueOther value and drift marker
ToF pitch (SNS-001, MEC-010)10 deg down (P-03 rev19.7 item 19 D6)20 deg on platform-sw main and platform-hw near-field.md drift 2
TF-Luna x (SNS-001)+/-0.390 m, panel (P-03 rev19.7, BOM 7.10)+/-0.399 m (lens face) on platform-sw main, PR #93 and the register drift 3
Ultrasonic x (SNS-002)+/-0.390 m (register)model +0.3906 / -0.3886 drift 4
IMU frame (IMU-001)(0.0544, 0, 0.1210), yaw -90 deg(0.195, 0, -0.044) in P-03 item 15 and D5; axes aligned in the BOM sensor sheet and P-02; z 0.133 in platform-hw imu.md drift 5
LiDAR mount (MEC-008)17.5 mm printed spacer, no standoffs, scan plane 222.05 mmstandoffs plus 7.1 mm plate in P-03 item 13, platform-hw lidar.md, docs; aluminium plate in the BOM Mechanical sheet; 222.0 mm in the BOM Connections sheet drift 6
Base camera (CAM-001)(0.387, 0, 0.046), 10 deg up(0.376, 0, 0.0445) at 142.5 mm in docs index.md drift 7
Contactors (SAF-003)2 x GX11CAC (E-01 rev1.4, register)LEV100H in P-03 item 5, platform-fw #17, #18 and platform-hw #27 drift 8
Near-field set (SNS-001, SNS-002)4 x MB7060 and 2 x TF-Luna, one UART eachTF-Luna and MB7040 over I2C in platform-fw #11 and platform-hw #15 drift 9
Hub motor (DRV-001)ZLLG80ASM250-L-B, 120 kg per pair-B suffix dropped in the platform-hw datasheets README; -B2 in platform-hw #28; 100 kg per pair on the drawing drift 15
Charger (WCH-001)WCM-500-24 on both robots (P-03 rev19.7 item 23)WCM-300 in docs concepts.md drift 16

Source: P-03 rev19.7, E-01 rev1.4, BOM Issue 7.10, decisions.yaml at 1c3f516, repository main and open PRs · 24 Oct 2026

The 26 traceability rows that need hardware

Rows from the 85-row Use Case 1 and P-03 traceability that cannot be checked in simulation. They close only with physical evidence in the integration window.

IDRequirementAreaAcceptance testOwnerNeeded for
UC1-01Gross mass within the limit, weighedhardwareWeigh the assembled robot on a calibrated scale; pass at or below the baseline limitto be confirmedfinal release
UC1-03Physical E-stop cuts actuator power; software-only stop not acceptedsafety chainSupervised physical test: each E-stop removes SAFE bus power with the robot moving; log time to zero currentto be confirmedfinal release
UC1-04Exactly two E-stopssafety chainInspection of the assembled robotto be confirmedfinal release
UC1-05Standby envelope (advisory)hardwareMeasure the standby envelopeto be confirmedlater
UC1-14Lift holds on E-stop and power losssafety chainSupplier written confirmation and a loaded drop testto be confirmedfinal release
UC1-24Drawer force design valueshardwareMeasured drawer forceto be confirmedfinal release
UC1-27Base holding during contacthardwareBench test of holding force with drives energised and brakesto be confirmedfinal release
UC1-30Load cases in F2ShardwareF2S rerun reportto be confirmedfinal release
UC1-31Static tipping safety factorhardwareF2S rerunto be confirmedfinal release
UC1-32Base does not move or tip during the pull (measured)hardwarePhysical pull test with displacement measurementto be confirmedfinal release
UC1-33Sliding resistancehardwarePhysical testto be confirmedfinal release
UC1-34Battery positionhardwareCAD and build inspectionto be confirmedlater
UC1-35Drive-wheel loadhardwareScale measurement per wheelto be confirmedfinal release
UC1-36Mass budget weighedhardwareWeighed budgetto be confirmedfinal release
UC1-53Fill light supplyhardwareElectrical checkto be confirmedlater
UC1-55Four-camera bandwidthperception10 min recording testto be confirmedfinal release
UC1-56Display digit legibility (open)perceptionCamera testto be confirmedlater
UC1-57Fluid level reading by cameraperceptionCamera testto be confirmedlater
UC1-70E-stop removes actuator power; electronics stay onsafety chainSupervised physical testto be confirmedfinal release
UC1-71Recovery within 2 minutes after E-stopsafety chainTimed recovery at commissioningto be confirmedfinal release
UC1-72No re-homing; position retainedsafety chainPhysical test after E-stopto be confirmedfinal release
UC1-73Deliberate reset; motion never resumes automaticallysafety chainAfter RESET, base requires a fresh zero then a new command; bench testto be confirmedfinal release
UC1-74Arm droop managedupper body and manipulationPhysical testto be confirmedfinal release
UC1-75Lift holds on E-stop (open)safety chainSupplier confirmation and testto be confirmedfinal release
UC1-80Compute bayhardwaren/ato be confirmednone
UC1-81Compute power branchhardwaren/ato be confirmednone
What changed since the BOM Issue 7.3 diagram
ItemIssue 7.3 diagramBOM Issue 7.10 / E-01 rev1.4Source
SAF-003superseded: LEV100 family, exact coil and feedback TBDGigavac GX11CAC, 150 A NO, 24 V coil with internal suppression, linked SPST-NC auxiliary; BUY-32 blockedP-03 item 22; E-01 rev1.4 s4
SAF-006Separate EDM auxiliary assemblies; K1/K2 feedback to firmwareIntegrated NC auxiliaries in the PNOZ S12-S34 reset loop; no K1/K2 controller inputsP-03 item 22; register SAFETY-CHAIN-IO
SAF-001One red mushroom, two NC contactsSchneider XB4BS8445 with ZBE-102 (2NC + 1NO), base front; spare NO to the controller for diagnosticsE-01 rev1.4 s4; BOM 7.10
SAF-002PNOZ s3 candidatePilz PNOZ s3 24 V DC (750103) selected; falling-edge reset setting to confirm on the unitE-01 rev1.4 s4 and s9
SAF-005Illuminated reset, contacts TBDSchneider XB4BW36B5, the only RESET: NO to PNOZ reset, NC to controller (5 s hold = reboot request)P-03 item 20; register RESET-BUTTON
CTL-004ISO1212EVM bench candidateComplete isolated input module for PNOZ Y32 (second channel spare); EVM bench-onlyP-03 item 22; E-01 s6
CTL-018(not present)TI TPL7407L low-side driver for RESET lamp and KCHG coilP-03 item 22
PWR-003100 A provisional fuseBlue Sea Class T 110 A, 20 kA interruptE-01 rev1.4 s1 and s3
PWR-004Rotary disconnect >= 100 ABlue Sea lockable disconnect, key lock in OFFE-01 rev1.4 s1
PWR-030(not present)SAFE 24 V converter, 20 to 30 V in, 24 V out, at least 200 W: lift and brake release; part TBDP-03 item 21; E-01 rev1.4 s3
F-LIFT(not present)15 A ATO with 2.5 mm2 cable (was 10 A in rev1.2)P-03 item 22; E-01 rev1.4 s3
DRV-001Brake variant quoted; drawing pendingSupplier-confirmed: 120 kg per pair, brake 24 V 12.5 W, 6 Nm, release <= 100 ms, engage <= 30 / 100 msP-03 item 21
PWR-019Single wired charging connectorSB50 charge connector for the TZBOT receiver output and the bench chargerP-03 item 20
PWR-020Charge-plug presence and hardwired inhibitRemovedP-03 item 20; register CHARGING
PWR-02220 A wired charge fuseF-CHG 30 A MIDIE-01 rev1.4 s3
PWR-005Wired service and baseline chargerDaly 28.4 V / 20 A charger for bench use only, on the SB50 with the E-stop pressedP-03 item 20
WCH-001..007(not present)TZBOT WCM-500-24 set: receiver, transmitter, KCHG relay, start and fault lines, receiver branch, bracketP-03 item 20; E-01 s7
SNS-001superseded: 4 x TF-Luna, front and rear outer2 x TF-Luna cliff sensors in the centre holes, one UART eachP-03 item 19 D6
SNS-002superseded: 2 x MB7060 I2CXL4 x MB7060 XL-MaxSonar-WR (RS232), one dedicated UART each with trigger GPIOP-03 item 19 D1
MEC-003superseded: fixed COTS mastMISUMI HFS6-60120 arm profile, 340 mm, on the lift adapter plateP-03 item 18
MEC-018 / MEC-019 / MEC-020(not present)DOLD Hexalift V4 350 mm lift, two-position base plate (bp000, bp050), TiMOTION TL3 fallbackP-03 items 16 and 18
CTL-015 / CTL-016 / CTL-017(not present)CAN3 transceiver, upper-body auxiliary connector and CAN-to-lift interfaceP-03 item 14; BOM 7.10
ARM-003ZED-121210 as specified by the kitStereolabs ZED Mini on the lift carriage, USB 3 Type-C, pitch hp15 to hp35P-03 items 15 and 18
PWR-031 / AUX-001(not present)Reserved contactor-switched 24 V auxiliary branch; status light (part to be selected)BOM 7.10
Headersuperseded: BOM Issue 7.3, P-03 current revision (6 Oct), Hexalift V1, five base-plate positionsBOM Issue 7.10, P-03 rev19.7, E-01 rev1.4, DOLD Hexalift V4, two base-plate positionsP-03 header; register BOM-ISSUE-IN-FORCE