MRIRobot_PCB

PC boards for MRI robot control, specifically for STM32 motherboard

• Main_PCB (holds STM32 Nucleo 446RE and FPGA for encoder reading)

• Power_PCB (switches for enabling individual ultrasonic motors, +24V in connector, master power switch))

• Motor_Joint_Splitter (mounted on robot arm)

• Motor_reroute (at motor controller. Splits Tekcelo control signal to use ethernet for a pair of encoders, and 3 wire sin/cos/gnd cable for 250V )