Devlog
How UPAN Gen 4 is built: the board, the firmware, the decisions and why.
From rev A to UPAN Core v2
We put the rev A board on the shelf before ordering it. UPAN Core v2 runs on one ESP32-S3, takes StepStick drivers in sockets and grows with DIN-rail modules next to it.
Several axes, one motion
Archive · rev A
How UPAN Core and UPAN Axis modules move together over the CAN-FD bus, what happens when the cable comes off, and how a new module gets its number.
Why the device trusts no one
Archive · rev A
An AI agent can write a program for UPAN. It cannot make the axis go past its limits. Here is where the checks live and why.
The rev A board is ready to order
Archive · rev A
Six schematic sheets, a four-layer board of about 113 × 95 mm, zero ERC and DRC errors, and three review rounds before the first prototypes.