# Prickly Ivory Robot Vacuum ## Description Compact 24 V Cat5-powered RS485 node with STM32, 3 bistable relays, 3 DI, DS18B20 ## Project Details - **Owner:** tomaszgregorek - **Created:** 3/14/2026 - **Last Updated:** 3/14/2026 - **Visibility:** Public - **Connectivity:** RS485 - **Operating Voltage:** 24V - **Domain:** Industrial control - **Compliance:** 230V mains isolation boundary: 6mm creepage/clearance - **System Architecture:** ```mermaid flowchart TD Cat5["Cat5 Cable"] PWR24["24V Power Pair"] RS485BUS["RS485 Pair"] InputProt["Input Protection"] Buck["Buck 24V to 3.3V"] MCU["STM32 MCU 3.3V"] XCVR["RS485 Transceiver"] Relays["3x Bistable Relays 230VAC 16A"] Drivers["Relay Drivers"] Iso["Optional Isolation"] Inputs["3x Digital Inputs"] Temp["DS18B20 1-Wire Temp"] HV["AC Mains Terminals"] LV["Low Voltage Zone"] Cat5 --> PWR24 --> InputProt --> Buck --> MCU Cat5 --> RS485BUS --> XCVR --> MCU MCU --> Drivers --> Relays --> HV MCU --> Inputs MCU --> Temp LV --- MCU LV --- XCVR LV --- Inputs LV --- Temp HV --- Relays ``` - **Power Requirements:** 24V input over Cat5 -> 3.3V logic rail ## Key Components ### D1 — [PMEG4010EH,115](https://www.flux.ai/jecstronic/pmeg4010eh115~57z.md) - Manufacturer Name: Nexperia USA Inc. - Part Type: Diode - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: PMEG4010EH,115 - Datasheet URL: https://www.mouser.com/datasheet/2/916/PMEG4010EH_EJ_ET-1360330.pdf - Package: SOD-123F - Role: Flyback - Role Details: Coil flyback diode (cathode to +24V, anode to MOSFET drain) **Pins:** - A [pin 2] - K [pin 1] ### D2 — [PMEG4010EH,115](https://www.flux.ai/jecstronic/pmeg4010eh115~57z.md) - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.mouser.com/datasheet/2/916/PMEG4010EH_EJ_ET-1360330.pdf - Manufacturer Part Number: PMEG4010EH,115 - Manufacturer Name: Nexperia USA Inc. - Part Type: Diode - Role Details: Coil flyback diode (cathode to +24V, anode to MOSFET drain) - Role: Flyback - Package: SOD-123F **Pins:** - A [pin 2] - K [pin 1] ### D3 — [PMEG4010EH,115](https://www.flux.ai/jecstronic/pmeg4010eh115~57z.md) - Package: SOD-123F - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Coil flyback diode (cathode to +24V, anode to MOSFET drain) - Datasheet URL: https://www.mouser.com/datasheet/2/916/PMEG4010EH_EJ_ET-1360330.pdf - Manufacturer Part Number: PMEG4010EH,115 - Role: Flyback - Manufacturer Name: Nexperia USA Inc. - Part Type: Diode **Pins:** - A [pin 2] - K [pin 1] ### J1 — [282837-2](https://www.flux.ai/vasy_skral/282837-2~69k.md) - Package: THT 5.08mm terminal block - Manufacturer Part Number: 282837-2 - Role: Connector - Role Details: 24V_IN and GND_IN from Cat5 - Part Type: Connector - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=282837&DocType=Customer+Drawing&DocLang=English **Pins:** - 1 [pin 1] - 2 [pin 2] ### J2 — [282837-3](https://www.flux.ai/adrian95/282837-3~5mc.md) - Package: THT 5.08mm terminal block - Role: Connector - Manufacturer Name: TE Connectivity AMP Connectors - Role Details: RS485_A, RS485_B, RS485_GND - Manufacturer Part Number: 282837-3 - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J3 — [282837-3](https://www.flux.ai/adrian95/282837-3~5mc.md) - License: https://creativecommons.org/licenses/by/4.0/ - Package: THT 5.08mm terminal block - Part Type: Connector - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf - Role Details: DI1, DI2, DI3 - Manufacturer Part Number: 282837-3 - Role: Connector - Manufacturer Name: TE Connectivity AMP Connectors **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J4 — [282837-3](https://www.flux.ai/adrian95/282837-3~5mc.md) - Role: Connector - Role Details: DS18B20 external sensor header - Package: THT 5.08mm terminal block - Manufacturer Name: TE Connectivity AMP Connectors - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 282837-3 - Datasheet URL: https://www.te.com/usa-en/product-282837-3.datasheet.pdf **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### K1 — [ADJ42024](https://www.flux.ai/lcsc/adj42024~cia6.md) - LCSC Part Number: C1565895 - Package: RELAY-TH_PANASONIC_ADJ420XX - Role Details: Bistable/latching relay channel (230VAC/16A class) - Manufacturer Name: PANASONIC(松下) - Manufacturer Part Number: ADJ42024 - Part Type: Power Relays - Package or Case Code: RELAY-TH_PANASONIC_ADJ420XX - Role: Relay **Pins:** - 1 [pin 1] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 7 [pin 7] - 8 [pin 8] ### K2 — [ADJ42024](https://www.flux.ai/lcsc/adj42024~cia6.md) - Role Details: Bistable/latching relay channel (230VAC/16A class) - LCSC Part Number: C1565895 - Manufacturer Name: PANASONIC(松下) - Manufacturer Part Number: ADJ42024 - Package: RELAY-TH_PANASONIC_ADJ420XX - Package or Case Code: RELAY-TH_PANASONIC_ADJ420XX - Role: Relay - Part Type: Power Relays **Pins:** - 1 [pin 1] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 7 [pin 7] - 8 [pin 8] ### K3 — [ADJ42024](https://www.flux.ai/lcsc/adj42024~cia6.md) - Manufacturer Name: PANASONIC(松下) - Role Details: Bistable/latching relay channel (230VAC/16A class) - Manufacturer Part Number: ADJ42024 - Role: Relay - Package: RELAY-TH_PANASONIC_ADJ420XX - LCSC Part Number: C1565895 - Package or Case Code: RELAY-TH_PANASONIC_ADJ420XX - Part Type: Power Relays **Pins:** - 1 [pin 1] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 7 [pin 7] - 8 [pin 8] ### Q1 — [PC817X1CSP9F](https://www.flux.ai/jecstronic/pc817x1csp9f~58w.md) - Part Type: Transistor - Package: 4-SMD - Role: Isolation - Manufacturer Name: SHARP/Socle Technology - Role Details: Optocoupler for relay driver isolation - Datasheet URL: http://www.socle-tech.com/doc/IC%20Channel%20Product/Optoelectronic%20Components/Photocoupler/PC817X_CSP9F_ED-%E8%B4%B4%E7%89%87.PDF - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: PC817X1CSP9F **Pins:** - ANODE [pin 1] - CATHODE [pin 2] - COLLECTOR [pin 4] - EMITTER [pin 3] ### Q2 — [PC817X1CSP9F](https://www.flux.ai/jecstronic/pc817x1csp9f~58w.md) - Manufacturer Part Number: PC817X1CSP9F - Datasheet URL: http://www.socle-tech.com/doc/IC%20Channel%20Product/Optoelectronic%20Components/Photocoupler/PC817X_CSP9F_ED-%E8%B4%B4%E7%89%87.PDF - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: SHARP/Socle Technology - Role Details: Optocoupler for relay driver isolation - Role: Isolation - Package: 4-SMD - Part Type: Transistor **Pins:** - ANODE [pin 1] - CATHODE [pin 2] - COLLECTOR [pin 4] - EMITTER [pin 3] ### Q3 — [PC817X1CSP9F](https://www.flux.ai/jecstronic/pc817x1csp9f~58w.md) - Role Details: Optocoupler for relay driver isolation - Manufacturer Name: SHARP/Socle Technology - Package: 4-SMD - Part Type: Transistor - Role: Isolation - Manufacturer Part Number: PC817X1CSP9F - Datasheet URL: http://www.socle-tech.com/doc/IC%20Channel%20Product/Optoelectronic%20Components/Photocoupler/PC817X_CSP9F_ED-%E8%B4%B4%E7%89%87.PDF - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - ANODE [pin 1] - CATHODE [pin 2] - COLLECTOR [pin 4] - EMITTER [pin 3] ### Q4 — [DMN6075S-7](https://www.flux.ai/jecstronic/dmn6075s-7~p6d.md) - Part Type: Transistor - Role: Coil Switch - Manufacturer Name: Diodes Incorporated - Manufacturer Part Number: DMN6075S-7 - Datasheet URL: https://www.diodes.com/assets/Datasheets/DMN6075S.pdf - Package: SOT-23-3 - Role Details: N-MOSFET low-side coil driver (one per relay) - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### Q5 — [DMN6075S-7](https://www.flux.ai/jecstronic/dmn6075s-7~p6d.md) - Package: SOT-23-3 - Role: Coil Switch - Role Details: N-MOSFET low-side coil driver (one per relay) - Datasheet URL: https://www.diodes.com/assets/Datasheets/DMN6075S.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: DMN6075S-7 - Manufacturer Name: Diodes Incorporated - Part Type: Transistor **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### Q6 — [DMN6075S-7](https://www.flux.ai/jecstronic/dmn6075s-7~p6d.md) - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.diodes.com/assets/Datasheets/DMN6075S.pdf - Package: SOT-23-3 - Part Type: Transistor - Role: Coil Switch - Manufacturer Name: Diodes Incorporated - Role Details: N-MOSFET low-side coil driver (one per relay) - Manufacturer Part Number: DMN6075S-7 **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### U1 — [MCP16301x-xCH](https://www.flux.ai/kicad-part-library/mcp16301x-xch~hdq.md) - Datasheet URL: http://ww1.microchip.com/downloads/en/DeviceDoc/20005004D.pdf - Manufacturer Part Number: MCP16301x-xCH - Manufacturer Name: Microchip Technology Inc. - Package: SOT-23-6 - Role Details: 24V in (Cat5) to 3.3V logic supply - Package or Case Code: SOT-23-6 - Role: Regulator **Pins:** - BOOST [pin 1] - EN [pin 4] - GND [pin 2] - SW [pin 6] - V_{IN} [pin 5] - Vfb [pin 3] ### U2 — [THVD1451D](https://www.flux.ai/kicad-part-library/thvd1451d~z1b.md) - Manufacturer Part Number: THVD1451D - Manufacturer Name: Texas Instruments Inc. - Datasheet URL: http://www.ti.com/lit/ds/symlink/thvd1451.pdf - Role Details: Half-duplex RS485 transceiver, 3.3V logic - Package: SOIC-8 - Package or Case Code: SOIC-8_3.9x4.9mm_P1.27mm - Role: Transceiver **Pins:** - A [pin 8] - B [pin 7] - D [pin 3] - GND [pin 4] - R [pin 2] - VCC [pin 1] - Y [pin 5] - Z [pin 6] ### U3 — [STM32G031G8U6](https://www.flux.ai/vasyl/stm32g031g8u6~e0g.md) - Role Details: Main controller: RS485 UART + relay drive + DI + 1-Wire - Part Type: Microcontroller - PULL UP PINS: PB8 - Manufacturer Part Number: STM32G031G8U6 - Manufacturer Name: STMicroelectronics - Package: UFQFPN-28 - Role: Microcontroller - Datasheet URL: https://datasheet.lcsc.com/lcsc/1912111437_STMicroelectronics-STM32G031G8U6_C432211.pdf **Pins:** - PA0 [pin 6] - PA1 [pin 7] - PA11PA9 [pin 18] - PA12PA10 [pin 19] - PA13 [pin 20] - PA14-BOOT0 [pin 21] - PA15 [pin 22] - PA2 [pin 8] - PA3 [pin 9] - PA4 [pin 10] - PA5 [pin 11] - PA6 [pin 12] - PA7 [pin 13] - PA8 [pin 16] - PB0 [pin 14] - PB1 [pin 15] - PB3 [pin 23] - PB4 [pin 24] - PB5 [pin 25] - PB6 [pin 26] - PB7 [pin 27] - PB8 [pin 28] - PC14-OSC32_IN [pin 1] - PC15-OSC32_OUT [pin 2] - PC6 [pin 17] - PF2-NRST [pin 5] - VDD/VDDA [pin 3] - VSS/VSSA [pin 4] ### U4 — [DS18B20+](https://www.flux.ai/adrian95/ds18b20plus~f15.md) - License: https://creativecommons.org/licenses/by/4.0/ - Package: TO-92 - Part Type: Sensor - Role: Sensor - Manufacturer Name: Analog Devices Inc./Maxim Integrated - Manufacturer Part Number: DS18B20+ - Datasheet URL: https://www.analog.com/media/en/technical-documentation/data-sheets/ds18b20.pdf - Role Details: DS18B20 1-Wire temperature sensor **Pins:** - DQ [pin 2] - GND [pin 1] - VDD [pin 3] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/tomaszgregorek/prickly-ivory-robot-vacuum~ut](https://www.flux.ai/tomaszgregorek/prickly-ivory-robot-vacuum~ut).* --- *Generated from [https://www.flux.ai/tomaszgregorek/prickly-ivory-robot-vacuum~ut](https://www.flux.ai/tomaszgregorek/prickly-ivory-robot-vacuum~ut)*