For housing all the electronics I designed a external electronics enclosure. This includes:

- Safety electronics

- 24V and 5V power supplies 

- Motor drivers

- power distribution PCB

- main IO and sensor PCB

The roboter is connected to the enclosure via a single connector. Peripherals can be connected via a secondary connector.

The electronics enclosure:

Front side with E-stop, on of switch, Led indicators and HMI connector

Backside with the described connectors for the robot and peripherals: