BCN3D Moveo parts list

Fully 3D printed 5-axis teaching arm with belt-driven joints, NEMA steppers and an Arduino Mega running modified Marlin.

Robot armsadvanced by BCN3D Technologies (with the Catalan education department)

Total parts cost: $500 to $800 (cheapest listed sellers add up to about $169)

DIY sourcing of the official BOM at 2026 retail: 6 steppers, 6 TB6560 drivers, Mega plus RAMPS, 24V supply, bearings, T5 pulleys and belt, rods, bushings, about 300 screws and nuts, wood base. Low end buys motors from StepperOnline and drivers, bearings and screws in packs; high end buys more from US retail. Excludes about 3 kg of filament, a 3D printer, tools and shipping. BCN3D quoted 300 to 400 EUR in 2016-2017; that figure is stale.

Exploded view

Tap any part to see where to buy it. Diagram is schematic, not to scale.

Every part you need

Part	Qty	Spec	Where to buy
NEMA 17 stepper, SM42HT47-1684 class joint 1 (base) motor	1	BOM 1: 1.8 deg, 1.68 A, 3600 g.cm (about 36 N.cm). Manual calls it the large NEMA 17. Pololu #2267 matches current and torque but is 38 mm long, not 47 mm Turns the whole arm through the base belt.	Pololu: $35.12 single; 42x38 mm, 1.7 A, 3.7 kg.cm, near match
NEMA 23 stepper, 112 mm body, 8 mm flat shaft (SM57HT112-3004A class) joint 2 (shoulder) motors	2	BOM 9: 1.8 deg, 3 A, 28 kg.cm, 8 mm D shaft. StepperOnline 23HS45-4204S1 is the 8 mm shaft 3 Nm, 4.2 A match; the plain 23HS45-4204S has a 10 mm shaft Two motors share the shoulder, which carries the most load.	StepperOnline: $28.70 (unverified) single; 23HS45-4204S1, 8 mm shaft RobotShop: $49.78 single; StepperOnline 3 Nm, 10 mm shaft (needs 10 mm bore pulley)
NEMA 17 stepper, 34 mm (SM42HT33-1334 class) joint 3 (elbow) motor	1	BOM 11: 1.8 deg, 1.33 A, 2200 g.cm (22 N.cm). StepperOnline 17HS13-1334S has the same rating and 42x42x34 mm body Drives the elbow through a 5 to 8 mm coupling.	StepperOnline: $8.72 (unverified) single; 17HS13-1334S
NEMA 14 stepper, 35x36 mm, 1 A (SM35HT36-1004A class) joint 4 (forearm roll) motor	1	BOM 10: 1.8 deg, 1 A, 1400 g.cm. Pololu #1209 is SY35ST36-1004A, the same 35x36 mm, 1 A, 1.4 kg.cm rating Small, light motor for the forearm roll.	Pololu: $35.12
StepperOnline 17HS19-1684S-PG5 NEMA 17 with 5:1 planetary gearbox joint 5 (wrist) motor	1	BOM 8 names this exact part: 48 mm body, 1.68 A, true ratio 5.18:1, 8 mm output shaft, about 3 deg backlash Gearing gives the wrist enough torque at the end of the arm.	StepperOnline: $28.86 (unverified) Tindie: check price (unverified) single; StepperOnline store
Standard size metal gear servo, 55 g, about 13 kg.cm (MG996R class) gripper servo	1	BOM 7: 180 deg, 55 g, 13 kg.cm. Power it from its own 5 to 6 V supply, not the Mega Opens and closes the printed gear gripper.	Amazon: check price
Arduino Mega 2560 Rev3 controller	1	BOM 2; runs the modified Marlin firmware in the repo Generates step and direction signals for all joints.	Arduino Store: EUR 52.80
RAMPS 1.4 board controller shield	1	BOM 5; stacks on the Mega and breaks out step, direction and enable pins to the external drivers Wiring hub between the Mega, drivers and servo.	Amazon: check price
TB6560 single-axis stepper driver board, 3 A stepper drivers	6	BOM 3: TB6560AHQ, 10 to 35 V, up to 3 A (3.5 A peak), opto-isolated step and direction inputs One per motor; external drivers handle the NEMA 23 current a RAMPS socket driver cannot.	Amazon: check price
24 V enclosed supply, 320 W or more (Mean Well LRS-350-24 fits) power supply	1	BOM 4: 24 V 320 W. LRS-350-24 gives 24 V 14.6 A (350 W) Feeds the six drivers and the 24 V fans.	Jameco: $32.10 (unverified) single; LRS-350-24 DigiKey: check price (unverified) single; LRS-350-24 RS Components: GBP 36.76 (unverified) single; LRS-350-24, ex VAT
24 V to 12 V DC step-down converter, 10 A 12 V rail	1	BOM 6 says only 24 V to 12 V; 10 A units have headroom. RAMPS logic side runs on 12 V Feeds the RAMPS board, which is built for 12 V.	Amazon: check price
8 mm hardened smooth rod, cut to length joint shafts	4	BOM 12, 13, 14, 23: one each at 134 mm, 114 mm, 80 mm and 42 mm. Diameter is 8 mm per the CAD part names (the BOM omits it) Axles for the joints, running in 608 bearings.	Amazon: check price
608ZZ ball bearing, 8x22x7 mm bearings	10	BOM 15 Main joint bearings on the 8 mm shafts.	Amazon: check price
625ZZ ball bearing, 5x16x5 mm bearings	8	BOM 16 Idlers and small pivots.	Amazon: check price
624ZZ ball bearing, 4x13x5 mm bearings	9	BOM 17 Belt tensioner and roller bearings.	Amazon: check price
623ZZ ball bearing, 3x10x4 mm bearings	3	BOM 18 Gripper and small idler pivots.	Amazon: check price
Self-lubricating sintered bronze bushing, 5x8x10 mm bushings	8	BOM 30: 5 mm bore, 8 mm OD, 10 mm long. The linked part is flanged; the BOM does not say, so check against the printed seat Plain bearings for the light pivots.	Amazon: check price
Self-lubricating sintered bronze bushing, 8x12x20 mm bushings	2	BOM 31: 8 mm bore, 12 mm OD, 20 mm long Plain bearings on an 8 mm shaft.	no verified seller yet
T5 timing pulley, 14 teeth, 8 mm bore, for 16 mm belt pulleys	3	BOM 21: 14T, 8 mm bore, 17 mm wide. OPTIBELT 14-227T5 matches Motor pulleys on the 8 mm shafts.	RS Components: check price (unverified) single; OPTIBELT 14-227T5
T5 timing pulley, 10 teeth, 5 mm bore, for 16 mm belt pulleys	2	BOM 22: 10T, 5 mm bore, 17 mm wide. OPTIBELT 10-227T5 matches Motor pulleys on the 5 mm stepper shafts.	RS Components: GBP 3.17 (unverified) single; OPTIBELT 10-227T5, ex VAT
T5 open-ended timing belt, 16 mm wide, polyurethane with steel cords belt	1	BOM 33: Breco T5, 16 mm wide, 1.8 m total, cut into loops and joined in the printed clamps Drives joints 1, 2 and 3 from their motors.	Amazon: check price
Rigid shaft coupling, 5 mm to 8 mm coupling	1	BOM 24: steel, rigid Joins the 34 mm NEMA 17 shaft to the elbow axle.	Amazon: check price
Brass threaded inserts, M3 and M4 inserts	23	BOM 19 and 20: 20x M3, 3x M4 Gives the printed parts reusable metal threads.	Amazon: check price
24 V axial fan, 80x80 mm electronics cooling	1	BOM 25 Cools the driver box.	Amazon: check price
24 V axial fan, 50x50 mm electronics cooling	1	BOM 26 Second fan for the electronics box.	Amazon: check price
Metric screw, nut and washer set per BOM 101 to 127 fasteners	1	About 75 M3 screws (8 to 40 mm), 41 M4 screws (10 to 60 mm), 120 M5x14, 8 M5x20, 1 M8x65, 30 M3 nuts, 4 M4 nuts, 18 M4 locknuts, 16 M5 locknuts, 2 M8 locknuts, 10 M3 washers Holds the printed parts together.	no verified seller yet
Wood base board, 550x550x16 mm base	1	BOM 32; plywood or MDF works Heavy, flat mount so the arm does not tip.	no verified seller yet
IEC mains cable, USB A to B cable, cable ties cables	1	BOM 27, 28, 29: 1.8 m IEC lead, 1.8 m USB 2.0 A to B, 10 cable ties Mains to the supply, PC to the Mega, and tidy wiring.	no verified seller yet

Quantities follow the official BCN3D Moveo docs: https://github.com/BCN3D/BCN3D-Moveo/tree/master/USER%20MANUAL. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.

3D printed parts

Needed. About 33 printed parts in PLA (BOM 202 to 232). Builders report 1.5 weeks of printing, or about 97 hours at 0.3 mm layers. The base parts are tall; Ender 3 owners print split versions from Thingiverse. Part 1M1 has a lip that needs supports. Files: https://github.com/BCN3D/BCN3D-Moveo/tree/master/STL%20files

Mistakes builders make

No official wiring diagram exists; the request has been open since 2016. Plan to work out the TB6560 to RAMPS wiring yourself or from builder posts.
The BOM motor names (SM42HT47, SM57HT112 and others) are hard to find. Builders buy by spec; one recommends a 3 Nm 4.2 A NEMA 23 for joint 2, but the TB6560 tops out around 3 A, so it will not reach full torque.
Match pulley bores to your motors: the BOM uses 8 mm shaft NEMA 23s, while many 3 Nm NEMA 23s have 10 mm shafts. Unbored T5 pulleys can be drilled and reamed.
The BOM lists 120 M5x14 screws, but one builder counted only 8 in the CAD assembly. Count against the manual before ordering.
One builder found the 4M2 screw holes 30 mm apart while the gripper bottom plate is 24 mm, so the gripper does not bolt on without changes.
To drive the gripper servo, power it from a separate 5 V supply; one builder also had to raise the Servo library refresh interval to stop jitter.
To use the E0 and E1 driver outputs, set EXTRUDERS 2 and MOTHERBOARD 34 in Configuration.h, then pick a joint with T0 or T1 in Pronterface.
One team found belt tension cracked printed parts, and the arm sagged under a heavier tool even with bigger motors.

FAQ

How much does it cost to build the BCN3D Moveo?

About $500 to $800 in parts at current prices, DIY sourcing of the official BOM at 2026 retail: 6 steppers, 6 TB6560 drivers, Mega plus RAMPS, 24V supply, bearings, T5 pulleys and belt, rods, bushings, about 300 screws and nuts, wood base. Low end buys motors from StepperOnline and drivers, bearings and screws in packs; high end buys more from US retail. Excludes about 3 kg of filament, a 3D printer, tools and shipping. BCN3D quoted 300 to 400 EUR in 2016-2017; that figure is stale..

Do I need a 3D printer for the BCN3D Moveo?

Yes. About 33 printed parts in PLA (BOM 202 to 232). Builders report 1.5 weeks of printing, or about 97 hours at 0.3 mm layers. The base parts are tall; Ender 3 owners print split versions from Thingiverse. Part 1M1 has a lip that needs supports.