Serial between Arduino and Einsy Rambo ?

I want to do serial communications between an Arduino and an Einsy Rambo (which is part of my Prusa i3 MK3 printer). I believe that the Einsy Rambo serial pins, TX and RX, operate at 5 volts, like the rest of the Rambo.
Is there a particular version of the Arduino that I should use so that its serial pins are compatible with the Rambo without any extra circuitry, like a level shifter?

Why not use an arduino that output 5 volts, like an UNO or nano ?

You may want to measure the voltage first, if it is RS232 in range from +-3V to +- 25V. If you do not have a multimeter you can get a 3.5 digit type for very little from china. Less then most Nono's.

Make certain of that voltage level, and choose an Arduino operating at the same voltage level.

Thank you. I do believe you are right in that the TX and RX pins conform to the overall 5 volts of the Einsy Rambo. But I've got a digital oscilloscope on order to check the voltage.

Although I do not know what OP has to achieve, I would rather get a board with at least one port that is not used for communication with the PC. The obvious one is the Mega, other ones are Leonardo, Micro and SparkFun Pro Micro.

One at least does not have to battle with various SoftwareSerial pitfalls like baud rate limits and the fact that it claims all Pin Change Interrupts.

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