2014-10-28 12:20:28 +00:00
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stmbl
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=====
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2015-01-18 20:23:51 +00:00
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stmbl is an open source servo drive designed for Retrofitting CNC machines and Robots. It supports Indutrial AC and DC servos with up to 320V and 1kW.
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##### Hardware version 31
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2014-10-28 12:20:28 +00:00
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2014-11-08 08:51:00 +00:00
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##### Driving a Bosch Turboscara
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https://www.youtube.com/watch?v=Ue98HE76paI
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##### Drivetest
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https://www.youtube.com/watch?v=sMeV4SCu4TA
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2015-01-18 20:23:51 +00:00
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##### Drivetest with asymmetrical load
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https://www.youtube.com/watch?v=seEV_i7o1NI
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2014-10-28 12:20:28 +00:00
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2015-01-18 20:23:51 +00:00
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####Supported Motors
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* Synchronous AC Servos
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* DC Servos
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2014-11-10 21:45:14 +00:00
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* IRAMXv2 Hardware testet up to 320V
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2014-10-28 12:20:28 +00:00
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2015-01-18 20:23:51 +00:00
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####Supported Feedback systems
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* Resolvers
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* Incremental encoders
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* sin/cos encoder interpolation
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2014-10-28 15:20:56 +00:00
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####TODO
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* AC Async
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* saving parameters to flash
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2014-10-28 12:20:28 +00:00
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####Directories
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* hw/eagle/ Eagle board files and schematics
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* hw/spice/ Spice simulation for resolver interface
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2015-01-18 20:23:51 +00:00
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* src/ STM32F4 code, command, feedback and control loop
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* stm32f103/ STM32F1 code, running on the HV side, generating PWM
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2014-10-28 12:20:28 +00:00
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* term/ Terminal with scope and local history. Supports UHU servo and stmbl.
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2014-10-28 15:20:56 +00:00
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####Building the firmware
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##### Requirements
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* gcc-arm-none-eabi-gcc https://launchpad.net/gcc-arm-embedded/+download
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* stlink https://github.com/texane/stlink
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2014-10-28 15:30:11 +00:00
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2014-10-28 15:20:56 +00:00
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##### Flashing
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Add gcc and stlink to your $PATH
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2014-10-28 15:30:11 +00:00
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make
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make burn
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2014-10-28 15:20:56 +00:00
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####Building Servoterm
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##### Requirements
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* cmake >= 2.8
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2014-11-21 11:05:47 +00:00
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* gcc >= 4.8 or clang
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2014-10-28 15:20:56 +00:00
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* wxwidgets >= 3.0
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* libserialport http://sigrok.org/wiki/Libserialport
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2014-10-28 15:30:11 +00:00
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2014-10-28 15:20:56 +00:00
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##### Compiling
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2014-10-28 15:30:11 +00:00
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cd term/
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mkdir build/
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cmake ../
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make
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2014-11-24 09:35:41 +00:00
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####Using Servoterm
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##### Testing HAL
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HAL can be tested without any hardware connected to the STM32F4discovery.
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* Flash STM32F4discovery(STlink and USB OTG must be connected)
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* Launch Servoterm, Click refresh, and connecto to STM32 Virtual ComPort
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entering ? prints a list of hal pins.
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The current default config is for a 4 pole AC permanent magnet motor with resolver feedback, using an encoder for command.
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> net0.fb <= res0.pos = 0.000000
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net0.fb is driven by res0.pos, and its current value is 0. Pins can be connected to other pins, or fixed values.
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This example connects the sine wave generatror to wave view 0.
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Offset and gain can be controlled with the sliders below Channel 1(black).
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```
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term0.wave0 = sim0.sin
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sim0.amp = 10
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sim0.freq = 5
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```
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To disconnect a pin, connect it to itself
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```
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term0.wave0 = term0.wave0
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```
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