stmbl/README.md

![Build Status](https://travis-ci.org/rene-dev/stmbl.svg)

Build Log: https://travis-ci.org/rene-dev/stmbl

DISCLAIMER
===
THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR
ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE
TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of
harming persons must have provisions for completely removing power
from all motors, etc, before persons enter any danger area.  All
machinery must be designed to comply with local and national safety
codes, and the authors of this software can not, and do not, take
any responsibility for such compliance.

This software is released under the GPLv3.

stmbl
=====
**přečtěte si seznam chyb ve wiki**

**PCBs are now available, let me know if you are interested.**

**IRC: #stmbl on irc.hackint.eu**

stmbl is an open source servo drive designed for Retrofitting CNC machines and Robots. It supports Industrial AC and DC servos with up to 320V and 1kW.

Documentation about the PCB and pinout of the feedback connector:

https://github.com/rene-dev/stmbl/wiki/Pinouts

https://github.com/rene-dev/stmbl/wiki/PCB

##### Hardware version 3.2
![top](http://rene-dev.github.io/iramx32top.jpg)
![bot](http://rene-dev.github.io/iramx32bot.jpg)

##### Driving a Bosch Turboscara
https://www.youtube.com/watch?v=Ue98HE76paI

https://www.youtube.com/watch?v=d6NH1W7DUnQ
##### Drivetest
https://www.youtube.com/watch?v=sMeV4SCu4TA
##### Drivetest with asymmetrical load
https://www.youtube.com/watch?v=seEV_i7o1NI

####Supported Motors
* Synchronous AC Servos
* DC Servos
* 2 Phase HF spindle motors
* IRAMX Hardware testet up to 320V

####Supported Feedback systems
* Resolvers
* Incremental encoders
* sin/cos encoder interpolation
* Mitsubishi absolute encoders
* Sanyo Denki absolute encoders
* Sick HIPERFACE®

####TODO
* AC Async
* saving parameters to flash

####Directories
* hw/eagle/ Eagle board files and schematics
* hw/spice/ Spice simulation for resolver interface
* src/ STM32F4 code, command, feedback and control loop
* stm32f103/ STM32F1 code, running on the HV side, generating PWM
* term/ Terminal with scope and local history. Supports UHU servo and stmbl.


####Building the firmware
##### Requirements
* gcc-arm-none-eabi-gcc https://launchpad.net/gcc-arm-embedded/+download
* stlink https://github.com/texane/stlink

##### Flashing
Add gcc and stlink to your $PATH

    make
    make burn

####Building Servoterm
##### Requirements
* cmake >= 2.8
* gcc >= 4.8 or clang
* wxwidgets >= 3.0
* libserialport http://sigrok.org/wiki/Libserialport

##### Compiling

    cd term/
    mkdir build/
    cd build/
    cmake ../
    make

####Using Servoterm
##### Testing HAL
HAL can be tested without any hardware connected to the STM32F4discovery.
* Flash STM32F4discovery(STlink and USB OTG must be connected)
* Launch Servoterm, Click refresh, and connecto to STM32 Virtual ComPort

entering 'list' prints a list of hal pins.
The current default config is for a 4 pole AC permanent magnet motor with resolver feedback, using an encoder for command. 

> net0.fb <= res0.pos = 0.000000

net0.fb is driven by res0.pos, and its current value is 0. Pins can be connected to other pins, or fixed values.

This example connects the sine wave generatror to wave view 0.
Offset and gain can be controlled with the sliders below Channel 1(black).
```
term0.wave0 = sim0.sin
sim0.amp = 10
sim0.freq = 5
```
To disconnect a pin, connect it to itself
```
term0.wave0 = term0.wave0
```
Update README.md 2015-11-18 14:49:51 +00:00			`![Build Status](https://travis-ci.org/rene-dev/stmbl.svg)`

			`Build Log: https://travis-ci.org/rene-dev/stmbl`

Update README.md 2015-03-24 22:37:45 +00:00			`DISCLAIMER`
			`===`
			`THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR`
			`ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE`
			`TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of`
			`harming persons must have provisions for completely removing power`
			`from all motors, etc, before persons enter any danger area. All`
			`machinery must be designed to comply with local and national safety`
			`codes, and the authors of this software can not, and do not, take`
			`any responsibility for such compliance.`

			`This software is released under the GPLv3.`

Create README.md 2014-10-28 12:20:28 +00:00			`stmbl`
			`=====`
Update README.md 2015-10-28 14:47:51 +00:00			`přečtěte si seznam chyb ve wiki`

Update README.md 2015-05-08 10:01:36 +00:00			`PCBs are now available, let me know if you are interested.`
Update README.md 2015-07-12 10:51:06 +00:00
Update README.md complete irc url 2015-10-02 11:25:50 +00:00			`IRC: #stmbl on irc.hackint.eu`
Update README.md 2015-05-08 10:01:36 +00:00
			`stmbl is an open source servo drive designed for Retrofitting CNC machines and Robots. It supports Industrial AC and DC servos with up to 320V and 1kW.`

			`Documentation about the PCB and pinout of the feedback connector:`

			`https://github.com/rene-dev/stmbl/wiki/Pinouts`

			`https://github.com/rene-dev/stmbl/wiki/PCB`

+. 2015-04-01 05:05:15 +00:00			`##### Hardware version 3.2`
Update README.md 2015-03-24 22:37:45 +00:00			`![top](http://rene-dev.github.io/iramx32top.jpg)`
			`![bot](http://rene-dev.github.io/iramx32bot.jpg)`
Create README.md 2014-10-28 12:20:28 +00:00
Update README.md 2014-11-08 08:51:00 +00:00			`##### Driving a Bosch Turboscara`
			`https://www.youtube.com/watch?v=Ue98HE76paI`
Update README.md 2015-10-13 13:41:33 +00:00
Update README.md 2015-10-13 13:41:19 +00:00			`https://www.youtube.com/watch?v=d6NH1W7DUnQ`
Update README.md 2014-11-08 08:51:00 +00:00			`##### Drivetest`
			`https://www.youtube.com/watch?v=sMeV4SCu4TA`
Update README.md 2015-01-18 20:23:51 +00:00			`##### Drivetest with asymmetrical load`
			`https://www.youtube.com/watch?v=seEV_i7o1NI`
Create README.md 2014-10-28 12:20:28 +00:00
Update README.md 2015-01-18 20:23:51 +00:00			`####Supported Motors`
			`* Synchronous AC Servos`
			`* DC Servos`
Update README.md 2015-03-24 22:37:45 +00:00			`* 2 Phase HF spindle motors`
Update README.md 2015-10-13 13:43:28 +00:00			`* IRAMX Hardware testet up to 320V`
Create README.md 2014-10-28 12:20:28 +00:00
Update README.md 2015-01-18 20:23:51 +00:00			`####Supported Feedback systems`
			`* Resolvers`
			`* Incremental encoders`
			`* sin/cos encoder interpolation`
Update README.md 2015-03-13 13:14:09 +00:00			`* Mitsubishi absolute encoders`
Update README.md 2015-10-13 13:43:28 +00:00			`* Sanyo Denki absolute encoders`
Update README.md 2015-11-18 13:55:56 +00:00			`* Sick HIPERFACE®`
Update README.md 2015-01-18 20:23:51 +00:00
readme 2014-10-28 15:20:56 +00:00			`####TODO`
			`* AC Async`
			`* saving parameters to flash`

Create README.md 2014-10-28 12:20:28 +00:00			`####Directories`
			`* hw/eagle/ Eagle board files and schematics`
			`* hw/spice/ Spice simulation for resolver interface`
Update README.md 2015-01-18 20:23:51 +00:00			`* src/ STM32F4 code, command, feedback and control loop`
			`* stm32f103/ STM32F1 code, running on the HV side, generating PWM`
Create README.md 2014-10-28 12:20:28 +00:00			`* term/ Terminal with scope and local history. Supports UHU servo and stmbl.`
readme 2014-10-28 15:20:56 +00:00

			`####Building the firmware`
			`##### Requirements`
			`* gcc-arm-none-eabi-gcc https://launchpad.net/gcc-arm-embedded/+download`
			`* stlink https://github.com/texane/stlink`
Update README.md 2014-10-28 15:30:11 +00:00
readme 2014-10-28 15:20:56 +00:00			`##### Flashing`
			`Add gcc and stlink to your $PATH`
Update README.md 2014-10-28 15:30:11 +00:00
			`make`
			`make burn`
readme 2014-10-28 15:20:56 +00:00
			`####Building Servoterm`
			`##### Requirements`
			`* cmake >= 2.8`
Update README.md 2014-11-21 11:05:47 +00:00			`* gcc >= 4.8 or clang`
readme 2014-10-28 15:20:56 +00:00			`* wxwidgets >= 3.0`
			`* libserialport http://sigrok.org/wiki/Libserialport`
Update README.md 2014-10-28 15:30:11 +00:00
readme 2014-10-28 15:20:56 +00:00			`##### Compiling`
Update README.md 2014-10-28 15:30:11 +00:00
			`cd term/`
			`mkdir build/`
Update README.md 2015-11-07 23:17:42 +00:00			`cd build/`
Update README.md 2014-10-28 15:30:11 +00:00			`cmake ../`
			`make`
Update README.md 2014-11-24 09:35:41 +00:00
			`####Using Servoterm`
			`##### Testing HAL`
			`HAL can be tested without any hardware connected to the STM32F4discovery.`
			`* Flash STM32F4discovery(STlink and USB OTG must be connected)`
			`* Launch Servoterm, Click refresh, and connecto to STM32 Virtual ComPort`

readme 2015-07-20 23:06:32 +00:00			`entering 'list' prints a list of hal pins.`
Update README.md 2014-11-24 09:35:41 +00:00			`The current default config is for a 4 pole AC permanent magnet motor with resolver feedback, using an encoder for command.`

			`> net0.fb <= res0.pos = 0.000000`

			`net0.fb is driven by res0.pos, and its current value is 0. Pins can be connected to other pins, or fixed values.`

			`This example connects the sine wave generatror to wave view 0.`
			`Offset and gain can be controlled with the sliders below Channel 1(black).`
			```
			`term0.wave0 = sim0.sin`
			`sim0.amp = 10`
			`sim0.freq = 5`
			```
			`To disconnect a pin, connect it to itself`
			```
			`term0.wave0 = term0.wave0`
			```