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README.md

STMBL is an open source servo drive designed for retrofitting CNC machines and robots. It supports industrial AC and DC servo motors with up to 320V and 1kW.

Join the chat at https://gitter.im/rene-dev/stmbl (click to chat with us)

Build Status (click for build log)

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

There is a wiki. https://github.com/rene-dev/stmbl/wiki There will be documentation.

IRC: #stmbl on irc.hackint.eu https://webirc.hackint.org/#stmbl

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 bot

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
  • Yaskawa absolute encoders
  • Sick HIPERFACE®

#####Planned:

  • EnDat
  • BiSS
  • SSI
  • Sanyo Denki wire-saving incremental encoder

####Supported Position/Velocity Commands Inputs:

  • Smartserial
  • Quadrature
  • Step/direction
  • RS485

####TODO

  • AC Async

####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
  • bootloader/ bootloader for the f4
  • term/ Terminal with scope and local history. Supports UHU servo and stmbl.