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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.

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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 4.0

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

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