STMBL v4 Servo Drives

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Overview

Open source servo drives made by Rene Hopf.

Software

The servo drive can be configured and debugged using it's Micro USB connector, which provides a USB CDC (UART/serial) interface. You can using any terminal emulator such as PuTTY, minicom, etc. However, to easily configure the non-volatile settings and plot real-time oscilloscope data, there is dedicated software:

https://github.com/STMBL/QtServoterm

Wiring

There are three RJ45 jacks, one intended for control signals going to the drive, and two for feedback from the servo. In most cases only the first of the two feedback ports will be used, but in some cases there are multiple types of feedback, such as an ABZ encoder along with UVW hall sensors.

Control

RJ45 Pin RJ45 Color Step/Dir Mesa SS
1 orange-stripe STEP+ RX+
2 orange STEP- RX-
3 green-stripe DIR+
4 blue FAULT- TX-
5 blue-stripe FAULT+ TX+
6 green DIR-
7 brown-stripe VCC VCC
8 brown GND GND

NOTE: the above Mesa Smart Serial (Mesa SS) RJ45 wiring is for the STMBL side, the pinout is not directly mapped/compatible with Mesa's convention! This also means that you can only follow the wire color / pin # convention of either the Mesa or the STMBL, not both. The following is the pinout expected by the Mesa card:

Mesa Smart Serial RJ45 Pinout:

RJ45 Pin Function Direction
1 TX- Mesa → STMBL
2 TX+ Mesa → STMBL
3 RX- Mesa ← STMBL
4 GND Mesa → STMBL
5 GND Mesa → STMBL
6 RX+ Mesa ← STMBL
7 +5V Mesa → STMBL
8 +5V Mesa → STMBL

Mesa Smart Serial Terminal Block Pinout:

Pin Function Direction
1 GND Mesa → STMBL
2 GND Mesa → STMBL
3 RX+ Mesa ← STMBL
4 RX- Mesa ← STMBL
5 TX+ Mesa → STMBL
6 TX- Mesa → STMBL
7 +5V Mesa → STMBL
8 +5V Mesa → STMBL

Feedback

RJ45 Pin RJ45 Color Resolver 1Vpp UVW Quad. RS-485 RS-422 UART USART UART HD USART HD SPI SPI HD
1 orange-stripe Sin+ Sin+ U+ A+ A RX+ RX+ MISO+ CS+
2 orange Sin- Sin- U- A- B RX- RX- MISO- CS-
3 green-stripe Cos+ Cos+ V+ B+ CLK+ CLK+ CLK+ CLK+
4 blue Ref- W- Z- B Z TX- TX- TX/RX- TX/RX- MOSI- MOSI-
5 blue-stripe Ref+ W+ Z+ A Y TX+ TX+ TX/RX+ TX/RX+ MOSI+ MOSI+
6 green Cos- Cos- V- B- CLK- CLK- CLK- CLK-
7 brown-stripe AIN VCC VCC VCC VCC VCC VCC VCC VCC VCC VCC VCC
8 brown GND GND GND GND GND GND GND GND GND GND GND GND

Replacement Parts

Terminal Blocks

STMBL Name Part Name DigiKey Part #
P2 "PTC", P3 "Logic Power", P15 "Alt. CMD" Phoenix Contact 1840366 277-2417-ND
P5 "Outputs", P9 "Inputs" Phoenix Contact 1840421 277-5715-ND
P6 "Motor DC Input" Phoenix Contact 1911965 277-9026-ND
P8 "Motor 3-phase Output" Phoenix Contact 1911978 277-11013-ND

Online Resources

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

https://github.com/STMBL/

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

https://github.com/rene-dev/stmbl/blob/master/docs/src/Getting%20Started.adoc