STMBL v4 Servo Drives

Revision as of 18:43, 10 January 2021 by Fdarling (talk | contribs) (added motor parameters explanation link)

Overview

Open source servo drives made by Rene Hopf. The name STMBL comes from "STM32" and "BrushLess".

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+ TX-
4 blue FAULT- GND
5 blue-stripe FAULT+ GND
6 green DIR- TX+
7 brown-stripe EN+ VCC
8 brown EN- VCC

NOTE: the STMBL drives do not actually use the VCC/GND connections, they just end up driving differential transceivers (with non-differential signals). The STMBL expects to have a common logic ground with 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:

TB Pin RJ45 Color Function Direction
1 blue GND Mesa → STMBL
2 blue-stripe GND Mesa → STMBL
3 green RX+ Mesa ← STMBL
4 green-stripe RX- Mesa ← STMBL
5 orange TX+ Mesa → STMBL
6 orange-stripe TX- Mesa → STMBL
7 brown-stripe +5V Mesa → STMBL
8 brown +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

Alternate replacement connector information:

Name Connector PCB Header
Motor DC Power Input Phoenix Contact 1757019 (12A)
Phoenix Contact 1911965 (16A)
Amphenol Anytek TJ0251530000G (12A)
Würth Elektronik 691351500002 (12A)
Phoenix Contact 1757242 (12A)
Phoenix Contact 1923869 (16A)
Motor DC Power Output Phoenix Contact 1757022 (12A)
Phoenix Contact 1911978 (16A)
Amphenol Anytek TJ0351530000G (12A)
Phoenix Contact 1757255 (12A)
Phoenix Contact 1923872 (16A)
Logic Power
Alt. Cmd.
Thermistor
Phoenix Contact 1840366
Amphenol Anytek TJ0211530000G
Phoenix Contact 1844210
Inputs
Outputs
Phoenix Contact 1840405
Amphenol Anytek E20611300000G
Phoenix Contact 1844252

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

https://github.com/rene-dev/stmbl/wiki/motor-parameters