Difference between revisions of "STMBL v4 Servo Drives"

Revision as of 15:10, 9 December 2020

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