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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 ===
{| class="wikitable"
! RJ45 Pin
! RJ45 Color
! Step/Dir
! Mesa SS
|-
| 1
| style="background: repeating-linear-gradient(45deg, #ff8000, #ff8000 10px, #ffffff 10px, #ffffff 20px);" | orange-stripe
| STEP+
| RX+
|-
| 2
| style="background-color: #ff8000" | orange
| STEP-
| RX-
|-
| 3
| style="background: repeating-linear-gradient(45deg, #00ff80, #00ff80 10px, #ffffff 10px, #ffffff 20px);" | green-stripe
| DIR+
|
|-
| 4
| style="background-color: #0080ff" | blue
| FAULT-
| TX-
|-
| 5
| style="background: repeating-linear-gradient(45deg, #0080ff, #0080ff 10px, #ffffff 10px, #ffffff 20px);" | blue-stripe
| FAULT+
| TX+
|-
| 6
| style="background-color: #00ff80" | green
| DIR-
|
|-
| 7
| style="background: repeating-linear-gradient(45deg, #8b4513, #8b4513 10px, #ffffff 10px, #ffffff 20px);" | brown-stripe
| VCC
| VCC
|-
| 8
| style="background-color: #8b4513" | 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:
{| class="wikitable"
! 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:
{| class="wikitable"
! 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 ===
{| class="wikitable"
! RJ45 Pin
! RJ45 Color
! Resolver
! 1Vpp
! UVW
! Quad.
! RS-485
! RS-422
! UART
! USART
! UART HD
! USART HD
! SPI
! SPI HD
|-
| 1
| style="background: repeating-linear-gradient(45deg, #ff8000, #ff8000 10px, #ffffff 10px, #ffffff 20px);" | orange-stripe
| Sin+
| Sin+
| U+
| A+
|
| A
| RX+
| RX+
|
|
| MISO+
| CS+
|-
| 2
| style="background-color: #ff8000" | orange
| Sin-
| Sin-
| U-
| A-
|
| B
| RX-
| RX-
|
|
| MISO-
| CS-
|-
| 3
| style="background: repeating-linear-gradient(45deg, #00ff80, #00ff80 10px, #ffffff 10px, #ffffff 20px);" | green-stripe
| Cos+
| Cos+
| V+
| B+
|
|
|
| CLK+
|
| CLK+
| CLK+
| CLK+
|-
| 4
| style="background-color: #0080ff" | blue
| Ref-
|
| W-
| Z-
| B
| Z
| TX-
| TX-
| TX/RX-
| TX/RX-
| MOSI-
| MOSI-
|-
| 5
| style="background: repeating-linear-gradient(45deg, #0080ff, #0080ff 10px, #ffffff 10px, #ffffff 20px);" | blue-stripe
| Ref+
|
| W+
| Z+
| A
| Y
| TX+
| TX+
| TX/RX+
| TX/RX+
| MOSI+
| MOSI+
|-
| 6
| style="background-color: #00ff80" | green
| Cos-
| Cos-
| V-
| B-
|
|
|
| CLK-
|
| CLK-
| CLK-
| CLK-
|-
| 7
| style="background: repeating-linear-gradient(45deg, #8b4513, #8b4513 10px, #ffffff 10px, #ffffff 20px);" | brown-stripe
| AIN
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
|-
| 8
| style="background-color: #8b4513" | brown
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
|}
== Replacement Parts ==
=== Terminal Blocks ===
{| class="wikitable"
! STMBL Name
! Part Name
! DigiKey Part #
|-
| P2 "PTC", P3 "Logic Power", P15 "Alt. CMD"
| Phoenix Contact 1840366
| [https://www.digikey.com/en/products/detail/phoenix-contact/1840366/349178 277-2417-ND]
|-
| P5 "Outputs", P9 "Inputs"
| Phoenix Contact 1840421
| [https://www.digikey.com/en/products/detail/phoenix-contact/1840421/349182 277-5715-ND]
|-
| P6 "Motor DC Input"
| Phoenix Contact 1911965
| [https://www.digikey.com/en/products/detail/phoenix-contact/1911965/2511300 277-9026-ND]
|-
| P8 "Motor 3-phase Output"
| Phoenix Contact 1911978
| [https://www.digikey.com/en/products/detail/phoenix-contact/1911978/2511306 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
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 ===
{| class="wikitable"
! RJ45 Pin
! RJ45 Color
! Step/Dir
! Mesa SS
|-
| 1
| style="background: repeating-linear-gradient(45deg, #ff8000, #ff8000 10px, #ffffff 10px, #ffffff 20px);" | orange-stripe
| STEP+
| RX+
|-
| 2
| style="background-color: #ff8000" | orange
| STEP-
| RX-
|-
| 3
| style="background: repeating-linear-gradient(45deg, #00ff80, #00ff80 10px, #ffffff 10px, #ffffff 20px);" | green-stripe
| DIR+
|
|-
| 4
| style="background-color: #0080ff" | blue
| FAULT-
| TX-
|-
| 5
| style="background: repeating-linear-gradient(45deg, #0080ff, #0080ff 10px, #ffffff 10px, #ffffff 20px);" | blue-stripe
| FAULT+
| TX+
|-
| 6
| style="background-color: #00ff80" | green
| DIR-
|
|-
| 7
| style="background: repeating-linear-gradient(45deg, #8b4513, #8b4513 10px, #ffffff 10px, #ffffff 20px);" | brown-stripe
| VCC
| VCC
|-
| 8
| style="background-color: #8b4513" | 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:
{| class="wikitable"
! 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:
{| class="wikitable"
! 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 ===
{| class="wikitable"
! RJ45 Pin
! RJ45 Color
! Resolver
! 1Vpp
! UVW
! Quad.
! RS-485
! RS-422
! UART
! USART
! UART HD
! USART HD
! SPI
! SPI HD
|-
| 1
| style="background: repeating-linear-gradient(45deg, #ff8000, #ff8000 10px, #ffffff 10px, #ffffff 20px);" | orange-stripe
| Sin+
| Sin+
| U+
| A+
|
| A
| RX+
| RX+
|
|
| MISO+
| CS+
|-
| 2
| style="background-color: #ff8000" | orange
| Sin-
| Sin-
| U-
| A-
|
| B
| RX-
| RX-
|
|
| MISO-
| CS-
|-
| 3
| style="background: repeating-linear-gradient(45deg, #00ff80, #00ff80 10px, #ffffff 10px, #ffffff 20px);" | green-stripe
| Cos+
| Cos+
| V+
| B+
|
|
|
| CLK+
|
| CLK+
| CLK+
| CLK+
|-
| 4
| style="background-color: #0080ff" | blue
| Ref-
|
| W-
| Z-
| B
| Z
| TX-
| TX-
| TX/RX-
| TX/RX-
| MOSI-
| MOSI-
|-
| 5
| style="background: repeating-linear-gradient(45deg, #0080ff, #0080ff 10px, #ffffff 10px, #ffffff 20px);" | blue-stripe
| Ref+
|
| W+
| Z+
| A
| Y
| TX+
| TX+
| TX/RX+
| TX/RX+
| MOSI+
| MOSI+
|-
| 6
| style="background-color: #00ff80" | green
| Cos-
| Cos-
| V-
| B-
|
|
|
| CLK-
|
| CLK-
| CLK-
| CLK-
|-
| 7
| style="background: repeating-linear-gradient(45deg, #8b4513, #8b4513 10px, #ffffff 10px, #ffffff 20px);" | brown-stripe
| AIN
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
| VCC
|-
| 8
| style="background-color: #8b4513" | brown
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
| GND
|}
== Replacement Parts ==
=== Terminal Blocks ===
{| class="wikitable"
! STMBL Name
! Part Name
! DigiKey Part #
|-
| P2 "PTC", P3 "Logic Power", P15 "Alt. CMD"
| Phoenix Contact 1840366
| [https://www.digikey.com/en/products/detail/phoenix-contact/1840366/349178 277-2417-ND]
|-
| P5 "Outputs", P9 "Inputs"
| Phoenix Contact 1840421
| [https://www.digikey.com/en/products/detail/phoenix-contact/1840421/349182 277-5715-ND]
|-
| P6 "Motor DC Input"
| Phoenix Contact 1911965
| [https://www.digikey.com/en/products/detail/phoenix-contact/1911965/2511300 277-9026-ND]
|-
| P8 "Motor 3-phase Output"
| Phoenix Contact 1911978
| [https://www.digikey.com/en/products/detail/phoenix-contact/1911978/2511306 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