![Build Status](https://travis-ci.org/rene-dev/stmbl.svg)
[![Join the chat at https://gitter.im/rene-dev/stmbl](https://badges.gitter.im/rene-dev/stmbl.svg)](https://gitter.im/rene-dev/stmbl?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

Build Log: https://travis-ci.org/rene-dev/stmbl

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.
**přečtěte si seznam chyb ve wiki**

**PCBs are now available, let me know if you are interested.**

**IRC: #stmbl on irc.hackint.eu**
https://webirc.hackint.org/#stmbl

stmbl is an open source servo drive designed for Retrofitting CNC machines and Robots. It supports Industrial AC and DC servos with up to 320V and 1kW.

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 3.2
![top](http://rene-dev.github.io/iramx32top.jpg)
![bot](http://rene-dev.github.io/iramx32bot.jpg)

##### Driving a Bosch Turboscara
https://www.youtube.com/watch?v=Ue98HE76paI

https://www.youtube.com/watch?v=d6NH1W7DUnQ
##### Drivetest
https://www.youtube.com/watch?v=sMeV4SCu4TA
##### Drivetest with asymmetrical load
https://www.youtube.com/watch?v=seEV_i7o1NI

####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

####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
* term/ Terminal with scope and local history. Supports UHU servo and stmbl.
