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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 work in progress on documentation: https://github.com/rene-dev/stmbl/blob/master/docs/src/Getting%20Started.adoc

**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 2kW (see [specs](https://github.com/rene-dev/stmbl/wiki/specs) for details).

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 4.1
![top](https://github.com/rene-dev/rene-dev.github.io/raw/master/IMG_3592.JPG)
![bot](https://github.com/rene-dev/rene-dev.github.io/raw/master/IMG_3590.JPG)
![case1](https://github.com/rene-dev/rene-dev.github.io/raw/master/stmblcase1.jpg)
![case2](https://github.com/rene-dev/rene-dev.github.io/raw/master/stmblcase2.jpg)

##### Driving a Bosch Turboscara
https://www.youtube.com/watch?v=d6NH1W7DUnQ  
https://www.youtube.com/watch?v=oTllxnYAgFc

##### Driving a Manutec Robot
https://www.youtube.com/watch?v=gwgnAeGjZrA  
https://www.youtube.com/watch?v=wXLcAZwjlzE

##### Driving a Weeke BP12 VMC
https://www.youtube.com/watch?v=24LftGNp4MI

##### Driving a Haas VF0 (Spindle + Axes)
https://www.youtube.com/watch?v=kqenepupJIs

##### Drivetest
https://www.youtube.com/watch?v=-E1o_5cFyto

#### Supported Motors
* Synchronous AC Servos
* Asynchronous AC Servos
* DC Servos
* 2 Phase HF spindle motors

#### Supported Feedback systems
* Resolvers
* Incremental encoders
* sin/cos encoder interpolation
* Mitsubishi absolute encoders
* Sanyo Denki absolute encoders
* Yaskawa absolute encoders
* Sick HIPERFACE®
* Tamagawa SmartAbs

##### Planned:
* EnDat
* BiSS
* SSI
* Sanyo Denki wire-saving incremental encoder

#### Supported Position/Velocity Commands Inputs:
* Smartserial
* Quadrature
* Step/direction
* RS485

#### TODO
* Sensorless FOC

#### Directories
* [hw/spice/](hw/spice/) Spice simulation for resolver interface
* [hw/kicad/v4.0/](hw/kicad/v4.0/) kicad files for version 4
* [src/](src/) STM32F4 code, command, feedback and control loop
* [stm32f303/](stm32f303/) STM32F3 code, running on the HV side, generating PWM

##### Commercial Applications

Should you find the GPL license insufficient for your needs, other licenses
can be purchased from my company.

Likewise, please contact us should you wish to fund the further development
of this project, or are interesed in custom hardware, software, or commercial support.
