diff --git a/docs/src/Getting Started.html b/docs/src/Getting Started.html deleted file mode 100644 index c362c27a..00000000 --- a/docs/src/Getting Started.html +++ /dev/null @@ -1,1388 +0,0 @@ - - - - - - - -STMBL Getting Started Guide - - - - - -
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Description

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STMBL is a motor drive controlled by the STM32 microprocessor. It can -power motors of up to 2.2kW and up to around 350V DC bus voltage.

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The name "STMBL" is based on the combination of the STM32 microprocessor -and BrushLess motor. However the drive is also capable of powering AC -induction motors. The hardware is also capable of driving 3-phase -stepper motors.

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The drive is configurable for a wide range of command and feedback types -through a HAL layer analagous to that used by -LinuxCNC.

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Supported command interfaces are:

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    Mesa Smart-Serial

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    Step-Dir

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    Quadrature

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    Serial

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+/-10V control is not supported, though the hardware capability exists.

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Supported feedback interfaces are:

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    Encoder

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    Resolver

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    sin/cos 1vpp

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    Mitsubishi absolute encoder

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    Yaskawa absolute encoder

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    Sick Hyperface

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    Sanyo Denki absolute encoder

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Encoder power is 5V by default but 12V can be selected by jumper pads on -the PCB.

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In addition to motor control and feedback each STMBL drive has two -+/-30V analogue inputs and three 24V / 2A digital outputs.

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Anatomy of the STMBL

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The STMBL consists of two separate PCBs (though they are made as one, -assembled and then split to be connected in the manner shown below. -The vertical (top) board is the Low Voltage (LV) board and this handles -the command, feedback and configuration tasks. The STM32F4 -microprocessor is in charge of these tasks. -The lower board is the -high-voltage (HV) board and this is where the power driver is situated. -The only connection between the two boards is a serial connection -through a 5kV isolation IC. To make this possible there is a second -STM32 chip on the lower board. This is an STM32F3 and is referred to as -the "F3" in the remainder of this document. The processor on the upper -board is referred to as "F4".

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The connectors on the HV board are 5.08mm pitch. Those on the LV board -are 3.5mm pitch. Mating part numbers are:

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If preferred 2 x 3 position or 3 x 2 position plugs can be inserted in -the 6-position sockets.

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Logic power to the LV board should be 24V. A green LED will light -adjacent to the socket when power is supplied.

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Warning
-		 -The LV board is safe up to about 30V but take care that 0V is -common with the PC GND before connecting a USB cable. -
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Motor power should be 30 to 350V, though the logic parts of the HV -board may work at 24V for firmware flashing etc. Again a green LED -adjacent to the connector confirms that the board is powered-up.

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Warning
-		 -The HV and LV boards are isolated in normal use but it is easy -to accidentally connect them. One way to do this is via USB cables which -can easily tie GND lines together through the setup PC. It is imperative -that the HV board should be powered from an isolated (and preferably -low voltage) supply when flashing firmware. -
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-ISO2 -
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The command and feedback connectors use standard 8P8C (RJ45) connectors -and standard CAT5 or CAT6 cables can be conveniently used. To connect -to cables with larger conductors than supported by CAT5 it is possible -to use, for example, -Industrial CAT6a -connectors which can accept core wires up to 1.6mm and overall cable -diameters up to 9.0mm.

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Feedback 0 will typically be the encoder or resolver mounted on the -motor and feedback 1 can be used to connect either Hall sensors for -initial commutation or (potentially) scales mounted directly to the -axes. See the Pinouts section of this document for pin assigments -and typical wiring colour codes.

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The 6-way socket below the 24V logic power connector contains the three -digital outputs. These are current-sinking (switch-to-GND) and each is -adjacent to a 24V suppply pin. DIO0 (nearest the top) is the one that is -typically used to operate the holding brake on motors so-equipped.

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On the top of the drive are two analogue inputs, with 0V and 24V on -either side to that a potentiometer can be connected. These are -typically used as variable-threshold digital inputs and are used, for -example, for axis limit switches. However it is relatively simple to -configure them for other uses in the HAL layer.

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Three LEDS on top of the unit indicate drive status. Red displays error -codes (using blink codes). Amber indicates that all is well but the -drive is not enabled, and green shows that the drive is active and -operating normally.

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If no LEDs on the top of the board are illuminated, and the green power -LEDs near the power connectors are illuminated then it is probably -necessary to flash the firmware. If there are -LEDs lit on top of the drive then it is probably safe to assume that -firmware is loaded.

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HAL (Hardware Abstraction Layer)

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STMBL uses a Hardware abstraction layer to configure the drive for -different types of motor, feedback and operation mode. -This is conceptually similar to the HAL in LinuxCNC but the format and -cmmands are different. Also, all pins are floating point so no data -conversion is needed.

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An Application called Servoterm is used to interact with the HAL -interface and configure the drive. You will need to install and launch -this before it is possible to configure the STMBL.

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STMBL HAL configuration does not use any commands other than the = sign -and the servoterm commands

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Assuming that there is already a motor connected to the drive and that -the drive it powered up the Servoterm display should already be -indicating the motor position feedback. Rotating the motor shaft by hand -might produce something like:

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-servoterm3 -
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Though it equally well might not if the configuration is set up for a -resolver and the motor has an encoder.

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It should be possible to make the motor turn at this point without any -further configuration. The commands that follow will set the hv0 module -up to simply rotate the motor open-loop in direct-mode. (like a stepper -motor) with an excitation current of 0.5A. This should be safe for most -motors that the STMBL is a good match for, but you should choose your -own value. For an explanation of direct and quadrature current see the -section on [Motor Control Basics]

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hv0.pos = sim0.vel -hv0.d_cmd = 0.5 -hv0.en = 1

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The rotation speed can be altered by changing the sim0 frequency:

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sim0.freq = 5

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STMBL v4 HAL contains a number of components that have built-in linking -behaviour.

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HAL modules

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The Servoterm command show will list all the HAL modules that can be -loaded (whereas list will show all those that currently are loaded)

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The modules available are as follows (the link will take you to the -reference section for each component)

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acim_ttc - The module used for AC induction -motors (cf pmsm) ttc is Torque to Current+ -adc - Analogue to digital converter for Resolver -feedback. Outputs the sine and cosine amplitudes.
-conf - A module used to supply config data to -other modules.
-curpid - No idea
-dc - No idea
-dc_limits - no idea
-dc_ttc - no idea
-dq - not much idea
-enc_cmd - Used to supply position commands -through quadrature signals
-enc_fb Encoder counter, converts AB quadrature -and index on FB0 connector to motor position
-encm
-fanuc Converts Fanuc 4-channel commutation -signals
-fault Handles the checking and distribution of -fault information and reactons between the modules
-fb_switch This module arbitrates between -commutation inputs for motors where UVW (Hall) sensors are suppplied in -addition to an encoder.
-hal_test Something to do with testing, I -assume
-hv This module controls the HV board, provides the -current and voltage commands to the H-bridge.
-idq - Something to do with commutation
-idx_home - Handles homing to the index pulse
-iit - No idea
-io - Controls the IO, both input and output.
-Including the feedback and command connector LEDs. Also mirrors ABZ and -UVW states.
-linrev - Converts linear position into motor -single-turn command positions and vice-versa.
-move - Surely does something
-o_fb - A feedback, but from where?
-pe - No idea. -pid - The position PID controller.
-pmsm - Permananet Magnet Servo Motor control -module. Required for nearly all servo motors.
-pmsm_limits - Controls the limits for -pmsm, used to clamp the PID
-pmsm_ttc - PMSM torque to current -calculation
-psi - Motor Constant calculations. Nm/A
-ramp - Ramp?
-res - Resolver module for motors that use them. -Calculates rotor position from the sine-cosine of ADC and generates the -excitation.
-reslimit - Limitation for the Resolver -module
-rev - Very important
-scale - A scaling utility function.
-sim - Provides a set of waveforms useful for motor -characterisation and testing.
-spid - Simple PID. Usable but not used
-sserial - Handles communication through the -Mesa Electronics Smart Serial interface. Takes digital (floating point -position and velocity commands and returns digital position and current -feedback data. Also handles STMBL GPIO to LinuxCNC HAL.
-stp - Simple Trajectory Plannner
-svm - Space Vector Modulation
-term - Graphing terminal in Servoterm.
-uf - Good question
-uvw - Hall sensor (trapzeoidal) commutation -module.
-vel - Velocit Observer
-vel_int - Also not sure
-ypid - YoloPID module. Usable but not used.

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Servoterm

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Servoterm (servo terminal) provides an interface which allows editing -of the drive HAL configuration. It also provides a rolling graphical -representation of any chosen parameter in the HAL which can be a great -aid to tuning and motor setup.

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Servoterm is supplied as a Google Chrome Add-in. This might seem -somewhat odd, but does provide for good cross-platform availability.

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Servoterm can be downloaded from -this link. -Use the green button to download as a ZIP file and then extract on your -PC (Linux / Mac / PC). Open Google Chrome and click the three-dots icon -→ more-tools → extensions.

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Click -"developer mode" and then "Load Unpacked Extension". Then navigate to -the downloaded files and select the "Servoterm" folder. -You should then be presented with the following, including an option to -launch the application.

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To connect to the STMBL you will need a mini-USB B cable.

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WARNING:Be sure that the 24V PSU is floating or shares a ground -reference with the PC.(Maybe even check the voltage between the -connector and socket before inserting the plug)

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You can then click the "connect" button and you should get something -like the image below. what if I can -not connect

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-servoterm1 -
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Taking the buttons from left to right:

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    Connect / Disconnect - Should be fairly self-evident

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    Clear - simply clears the screen

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    Reset - Resets the connection. Does not reset the STMBL. To do that -type the reset command

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    Capture - Allows the output of the graphs to be saved and exported to -file

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    Jog - when ticked the left-right arrow keys on the keyboard can be -used to jog the motor.

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    Trigger - stops the graph plot until the trigger condition is met.

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    Trigger Status Indicator - not a button

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    Edit Config - Brings up a sub-window in which the basic system config -can be edited.

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Other than the buttons described above the ramainder of servoterm (and -the STMBL HAL) is controlled by a command-line interface.

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Servoterm uses the up and down arrow keys to scroll through previous -commands, but there is no tab-completion.

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This is mainly described in the HAL -section of this document. -The graphing display is controlled by the "term0" interface. Typing -term0 at the prompt will show output similar to:

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The first two entries are internal information about the HAL component -and can be ignored for now. -The next 8 lines say what internal signal each of the wave plots is -connected to. In this case wave0 (the black one) is connected to a sim -signal, in this case the sine wave. (as you might have guessed, typing -"sim0" will show you the parameters of the simulated signals.)

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To connect wave1 (red) to the sawtooth output (which simulates both -encoder feedback and a position command for steady rotation) then simply -type -term0.wave1 = sim0.vel -Each wave has an associated offset and gain parameter that can be used -to adjust vertical scale and position. The term0.send_step parameter -functions like the time-base of an oscilloscope.

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Servoterm Commands

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The servoterm command list can be obtained at the command line by using -the help command.

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    bootloader: enter bootloader

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    reset: reset STMBL

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    confcrc: Shows the CRC checksum of the loaded config.

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    flashloadconf: load config from flash

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    flashsaveconf: save config to flash

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    loadconf: parse config

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    showconf: show config - pressing the Edit config button is better.

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    appendconf: append string to config - also redundant with the config -editor

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    hal: print HAL stats

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    load: load comp from flash

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    show: show comps in flash

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    list: show comp instances

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    start: start rt system

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    stop: stop rt system

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    fault: trigger fault

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    about: show system infos

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    help: print this

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    link: load config template

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    show_config: show config templates

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Servoterm Connection Problems

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Flashing Firmware

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Pinouts

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Command connector wiring:

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PinColourSmart SerialStep/DirQuadrature

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Orange Stripe

RX+

Step+

A+

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Orange

RX-

Step-

A-

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Green Stripe

Dir-

B-

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Blue

TX+

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Blue Stripe

TX-

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Green

Dir+

B+

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Brown Stripe

VCC

VCC

VCC

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Brown

GND

GND

GND

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Feedback connector wiring - encoders etc

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PinColourResolverEncoder1VppMitsubishiSanyo-DenkiYaskawaOmron

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Orange Stripe

Sin+

A+

Sin+

A+

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Orange

Sin-

A-

Sin-

A-

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Green Stripe

Cos-

B-

Cos-

B-

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Blue

Ref-

Z-

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Blue

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Blue Stripe

Ref+

Z+

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Brown

5

6

Green

Cos+

B+

Cos+

B+

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Brown Stripe

VCC

VCC

VCC

VCC

Red

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Brown

GND

GND

GND

GND

GND

Black

2

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Connector wiring - serial protocols

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PinColourRS485RS422UARTUSARTUART HDUSART HDSPISPI HD

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Orange Stripe

A

RX+

RX+

MISO+

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Orange

B

RX-

RX-

MISO-

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Green Stripe

CLK+

CLK+

CLK+

CLK+

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Blue

B

Z

TX-

TX-

TX/RX-

TX/RX-

MOSI-

MOSI-

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Blue Stripe

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Y

TX+

TX+

TX/RX+

TX/RX+

MOSI+

MOSI+

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Green

CLK-

CLK-

CLK-

CLK-

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Brown Stripe

VCC

VCC

VCC

VCC

VCC

VCC

VCC

VCC

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Brown

GND

GND

GND

GND

GND

GND

GND

GND

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Blink Codes

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Count the number of blinks of the red LED. Each number indicates a -different class of faults.

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    Command error - This will be quite common during setup

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    Feedback error

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    Commutation feedback error

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    Joint feedback error

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    Position error

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    Saturation error

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    HV CRC error

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    HV timeout error

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    Overtemperature error

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    High/Low voltage error (Or no communication with F3 board)

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    HV fault

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    Motor overtemperature

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