4 layers59.2 × 66 mm
2 layers100 × 100 mm
AC Servo Driver for STM32F4
- Size
- 100 × 100 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 144
- Nets
- 200
- Pads
- 638
- Tracks, vias
- 2,759, 170
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 5 (file 20170123)
- Created
- 9 Dec 2013
- Updated
- 23 Aug 2023
Overview
Bob is an open-source printed circuit board by rene-dev, from the rene-dev/stmbl repository on GitHub, published under the GPL-3.0 licence. It is a 2-layer board of 100 × 100 mm with 144 parts on 200 nets, routed with 2,759 tracks and 170 vias.
It is built around the ADM4857AR, USBLC6-4SC6 and TBD62783APG, with the ULN2803ADWR-HXY and RJ45 among its other parts. Its parts include 68 resistors, 20 ICs, 19 capacitors, 15 connectors and 5 diodes. It belongs with the robots and motor control boards of this library.
Main components
5
ADM4857AR
SOIC-81 1 4.75V~5.25V Transceiver SOIC-8 RS-485 / RS-422 ICs ROHSAnalog DevicesRS-485 / RS-422 ICs
USBLC6-4SC6
SOT-23-6-55℃~+125℃ 0.3pF 15V 300W@8/20us 4.7A@8/20us 5V 6V 80nA ESD Four channels IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 Unidirectional SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSTECH PUBLICESD And Surge Protection (TVS/ESD)
TBD62783APG
DIP-18-40℃~+85℃ 0.1mA 1uA 1uA 2V 30V 8 DIP-18 Darlington Transistor Arrays ROHSToshibaPower Distribution Switches
ULN2803ADWR-HXY
SOP-181.15mA 1.5V 100uA 15pF 500mA 50uA 50uA 8 SOP-18 Darlington Transistor Arrays ROHSHXY MOSFETDarlington Transistor Arrays
RJ45
TH-12PTH-12P SMT ROHSJLCPCB AssemblyUncategorised
README
README.md
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 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 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
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/ Spice simulation for resolver interface
- hw/kicad/v4.0/ kicad files for version 4
- src/ STM32F4 code, command, feedback and control loop
- 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.
Parts
144| Qty | Value | Footprint | References |
|---|---|---|---|
| 32 | 1k | Resistors_SMD:R_0603_HandSoldering | R33, R34, R35, R36, R37, R38, R39, R40, R41, R42, R43, R44, R45, R46, R47, R48 +16 |
| 30 | R | Resistors_SMD:R_0603_HandSoldering | R10, R11, R12, R13, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25, R26 +14 |
| 16 | C | Capacitors_SMD:C_0603_HandSoldering | C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, C11, C12, C13, C14, C15, C16 |
| 8 | ADM4857 | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | U1, U2, U3, U4, U5, U6, U7, U8 |
| 8 | RJ45 | RJ45:RJ45 | J3, J4, J5, J6, J7, J8, J9, J10 |
| 8 | USBLC6-4SC6 | TO_SOT_Packages_SMD:SOT-23-6_Handsoldering | U9, U10, U11, U12, U13, U14, U15, U16 |
| 6 | 0 | Resistors_SMD:R_0603_HandSoldering | R1, R2, R5, R6, R9, R14 |
| 4 | CONN_01X09 | Connectors_Phoenix:PhoenixContact_MCV-G_09x3.50mm_Vertical | J11, J12, J14, J15 |
| 4 | LED | LEDs:LED_0805 | D2, D3, D4, D5 |
| 4 | L_Small | Resistors_SMD:R_0603_HandSoldering | L1, L2, L3, L4 |
| 4 | MOUNT_3mm | Mounting_Holes:MountingHole_3.2mm_M3_Pad | M1, M2, M3, M4 |
| 4 | R_Pack04 | Resistors_SMD:R_Array_Convex_4x1206 | RN1, RN2, RN3, RN4 |
| 3 | C | Capacitors_SMD:C_0805_HandSoldering | C17, C18, C19 |
| 3 | Fuse | Fuse_Holders_and_Fuses:Fuse_SMD1206_HandSoldering | F1, F2, F3 |
| 2 | CONN_02X20 | Pin_Headers:Pin_Header_Straight_2x20_Pitch2.54mm | J1, J2 |
| 2 | Jumper_NC_Dual | Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm | JP1, JP2 |
| 2 | TBD62783A | Housings_SOIC:SOIC-18W_7.5x11.6mm_Pitch1.27mm | U17, U18 |
| 2 | ULN2803ADWR | Housings_SOIC:SOIC-18W_7.5x11.6mm_Pitch1.27mm | U19, U20 |
| 1 | CONN_01X02 | Connectors_Phoenix:PhoenixContact_MC-G_02x5.08mm_Angled | J13 |
| 1 | D | Diodes_SMD:D_SMB_Handsoldering | D1 |
Questions
How big is the Bob PCB?
It measures 100 × 100 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Bob use?
144 parts, built around the ADM4857AR, USBLC6-4SC6, TBD62783APG and ULN2803ADWR-HXY. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Bob KiCad files?
From the rene-dev/stmbl repository on GitHub, at the commit this page was made from: the board is hw/kicad/de0bob/Bob.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Bob design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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