4 layers59.2 × 66 mm
4 layers100 × 75 mm
Trollerv2
rene-dev/stmbl990AC Servo Driver for STM32F4
- Size
- 100 × 75 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 33
- Nets
- 35
- Pads
- 91
- Tracks, vias
- 162, 342
- Pours
- 18
- Routed
- Yes
- KiCad
- KiCad 5 (file 20170922)
- Created
- 9 Dec 2013
- Updated
- 23 Aug 2023
Overview
Trollerv2 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 4-layer board of 100 × 75 mm with 33 parts on 35 nets, routed with 162 tracks and 342 vias.
It is built around the IRS21867S. Its parts include 10 capacitors, 9 resistors, 6 transistors, 3 ICs and 3 diodes. It belongs with the robots and motor control boards of this library.
Main components
1README
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
33| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | C | Capacitors_SMD:C_1210 | C1, C2, C3, C4, C5, C6, C7, C8 |
| 6 | Q_NMOS_GDS | d2pak_stmbl:TO-263-2 | Q1, Q2, Q3, Q4, Q5, Q6 |
| 6 | R | Resistors_SMD:R_1206 | R1, R2, R4, R5, R7, R8 |
| 3 | D | Diodes_SMD:D_SMA | D1, D2, D3 |
| 3 | IRS2186 | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | U1, U2, U3 |
| 3 | R | Resistors_SMD:R_2010 | R3, R6, R9 |
| 2 | CP | stmbl:C_Radial_D26_L45_P10 | C9, C10 |
| 1 | CONN_01X03 | stmbl:RM5.08_1x3 | J1 |
| 1 | Conn_01x02 | stmbl:RM5.08_1x2 | J2 |
Questions
How big is the Trollerv2 PCB?
It measures 100 × 75 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Trollerv2 use?
33 parts, built around the IRS21867S. 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 Trollerv2 KiCad files?
From the rene-dev/stmbl repository on GitHub, at the commit this page was made from: the board is hw/kicad/trollerV2/trollerv2.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Trollerv2 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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