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This is a project of a servo inverter to drive 3-phase AC motor with/out encoder feedback

It's in alpha development so there are many bugs and things included in software but not really working/tested.

DEMO video:https://www.youtube.com/watch?v=Hu02lt5aCbM

CNC DEMO:https://www.youtube.com/watch?v=LXm4no8DIPE

This is a free software under the GNU license, you can redistribute it and/or modify it under the termsof the GNU General Public License version 3 as published by the Free Software Foundation.This project is shared with public for educational purposes, without WARRANTY and Author is not liable for any damages caused directlyor indirectly by this software/hardware. The board is mains-powered. High voltage can kill you. Have caution when using high voltage devices

• Manual voltage and frequency control
• U/f scalar motor control
• Open loop current control for test purposes
• Field-oriented vector control (FOC) for PMSM/BLDC motors with encoder feedback
• Encoders support:
  • ABZ encoder with differential driver output, needs one manual rotation to index with a rotor properly
  • Mitsubishi J2/J2s/J4/JE series, baud rate 2 500 000 bits/s, implementation is working but need some polish
  • Tamagawa T-Format encoders - tested with ABB BSM-series motor, baud rate 2 500 000 bits/s, most robust implementation and testing at this moment
  • Panasonic minas series encoder - support in early development, not much tested and buggy
  • DELTA NH4 series T+ T- encoder - very early development
• Braking chopper control
• under/overvoltage, overcurrent, short-circuit and other errors detection and handling
• Communication with PC using MODBUS over USB-CDC
• simple CANopen node for fieldbus control
• Parameter set, with non-volatile storage in external EEPROM
• control and monitoring of drive using OLED screen and buttons
• ramp generators and limiters for current,speed and position control loops

• I2t thermal monitoring of motor
• sensorless rotor angle aquisition
• analog and digital I/O
• step/dir input
• current and speed loop gains auto-tuning
• motor parameters automatic measurement

• I2C EEPROM driver by ControllersTech
• OLED driverhttps://github.com/afiskon/stm32-ssd1306
• stModbushttps://github.com/wiciu15/stModbus/
• CANopenNodehttps://github.com/CANopenNode/CANopenNode
• embedded printf implementationhttps://github.com/mpaland/printf
• FreeRTOS

MOdifications of rev.A of CPU board

• data/command line to OLED screen(PA15)
• bridge between tim1break input (PE15) and overcurrent interrupt(PA1)(break interrupt was not working i dont know why just bridged it to EXTI on other pin).
• OLED CLK is moved to PA5, PB3 is used as DEBUG_SWO.
• added filter to GND on FAULT line from power board to enchance noise rejection from EMI(i was getting random short-circuit errors).