Showroom Compact AC Servo 6DOF Rotary Stewart platform

hello,so the phoenix branch will need a new pcb,right ?

No — last weekend I started making the old PCB compatible with the new workflow. The latest phoenix branch has a desktop app that controls both the Mini and the old PCB. The firmware auto-detects which board you're building for based on the build target:

• idf.py set-target esp32 → PCB v1
  
  
• idf.py set-target esp32s3 → PCB v2
  

Pinouts and drivers are configured automatically — no manual defines needed. No new PCB required.

The goal for the new PCB (v2) is faster step rates, more precise timing, and Ethernet control — but the old PCB is still supported.

Important caveat: this is all purely in testing right now. I have not attempted to run it on the actual rig yet — so far it's only communicating between the ESP32 and the desktop app (serial handshake, geometry config, etc.). I intend to do real hardware testing on the rig later this month. As well ive got my first order of parts for the new pcb to test a single motor out with.

Sorry I didn't find the information, somehow I thought I need a motor with brake. But I don't find that in the description. Are your Motors Equiped with brakes?

No brake is needed or used on my rig, and that seems to be the case for most — if not all — builds using this design.

In practice, it hasn’t been an issue. When power is removed, the swing arms naturally and smoothly settle into the low position. The movement is gradual, not to abrupt or jarring — at least in my experience with my setup.

Hi Chris,
I've got an issue (nothing to do with your info).
Deciding to make my rig a two seater means I'm reaching the limits of what the servo/motors/gearboxes can deliver.
I recently weighed parts and calculated the max weight the motors will support and there's very little margin.

So I'd like to remake the original board to add in some extra circuits for feedback from the servo to disable all servos upon a single servo overload fault.

I can't see in the info in the Git zip, the image of the rear of the board and was wondering if you would be kind enough to either let me have the rear image of the control board, so that I can copy and modify it, or the board files?

I haven't fully worked out how this will work yet, but I can't do anything unless I can modify the existing board.

Happy to send you the revised board schematics, etc if you're interested.

I do plan of changing the gearboxes at a later date, but feel this is a necessary safety measure anyway.

I'm using KiCAD, looks like you used EasyEDA, and I haven't managed to get any of the gerber file to open in anything.

Just thought I'd ask

I have shared the original pcb layout here - this should get you what you need i suspect.
https://oshwlab.com/chrisknauf/motion-sim-6dof

Well done sir, that's brilliant.

I've just been looking at the .ino code, and it looks like I can utilize the Estop connector to kill all the motors simultaneously?

yes, the estop just stops the platform from processing incoming data, effectively pausing the motion, an actual estop is suggested to kill the power to the motors, but that is independent of the pcb/control board, its the last line of defense from an out of control rig,.. i had to use it once during development...

Ah, ok, good point. I have actually just shorted the controller Estop, and fitted a manual direct to the power relay in the supply cabinet, so need to revisit the whole lot really.
Thanks a million for your input, always appreciated.