Winder — BLDC Motor Winding Machine
OAbout this program
Winder is an open-source BLDC motor winding machine — it automates the tedious, error-prone job of hand-winding copper wire onto a brushless-motor stator. Built by Yuichiro Aoki (aotenjo.xyz), it coordinates four closed-loop motors to feed, rotate, wind, and tension the wire under software control.
How it works — four coordinated axes
| Axis | Job | Control |
|---|---|---|
| M0 | Moves the winding-head unit along a linear rail | Closed-loop position |
| M1 | Rotates the stator being wound | Closed-loop position |
| M2 | Winds the wire | Closed-loop position |
| M3 | Holds wire tension | Closed-loop torque (voltage) |
All four run off the Aotenjo Master controller (an STM32G431CBU6 board) over CAN bus, driven from a host PC over USB by the Python control software.
🛠️ How to actually build one
The machine's 3D-printed frame parts, BOM, and build guide are a paid product from the creator — this is intentional; it's how the project is funded. There are two packs (inquire at contact@aotenjo.xyz or via GitHub Discussion #12; community Discord):
| Pack | Price | Includes |
|---|---|---|
| Starter | $300 | STL print files + Bill of Materials + simple build guide |
| Advanced | $600 | Everything in Starter + full FreeCAD source + detailed step-by-step guide |
Digital files only — physical parts/shipping not included. Initial CAD release is limited (~10 people, Advanced pack); requires CAD literacy, a 3D printer, and joining the Discord. Related reading: selling the machine as a kit · CAD files release.
⚠️ What's on this page vs. what's paid
This orobot.io entry is a showcase + starting point, not a complete free build:
- Control electronics are the creator's own boards — the Aotenjo Master controller and Aotenjo One motor units (both MIT firmware). There is no drop-in orobot firmware; it runs from a host PC.
- The attached 3D files are the free/open bits — printable jig parts (BE4108 motor stand, T8 lead-screw nut housing) plus the BE4108 motor + stator the machine winds. The machine's own frame is in the paid packs above.
- The parts list below is the commodity linear-motion hardware (from the open basic-parts repo); the authoritative, complete BOM ships with the Starter pack.
Source: github.com/aotenjo-xyz/winder (control SW, MIT) · master + one (firmware) · basic-parts + BE4108 (open CAD) Docs: aotenjo.xyz/docs/winder · Creator: Yuichiro Aoki / aotenjo.xyz · License: MIT (software); design files are a commercial product
🖨 Print Files (4)
BE4108-motor-stand-3D-printed.stl
T8-lead-screw-nut-housing-bracket.stl
BE4108-stator.stl
BE4108.stl
⚠️ Partial BOM. Commodity linear-motion hardware is listed with standard SKUs; the control boards and motors are the creator's own (not off-the-shelf). No published prices yet.
Motion hardware (commodity SKUs)
| Component | Qty | Notes |
|---|---|---|
| 8 mm linear shaft | 2 | Carriage rail |
| SCS8UU linear bearing block | 2+ | Rides the 8 mm shaft |
| SK8 linear shaft support | 2+ | Shaft end mounts |
| T8 lead screw + brass nut | 1 | Carriage feed (M0) |
| T8 nut housing bracket | 1 | 3D-printed (attached) |
| KP08 bearing bracket | 1 | Lead-screw end support |
| D19×L25 flexible coupling (6×8) | 1 | Motor → lead screw |
| Aluminium plates / fasteners | — | Frame (CAD not fully published) |
| Copper magnet wire | — | Consumable — the wire being wound |
Control & actuation (proprietary — Aotenjo)
| Component | Qty | Notes |
|---|---|---|
| Aotenjo Master controller (STM32G431CBU6) | 1 | USB↔host, CAN↔motors |
| Aotenjo One closed-loop motor unit | 4 | M0–M3 |
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