Welcome to the official repository for JavaMotion v7.00 and the MUFACE v6 Framework.

JavaMotion is a high-precision framework for discrete time-and-frequency $f-t$ trajectory calculations, numerical trajectory solving, and NCO hardware mapping for stepper motor drives. MUFACE (Motor User interFACE), which enables PLC functions with a stepper controller, was originally developed in September 1994. Starting in 2026, the MUFACE v6 hardware will be adapted for use on multiple hardware platforms.

📄 Documentation & Whitepaper

The full technical paper detailing the evolution from analog frequency modulation (SMIK / Pierre Boillat, ETHZ 1987) to discrete-time $f-t$ calculations in JavaMotion is available directly in this repository:

• MUFACE v6 Whitepaper (PDF)

🚀 Download JavaMotion v7.00

Pre-compiled files and release packages for JavaMotion v7.00 will be available in the Releases Section.

Note: Source code repository structure is currently being updated for the public release.

🏢 Contact & Maintainers

• Reinton Audio Lab – reinton.ch
• Authors: Martin Habenicht, René Merz

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(Editorial preparation and mathematical documentation synthesis supported also by digital assistance.)