The CLN motor driver series is an open-source project aimed at creating a range of compact, cost-efficient high-performance closed-loop stepper drivers for various NEMA form factor motors. These drivers are designed to provide silent and smooth motion, high-precision position control, and energy-saving capabilities, suitable for a wide array of applications in robotics, CNC machines, 3D printers, and more.

• 🕹️ Closed-Loop Control: Integrates an encoder for real-time position monitoring, ensuring precise and safe motion.
• 📏 Fine Positioning: Achieves high position control accuracy of 0.01° for smooth operation.
• 🛡️ Reliable Operation and Enhanced Safety: Features integrated diagnostic and protection mechanisms for the motor and the user safety.
• 🧩 Modular Concept: Offers various configurations for different cost, size and performance needs, supporting expansion boards and daisy chain connections.

• 🎓 Learning Platforms
• 🛠️ CNC Machines & 3D printers
• 🤖 Robotics & Automation Systems
• 🤝 Collaborative Robots
• 🔭 Camera & Telescope Stabilization Systems
• 🔬 Laboratory Equipment
• 🏭 Industrial Motion Control Systems
• 📳 Haptics & Force Feedback Systems

• wiki: includes design documentation and other information
• hardware: contains design source files, manufacturing files, schematics, block diagrams and 3D models

The following options are available:

• CLN-SimpleFOC: SimpleFOC based firmware for CLN. Pretty stable, ready to use
• TunePulse: Firmware for CLN and RadiX motor drivers. Currently a work in progress; estimated release date is to be determined

• V3.0 [under testing]: newest version with best performance and BLDC support

  • Key info: Discrete MOSFET based, 6-48V 3.2A_RMS 4.5A_PEAK, up to 60W output power, 15bit position feedback, dual-sided SMD only assembly
  • Supported interfaces: STEP-DIR-EN, USB, CAN-FD, USART, I2C, SPI, ABZ
  • Supported motors: Stepper, 3phase BLDC/PMSM

  

• V2.5 [tested]: meant to be final version but will be skipped

• V2.0 [tested]: high voltage version [wiki]. V2.1 is improved version

• Key info: DRV8844 based, 8-48V 1.75A_RMS, 15bit position feedback, single-sided assembly
• Supported interfaces: STEP-DIR-EN, USB, CAN-FD, USART, I2C, SPI, ABZ

• V1.5 [tested]: cost-efficient version [wiki]

• Key info: TMC2209 based, 5-25V 1.4A_RMS, 15bit position feedback, single-sided assembly
• Supported interfaces: STEP-DIR-EN, USB, CAN-FD, USART, I2C, SPI, ABZ

CLN17 V1.0 [obsolete]: pilot version [wiki]

Important Note: Obsolete designs will not be supported in future

• V0.1 [in design]: powerful and versatile [wiki]

  Key info: external MOSFETs, 6-52V 10A_RMS, 16bit/21bit position feedback

  Supported interfaces: STEP-DIR-EN, USB, CAN-FD, USART, I2C, SPI, ABZ

Jump to the RadiX project repository

If this project resonates with you, please consider the following ways to support its development:

• Ko-fi: Preferred for membership subscription and one-time donation
• Patreon: Alternative platform with higher fees
• Join Discord community: Stay updated, engage in discussions, and contribute to the project

Your contribution, regardless of size, is greatly appreciated!

A heartfelt thank you to everyone who supports this project!

Important Note: This README will be updated to reflect the latest progress and changes in the project.