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
• firmware: [to be updated as the project evolves]

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

  

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

• V2.0 [under testing]: high voltage version [wiki]

  • Key info: DRV8844 based, 8-48V 1.75ARMS, 15bit position feedback, single-sided assembly
  • Supported interfaces: STEP-DIR-EN, USB, CAN-FD, USART, I2C, SPI, ABZ
  • Release of source files: February 2024

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

Important Note: Obsolete designs will not be supported in future

• [February 2024] - End of testing for CLN17 V2.0, release of their source files
• [March 2024] - CLN234 design for Nema23, Nema34 and Nema42 and new external board to enhance driver capabilities and integration
• [April 2024] - CLN14 for Nema14 miniature motors

Important Note: If critical problems will be revealed, the schedule will be updated

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.