CLN - CLOSED-LOOP DRIVERS FOR NEMA MOTORS

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.

Key Features

• 🕹️ 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.

Applications

• 🎓 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

Repository Structure

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

Firmware

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

Hardware Versions

NEMA17 dedicated drivers

• CLN17 V3.0 [active]: newest version with best performance and BLDC support [wiki].

  • Key info: Discrete MOSFET based, 6-48V 3.2A_RMS 4.5A_PEAK, up to 60W output power, 21bit 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

  

  

OBSOLETE / NRFND

[CLN17 V1.0](hardware/CLN17/V1.0 [OBSOLETE]) [obsolete]: pilot version [wiki]

[CLN17 V1.5](hardware/CLN17/V1.5 [OBSOLETE]) [tested]: cost-efficient version [wiki]

[CLN17 V2.0](hardware/CLN17/V2.0 [NRFND]) [tested]: high voltage version [wiki]. [CLN17 V2.1](hardware/CLN17/ [NRFND]) is improved version

[CLN17 V2.5](hardware/CLN17/V2.5 [NRFND]) [tested]: meant to be final version but will be skipped

Important Note: Obsolete designs will not be supported in future

NEMA23 and NEMA34 dedicated drivers

• CLN234 V1 [under tests]: powerful and versatile [wiki]

  Key info: external MOSFETs, 8-75V 10A_RMS 20A_PEAK, up to 1000W output power, 21bit position feedback, 56x38x18mm, fits into Ø60mm

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

  

Modular drivers dedicated for embedded systems

Jump to the RadiX project repository

Supporting the Project

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!

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