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: [to be updated as the project evolves]

Hardware Versions

NEMA17 dedicated drivers

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
- Release of source files: Released
V2.0 [tested]: high voltage version [wiki]

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

Release of source files: April 2024 (post BETA)

OBSOLETE

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

Important Note: Obsolete designs will not be supported in future

NEMA23 and NEMA34 dedicated drivers

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

Modular drivers dedicated for embedded systems

Jump to the RadiX project repository

Hardware Development Roadmap

[April 2024] - BETA LAUNCH for CLN17 V2.0, source files release
[April 2024] - CLN234 design for Nema23, Nema34 and Nema42
[June 2024] - CLN14 for Nema14 miniature motors

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

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!

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

creapunk / CLN-ClosedLoopNemaDriver