Stepper Controller

A closed loop stepper controller in a NEMA 17 face plate footprint. An AS5047P magnetic encoder sits alone on the underside of the board to read a diametric magnet on the output shaft, letting the controller close an absolute PID position loop on true shaft angle rather than counting steps open loop.

• Absolute PID position control closed on the AS5047P magnetic rotary encoder.
• NEMA 17 face plate outline, mounting directly to the motor.
• Classic CAN command and telemetry for reliable scalability.
• TMC2209 bipolar driver with configurable run and hold currents.
• Stall detection and driver status via the TMC2209 reported over the bus.
• PID gains, acceleration and velocity limits, and step size all tunable at runtime.