PD Stepper

Open-source files available on GitHub

PD Stepper - USB PD Closed Loop Stepper Driver & Controller

PD Stepper is a USB PD Powered Nema 17 stepper driver using the Silent Trinamic Driver TMC2209 controlled with a ESP32-S3 for IoT and other applications.

Stepper motors are fantastic for projects, but assembling the necessary components like a microcontroller, stepper driver, power supplies and optionally an encoder can be a hassle. This often leads to bulkiness, higher costs, added complexity, and difficulty fitting everything into compact or space-constrained designs. The PD Stepper addresses these issues by consolidating everything onto a single board, eliminating the drawbacks with little to no compromises.

What's Included:
Full Kit:

• PD Stepper PCB
• Polycarbonate cover (Injection Molded)
• Aluminium heat spreader/spacer (Black Anodized)
• Mounting hardware (4x M3*40mm)
• 2x Motor wires (one for each possible motor pinout)
• Encoder magnet
• Large Heatsink
• Small Heatsink

Partial Kit:

• PD Stepper PCB
• Mounting hardware (4x M3*40mm)
• 2x Motor wires (one for each possible motor pinout)
• Encoder magnet
• Small Heatsink

Note: Nema17 Stepper motor NOT INCLUDED in any kits

Main Features:

• TMC2209 Stepper Motor Driver: Incorporates the TMC2209 stepper motor driver, renowned for its silent operation, high precision, and advanced features such as stealthChop™, spreadCycle™ and sensorless homing, ensuring smooth, silent and efficient motor control.
• USB PD Power: Utilizes the USB PD standard for power delivery, giving high power, a USB-C connector and no bulky 12 and 24V power bricks needed. USB PD along with the TMC2209 can drive a stepper motor with up to ~50W of power.
• Form Factor: Super compact forma factor, designed to fit on the back of a common Nema 17 stepper motor
• Onboard Rotary Position Sensor: Integrates the AS5600 magnetic rotary position sensor for accurate and reliable absolute angle measurement, enabling precise positioning and closed loop control of the stepper motor.
• ESP32-S3 Control: The ESP32-S3 microcontroller serves as the brains of the system, providing ample processing power, built-in Wi-Fi and Bluetooth connectivity. As well as a rich ecosystem of development tools and libraries for easy customization and expansion such as ESPHome and ESPNow.
• Auxiliary connectors and buttons for flexibility and expansion
• Onboard 3.3V buck converter
• Input for motor temperature measurement

More Info:

The project is open-source check out the project GitHub for more information.

Power

InputUSB-C PD

Voltage5–20V negotiated

Peak current2A

MotorNEMA 17

Electronics

DriverTrinamic TMC2209

MCUESP32-S3

ConnectivityWi-Fi, BLE, USB, Qwiic, GPIO

EncoderAS5600

Physical

Dimensions42 × 42 × 14 mm

MountNEMA 17 back-mount

CaseClear polycarbonate (Full Kit)

ConnectorsUSB-C + JST SH + JST PH