CANBUS Stepper

Compact Daisy Chainable Closed Loop Stepper motor driver and controller.

Click here to visit the Web GUI

The CANBUS Stepper integrates all essential components required to drive a NEMA 17 stepper motor into a single compact board, with control handled over CAN bus. Its CAN-based interface, combined with high-current connectors, enables straightforward daisy chaining of multiple boards.

Built around the ESP32-S3 microcontroller, the design incorporates a TMC2209 stepper driver for quiet and precise motion, along with a 14-bit rotary position sensor to enable closed-loop feedback. It is optimised for scalable, multi-axis systems requiring compact integration, low-noise operation, and precise closed-loop control.

A web GUI allows easy configuration and debugging of a whole system over a single USB connection to any node.

• Daisy Chainable
• ESP32-S3 Processor
• High current power pass through connectors
• TMC2209 Silent Stepper Driver
• 14 Bit Magnetic Absolute Rotary Encoder
• Sensorless Homing
• Qwiic / Stemma QT Compatible
• Configurable AUX Connector.
• Web Based GUI For Configuration
• Open-Source software with example code
• WiFi and BLE
• Works with ESPHome
• Klipper integration in the works

What's Included:

• CANBUS Stepper PCB
• Polycarbonate cover
• Aluminium heat spreader/spacer
• Mounting hardware (4x M3*40mm)
• 2x Motor wires (for different motor pinouts)
• Encoder magnet
• Large Heatsink
• Small Heatsink

Optional Wiring:

• CAN Interconnect (non-shielded) - 200mm or 300mm
• Power Interconnect (16AWG silicone wire) - 200mm or 300mm

Note: Motor not included (34mm Nema 17)

For more info please visit the GitHub repository and the Getting Started Guide.