Motion Control Unit by VA-Mechatronics

CAN-MCU

A custom engineered STM32-based PCB for modern distributed CAN control, NEMA 17 mounting, and absolute magnetic position feedback.

MCU PCB
KARL-Drive MCU Overview
MCU on Robot Joint
MCU on KARL-Robot Joint for absolute position sensing
MCU Top View
MCU Top View
MCU Bottom View
MCU Bottom View

Project Links

🤖 See MCU in action on KARL-Robot 🐙 GitHub Repository
  • STM32G431CBU6 High-Performance Core:
    Powered by an ARM Cortex-M4 MCU. Programmed via PlatformIO in VS Code using STM32 HAL libraries.
  • SPI Magnetic Absolute Encoder:
    Integrated magnet encoder on PCB backside for true position feedback and real-time PID control.
  • Standard Stepper Driver Socket:
    Compatible with popular StepStick drivers (TMC5160, TMC2209, A4911) for easy replacement and hardware flexibility.
  • Daisy-Chained Terminals & Hardware Safety:
    Differential FD-CAN bus with screw terminals. 24V Hardware NC-Loop (E-Stop) gated via AND-logic directly to the driver step line.
  • Onboard Power & Industrial I/O:
    Integrated 24V DC input support with 5V & 3.3V LDOs, 1x 24V optocoupled digital input, and accessible 3.3V GPIOs.
  • NEMA 17 Form Factor & USB-C DFU:
    Mounts directly to the back of NEMA 17 motors. Native USB-C DFU bootloader for simple firmware flashing.
  • Field-Tested Performance:
    Proven in active service powering the 6-axis KARL-Robot.
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