Open Source CAN Bus Based Servo Stepper for Multi-Axis Gang Control

AnanasStepper 3.0 aims to build a motion control system including hardware and software to make Multi-Axis Gang control easy and precise. It can apply to 3D printer, 6+ axis robot arm or some more complex motion control system, supporting to be controlled through CAN Bus, RS-485 and Step/Dir Interface.

A project by Gray Pillow.


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About AnanasStepper 3.0

Highly Expandable, Dummy Installation| Smart and Close Loop with High Precision | Industrial Reliability | Open Source | Multi HandWares & Cross Platform | Designed for Maker | DIY

On Bus Mode (CAN Bus or RS-485), all the wiring needed is power (12V-24V) and a twisted pair for serial comms to link them all together. On Step/Dir Pulse mode, the interface is compatible with 3D Pinter System, CNC (mech or Linux CNC) and so on.

A CAN bus and RS-485 bus has some benefits in this application. Multiple motors can be connected to one controller via a single bus. At low bit rates, it can work on kilometer-long buses. The wiring is simple and cheap: two wires twisted together with no shielding requirements. It’s also designed to be reliable in high noise environments such as cars and trucks.

You can even use USB to control the System. 

RS485 | CAN Bus

Highly Expandable, Dummy Installation

AnanasStepper 3.0 is a smart device with a STM32 MCU as a controller and allows you to capture the position, current and temperature of itself, using a 15 bits magnetic encoder(TLE5012B) with a resolution of 0.01° and two 12 bits DAC to control the resolution of current to reach up to 256 micro-steps.

Smart and Close Loop with High Precision

With powerful drivers (twoA4950s) embedded, AnanasStepper 3.0 is capable of peak output currents to 3.5 A. NAMA17 or NAMA23 supported with size of 42mmX42mm,

CAN 2.0B (TJA1050) supported, baud rate up to 1Mbps,

RS-485 (MAX485) supported. baud rate up to 2.5Mbps,

USB 2.0 supported, baud rate up to 12Mbps, 

Step/Dir is connected with optoisolators, More Safty, Pulse frequency up to 500 kHz,

Wide operating voltage: 9-24V

Industrial Reliability

A truely open source hardware project. All design files are available under a permissive license

Open Source

‍HardWare: Ramps(3D printer Platform), Raspberry Pi, BBBblacks and so on;

Software: LinuxCNC, Marlin, Repetier Firmware, Smoothie and so on;

System: Mac, Linux, and Windows

Multi HandWares & Cross Platform

Dummy Installation with Simple wiring;

Easily programmable using an open-source Python library or C/C++ API;

Designed for Maker

Community and commercial support available



3D printer | CNC | Robot Arm | Industry Automatic | Service Robots | DIY

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ABOUT AnanasStepper

AnanasStepper is released under licenses that comply with the Open Source Hardware Definition

Hardware design is released under the Attribution-ShareAlike 4.0 International license.

Firmware is released under the MIT License.

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