4 axis stepper motor controller


4 axis stepper motor controller
Clock and direction signals
Speed up to 100,000 steps / s
Positioning range +/- 2,147,483,647 steps
Simple ASCII commands via the serial interface
I2C adapter (master) for controlling external actuators / sensors
40-pin DIP package PCB (600mil / 19mm x 52mm).

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The StepGenerator4 (SG4) is a cost effective, high performance 4 axis stepper motor controller with built-in 500MHz 32Bit processor. It controls up to four stepper motor drivers with step and direction signals.


The SG4 performs all real time critical tasks such as acceleration, deceleration, linear and circular interpolation and accurate step output based on target positions and velocity settings.
Communication between the SG4 and the host (PC, microcontroller, etc.) takes place over an asynchronous, full duplex serial port using simple ASCII commands.


Set max. velocity to 5000 steps/s -> “s1:5000\r”
Set min. velocity to 1000 steps/s -> “s2:1000\r”
Set acceleration rate 500 steps/s/s -> “s3:500\r”
Set deceleration rate 400 steps/s/s -> “s4:400\r”
Linear interpolation -> “s51:x1000 y2000 z3000 u4000\r”
Circular interpolation CW -> “s52:x1000 y0 i500 j0\r”


The downloadable zip-file (Examples) contains a simplified CNC control software including the Delphi source code. The G-Code intepreter currently supports only a few G-Codes such as G0, G1, G2, G3, G20, G21, G90, G91, G90.1, G91.1, G17, G18, G19 and feedt rate.


Furthermore the SG4 contains one I2C-bus controller (I2C-bus master) for communication with external I2C devices such as IO-Expander, AD/DA converter, etc. over the serial port (UART to I2C converter).


Write to IO-Expander (0x40) 2 bytes (0xAA and 0x55): “iw:4002AA55\r”
Read from IO-Expander 2 bytes: “ir:4002\r”


  • RoHS compliant
  • In-field upgradeable firmware
  • 500 MHz, 32Bit processor
  • 3.3V power supply
  • 4 axis stepper motor controller
  • Outputs Step and direction signals to a stepper driver
  • 8 stop switch inputs (2 per axis)
  • User programmable max. velocity, min. velocity, acceleration and deceleration
  • Built-in ramp generator for autonomous positioning and speed control
  • Symmetrical/non-symmetrical trapezoidal acceleration/deceleration driving
  • Inter-Step velocity and position calculations
  • Linear interpolation on all 4 axes XYZU
  • Circular interpolation on 6 planes, XY, XZ, XU, YZ, YU and ZU
  • Large dynamic velocity range from 1 step/s to 100,000 steps/s
  • Acceleration and deceleration range from 1 step/s² to 100,000 steps/s²
  • Up to +/- 2,147,483,647 steps of motion
  • Read target position, actual position, velocity, acceleration, deceleration, driving state, stop switches and other flags in real-time in the motion process
  • Asynchronous, full duplex serial port
  • 16 selectable baud rates from 300bps to 921600 bps
  • Simple ASCII commands over the serial port
  • 4kB serial port FIFO for ASCII commands
  • I2C-bus controller
  • I2C-bus Master transmit and receive
  • I2C 7-bit addressing
  • 3 selectable I2C SCL frequencies: 25 kHz, 50 kHz and 100 kHz
  • 40-pin DIP package PCB (600mil / 19mm x 52mm)

Part number: #050203
Price: 59,- EUR plus VAT & shipping


Step Generator 4 – Datasheet


A Dephi programming example for a CNC application