Tarocco: Open source closed-loop motor controller for non-small machines (including firmware, PCB, etc.)

Desktop CNC machines often use stepper motors, often because they do not require position feedback sensors, thus reducing system cost. But there are situations where a position feedback sensor is needed or necessary, and the power output of a stepper motor, especially at high speeds, becomes a bottleneck for those who want a better performing machine.

I wanted to build a desktop CNC mill that was as impressive as some of the big name industrial machines. I decided to use a brushed motor because motors with good quality and performance at a reasonable price are easy to find and come in a variety of mechanical and electrical configurations. For brushed servo motors connected to ball screws, speeds in excess of 15 m/min or 600 in/min and pushing metal are no problem, and position feedback reduces the risk of disrupting the machine's operation. But it's hard to find commercially available low-cost motor controllers because they often have features that people don't really need, or they're designed to handle large motors. That's why I decided to create what would become the Tarocco Motor Controller.