Intelligence. Precision. Silence.
The Tercio S1 reimagines what a stepper driver should be. We moved the intelligence from your main computer directly to the motor, creating a distributed motion system that is faster, quieter, and infinitely more reliable.
By combining the silence of the TMC2209 with the raw power of a 170MHz STM32 processor and a 12-bit magnetic encoder, the S1 transforms "dumb" stepper motors into smart, closed-loop actuators.
Why the Tercio S1 is the ultimate upgrade:
True Closed-Loop Control: Equipped with a built-in AS5600 magnetic encoder, the S1 knows exactly where it is. If the motor is forced out of position, the S1 corrects it instantly. No more layer shifts. No more lost steps.
Onboard Motion Planner: Stop overloading your main CPU. Send simple Velocity, Position, or Acceleration commands over CAN FD, and let the S1's STM32 handle the trajectory generation and PID loops.
Intelligent Auto-Tuning: PID tuning is usually a headache. The S1 features a built-in auto-tuning routine that automatically optimizes PID parameters, max speed, and acceleration for your specific load.
Unified Ecosystem: Featuring the same 2.5 Mbps CAN FD daisy-chain architecture as our IMU modules. Wiring a 6-axis robot arm or a complex rover requires just one twisted pair cable.
Flexible Integration: While designed for CAN FD, we include standard DIR/STEP/EN inputs, allowing you to use the S1 with legacy hardware or standard breakout boards while still benefiting from closed-loop reliability.
Hardware Specifications:
Compatibility: Mounts directly to NEMA 17 and NEMA 23 motors.
Driver: TMC2209 (Ultra-Silent operation).
Voltage: 12V - 32V DC.
Current: Up to 2A per coil.
Sensors: Internal AS5600 Encoder + Support for External I2C/SPI Encoders + Limit Switch Inputs.
Software & Control:
Like all Tercio products, the S1 is supported by our Python Library and Web UI Dashboard.
Visualize motor performance in real-time.
Run calibration and auto-tuning with one click.
Monitor temperature and stall status.
"The auto-tuning feature alone saved me hours of configuration. It’s the easiest way to get industrial-grade motion control in a compact package."
5. Technical Specs Table (The Data)
Feature | Specification |
Motor Fit | NEMA 17 & NEMA 23 (Direct Mount) |
Control Mode | Full Closed-Loop (FOC / PID) |
Processor | STM32 @ 170MHz |
Communication | CAN FD (2.5 Mbps) & STEP/DIR/EN |
Voltage/Current | 12-32V / 2.0A Peak |
Encoder | Built-in AS5600 (12-bit) |
Expansion | Ports for Ext. Encoder (I2C/SPI) & Endstops |
Safety | Custom Stall Guard & Thermal Protection |