> For the complete documentation index, see [llms.txt](https://docs.acrome.net/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.acrome.net/electronics/electrical-motors/stepper-dc-motors.md).

# Stepper DC Motors

**Introduction** ACROME's Stepper DC Motor combines the precise positioning of stepper motors with the continuous rotation capability of DC motors. This hybrid solution offers unique advantages for applications requiring both precision and sustained motion.

<figure><img src="/files/2Trp5DWwEUKSgm09HEIA" alt=""><figcaption></figcaption></figure>

### **Key Features**

* Dual-mode operation (stepper and DC modes)
* Position holding capability when stopped
* Smooth continuous rotation at variable speeds
* Integrated encoder feedback (on select models)
* Programmable current limits for both modes

### **Technical Specifications**

* Voltage Range: 12-36V DC
* Phase Current: Up to 3A (stepper mode)
* Continuous Current: Up to 5A (DC mode)
* Step Resolution: Configurable from full-step to 1/32 microstepping
* Communication Interfaces: UART, I2C, and STEP/DIR inputs
* Built-in Motion Controller: Supports trapezoidal and S-curve profiles

### **Wiring Configuration**

1. Power Connections:
   * Main Power: 12-36V to VCC and GND
   * Logic Power: 5V to VDD (optional for standalone operation)
2. Motor Connections:
   * 4-wire bipolar configuration (A+, A-, B+, B-)
3. Control Interfaces:
   * STEP and DIR pins for pulse control
   * PWM and DIR for DC mode speed control
   * Serial ports for advanced configuration

### **Configuration Software**

ACROME provides Windows/Linux configuration tools for:

* Current limit adjustment
* Microstepping setup
* Acceleration profiles
* PID tuning for DC mode
* Saving configurations to onboard EEPROM

### **Protection Features**

* Overcurrent protection (both modes)
* Thermal shutdown
* Undervoltage lockout
* Short-circuit protection
* Stall detection (with auto-recovery)

### **Applications**

* CNC machines requiring both precise positioning and continuous motion
* Automated test equipment
* Hybrid robotics systems
* Conveyor systems with positioning requirements
* Camera sliders and pan-tilt mechanisms