By stacking some small PCBs behind the motor body, it was possible to squeeze a DRV8837 DC motor driver and a pair of hall effect sensors on the first PCB layer, with the magnetic encoder nestled ...

In full-step mode the maximum torque is achieved when there is a 90degree difference in the electrical angle between stator and rotor (so for a 400 step motor that would be 1.8 mechanical degrees).

For standard 1.8-deg. step motors you will want an encoder with no less than 2,000 counts per mechanical rotation, and for 7.2-deg. step motors 500 is a bare minimum.

– Make your stepper motor applications extremely compact ! – Make sure that you never miss a step again, thanks to the on-board encoder and control algorithm !