30 min

Enhance automation with TB67S209 and PIC18F4620 and revolutionizes motion control

Stepper driver for limitless possibilities

Multi Stepper Click - TB67S209 with EasyPIC v7

Published May 31, 2023

Click board™

Multi Stepper Click - TB67S209

Development board

EasyPIC v7


NECTO Studio



Experience seamless motor control, precision, and unmatched reliability with the TB67S209 stepper driver, empowering your embedded solution to reach new heights



Hardware Overview

How does it work?

Multi Stepper Click is based on the TB67S209FTG, a two-phase bipolar stepping motor driver using a PWM chopper from Toshiba Semiconductor. The TB67S209FTG has a built-in clock-in decoder (CLOCK-in controlled), which means that each up-edge of the CLK signal is routed to the PWM pin of the mikroBUS™ socket, will shift the motor’s electrical angle per step. It also incorporates a low on-resistance MOSFET output stage, which can deliver a 2.8A current with a motor output voltage rating of 47V, and integrated protection mechanisms such as over-current, over-temperature, and under-voltage detection. In addition, it allows from full-step up to 1/32 steps resolution, with the help of which motor noise can be significantly reduced with smoother operation and more precise control. The TB67S209FTG supports a selectable Mixed Decay mode. Though the Mixed Decay is determined by controlling two different types of decay (Fast Decay and Slow Decay), this function enables the user to select the ratio of the Mixed Decay through the PCA9555A pins P4/P5. To allow both pins to be configurated by the expander, the SMD jumper labeled JP4 must be positioned to an appropriate position marked as P4. Also, the motor current output value can be manually set using an onboard trimmer labeled VR1, which sets the reference voltage from 0V to 3.3V.

As mentioned, the TB67S209FTG supports various step resolution configurations through its control signals. These control signals are provided through the PCA9555A port expander, which establishes communication with the MCU via the I2C serial interface. This Click board™ also allows a connection of external step-resolution control signals on the onboard header J1 on pins labeled as P1 and P2 for the device’s DMODE1 and DMODE2 control. The PCA9555A also allows choosing the least significant bit (LSB) of its I2C slave address by positioning SMD jumpers labeled ADDR SEL to an appropriate position marked as 0 and 1. Also, this Click board™ has a Standby function, activated when all three step-resolution control signals are in their low logic state, used to switch to Standby mode by setting all motor control pins to a low logic state. When the Standby mode is active, the TB67S209FTG stops supplying the power to the internal oscillating circuit and motor output part (the motor drive cannot be performed). In addition to the I2C communication, several GPIO pins connected to the mikroBUS™ socket are also used. The Enable pin, labeled as EN and routed to the CS pin of the mikroBUS™ socket, optimizes power consumption used for power ON/OFF purposes. Also, a simple rotation direction function routed to the AN pin on the

mikroBUS™ socket allows MCU to manage the direction of the stepper motor (clockwise or counterclockwise), while the RST pin of the mikroBUS™ socket initializes an electrical angle in the internal counter to set an initial position. Regarding angle monitoring, this Click board™ has a dual way of monitoring selected by positioning the SMD jumper labeled as JP5 to an appropriate position marked as P6 or INT, which chooses to monitor via the expander or INT pin of the mikroBUS™ socket. In that case, this anomaly is indicated by a red LED marked as DIAG and via P7 pin over the I2C INT to the mikroBUS™ INT pin proceeding JP5 is set to P6. Multi Stepper Click supports an external power supply for the TB67S209FTG, which can be connected to the input terminal labeled as VM and should be within the range of 10V to 47V, while the stepper motor coils can be connected to the terminals labeled as B+, B-, A-, and A+. This Click board™ can operate with either 3.3V or 5V logic voltage levels selected via the VCC SEL jumper. This way, both 3.3V and 5V capable MCUs can use the communication lines properly. However, the Click board™ comes equipped with a library containing easy-to-use functions and an example code that can be used, as a reference, for further development.


Features overview

Development board

EasyPIC v7 is the seventh generation of PIC development boards specially designed to develop embedded applications rapidly. It supports a wide range of 8-bit PIC microcontrollers from Microchip and has a broad set of unique functions, such as a powerful onboard mikroProg programmer and In-Circuit debugger over USB-B. The development board is well organized and designed so that the end-user has all the necessary elements in one place, such as switches, buttons, indicators, connectors, and others. With four different connectors for each port, EasyPIC v7 allows you to connect accessory boards, sensors, and custom electronics more efficiently than ever. Each part of

the EasyPIC v7 development board contains the components necessary for the most efficient operation of the same board. An integrated mikroProg, a fast USB 2.0 programmer with mikroICD hardware In-Circuit Debugger, offers many valuable programming/debugging options and seamless integration with the Mikroe software environment. Besides it also includes a clean and regulated power supply block for the development board. It can use various external power sources, including an external 12V power supply, 7-23V AC or 9-32V DC via DC connector/screw terminals, and a power source via the USB Type-B (USB-B) connector. Communication options such as

USB-UART and RS-232 are also included, alongside the well-established mikroBUS™ standard, three display options (7-segment, graphical, and character-based LCD), and several different DIP sockets. These sockets cover a wide range of 8-bit PIC MCUs, from PIC10F, PIC12F, PIC16F, PIC16Enh, PIC18F, PIC18FJ, and PIC18FK families. EasyPIC v7 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

EasyPIC v7 horizontal image

Microcontroller Overview

MCU Card / MCU




MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


You complete me!


The 28BYJ-48 is an adaptable 5VDC stepper motor with a compact design, ideal for various applications. It features four phases, a speed variation ratio of 1/64, and a stride angle of 5.625°/64 steps, allowing precise control. The motor operates at a frequency of 100Hz and has a DC resistance of 50Ω ±7% at 25°C. It boasts an idle in-traction frequency greater than 600Hz and an idle out-traction frequency exceeding 1000Hz, ensuring reliability in different scenarios. With a self-positioning torque and in-traction torque both exceeding 34.3mN.m at 120Hz, the 28BYJ-48 offers robust performance. Its friction torque ranges from 600 to 1200, while the pull-in torque is 300 This motor makes a reliable and efficient choice for your stepper motor needs.

Multi Stepper Click - TB67S209 accessories image

Used MCU Pins

mikroBUS™ mapper

Rotation Direction
Power Supply
Clock Signal
I2C Clock
I2C Data
Power Supply

Take a closer look


Multi Stepper Click - TB67S209 Schematic schematic

Step by step

Project assembly

EasyPIC v7 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyPIC v7 as your development board.

EasyPIC v7 front image hardware assembly
GNSS2 Click front image hardware assembly
MCU DIP 40 hardware assembly
GNSS2 Click complete accessories setup image hardware assembly
EasyPIC v7 Access MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto DIP image step 7 hardware assembly
EasyPIC PRO v7a Display Selection Necto Step hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for Multi Stepper TB67S209 Click driver.

Key functions:

  • multisteppertb67s209_set_step_mode This function sets the step mode resolution settings.

  • multisteppertb67s209_drive_motor This function drives the motor for the specific number of steps at the selected speed.

  • multisteppertb67s209_set_direction This function sets the motor direction by setting the AN pin logic state.

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * @file main.c
 * @brief MultiStepperTB67S209 Click example
 * # Description
 * This example demonstrates the use of the Multi Stepper TB67S209 click board by driving the 
 * motor in both directions for a desired number of steps.
 * The demo application is composed of two sections :
 * ## Application Init
 * Initializes the driver and performs the click default configuration.
 * ## Application Task
 * Drives the motor clockwise for 200 steps and then counter-clockiwse for 100 steps with
 * 2 seconds delay before changing the direction.
 * Each step will be logged on the USB UART where you can track the program flow.
 * @author Stefan Filipovic

#include "board.h"
#include "log.h"
#include "multisteppertb67s209.h"

static multisteppertb67s209_t multisteppertb67s209;
static log_t logger;

void application_init ( void ) 
    log_cfg_t log_cfg;  /**< Logger config object. */
    multisteppertb67s209_cfg_t multisteppertb67s209_cfg;  /**< Click config object. */

     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    multisteppertb67s209_cfg_setup( &multisteppertb67s209_cfg );
    MULTISTEPPERTB67S209_MAP_MIKROBUS( multisteppertb67s209_cfg, MIKROBUS_1 );
    if ( I2C_MASTER_ERROR == multisteppertb67s209_init( &multisteppertb67s209, &multisteppertb67s209_cfg ) ) 
        log_error( &logger, " Communication init." );
        for ( ; ; );
    if ( MULTISTEPPERTB67S209_ERROR == multisteppertb67s209_default_cfg ( &multisteppertb67s209 ) )
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    log_info( &logger, " Application Task " );

void application_task ( void ) 
    log_printf ( &logger, " Move 200 steps clockwise \r\n\n" );
    multisteppertb67s209_set_direction ( &multisteppertb67s209, MULTISTEPPERTB67S209_DIR_CW );
    multisteppertb67s209_drive_motor ( &multisteppertb67s209, 200, MULTISTEPPERTB67S209_SPEED_FAST );
    Delay_ms ( 2000 );
    log_printf ( &logger, " Move 100 steps counter-clockwise \r\n\n" );
    multisteppertb67s209_set_direction ( &multisteppertb67s209, MULTISTEPPERTB67S209_DIR_CCW );
    multisteppertb67s209_drive_motor ( &multisteppertb67s209, 100, MULTISTEPPERTB67S209_SPEED_FAST );
    Delay_ms ( 2000 );

void main ( void ) 
    application_init( );

    for ( ; ; ) 
        application_task( );

// ------------------------------------------------------------------------ END

Additional Support