You want to do it from scratch? Here you go!

• 1 to 4 axes motion control ICs
• for brushed/brushless DC servo motors, microstepping and stepper motors
• analog ±10V or PWM motor command signal output for DC/EC servo and microstepping motors, pulse & direction output for stepper motors
• All support various feedback devices (incremental encoders, partly extendible for use with parallel word absolute encoders (SSI, BiSS, EnDat aso.)