I would use a cape who can drive DC and BLDC motors with encoder feedback. and 
has room for 24V I/O thru screw terminals.

A motor such as these types (just an example, maybe different capes for 
different power ratings) which would make creating tools for industrial 
situations much, much easier. No need to buy a €250 driver per motor.

https://en.nanotec.com/products/2265-internal-rotor-motors/

Such a cape would need to have enough oomph to drive 24V relays, and connect 
24V limit or proximity switches.

Maybe max out on motor+encoder and have a complimentary cape use the rest for 
the io’s.

Having hardware that drives these motors would help enormously in just creating 
a working machine (I’m not looking for 3D printing or CNC myself, but for 
custom machines) It would help me to focus on creating a machine, and not have 
me connect a bare BB to an industrial driver.

Bas

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