I’m interested in implementing closed loop setup using linear magnetic encoders for the pick and place machine I’m building that’s already fully functioning with Klipper and RPI CM5 on a custom board.
From analog devices’ website (the sellers of TMC drivers) there are a few options. I was thinking of utilizing something like this for an ABN encoder setup. Is there any reason this wouldn’t work with klipper? As far as I can tell from the wiring, it should work? I believe there may be some registers that have to be set though, but I’m not sure if that would require klipper integration?
The only issue is that TMC2660 is out of stock everywhere. So I’m looking for alternatives, but that’s just the driver side as shown in the screenshot below, so I think I should be fine finding an alternative.
I would prefer to use a baked in firmware on the trinamic driver itself rather than a completely new setup. I trust trinamic to have a better design/setup to solve this problem and it’s already available. I’m just curious if I’m missing anything that would stop me from making this work using their setup I posted above?
Your concept seems sound. Just realize the “system” can only correct for positional errors AFTER they happen. For a PNP system a short pause before each pick and place to allow the loop to close would be prudent.
I feel that for a 3d printer continuously extruding a line of plastic the loop only closes after surface defects (salmon skin) are printed.
It’s closed loop outside of klipper and the feedback loop is very tightly integrated that it’s unnoticeable. TMC provides the motion controller chip (TMC4361 in the image above) and the driver (TMC2660). Together they work independently by receiving STEP/DIR from klipper and doing the correction on their own. TMC ships with pre-programmed firmware for both chips.
My question is wether the TMC4361 would require any additional Klipper modifications to support it?
