Running several MANUAL_STEPPER in parallel

General Discussion
1

Hi all,
I am trying to use Klipper to quick-start with my self-made robot to test mechanics first. The robot kinematics doesn’t completely fit in kinematics scheme available in config, so some steppers are defined as MANUAL_STEPPER. However 4 steppers, each having own endstops, should be run in parallel with the same acceleration profile and for tge same distance. Could you please recommend a reliable way to implement the steppers grouping?

2

As the requirements are not really clear, you may want to investigate:

  1. Klipper’s general capability to synchronize axes, e.g. [stepper_z1]
  2. Generic Cartesian Kinematics

As a general note:

  • Klipper is primarily and exclusively focused on 3D printing.
  • The inner workings, such as command queuing, step, and path planning, are not well-suited for “generic robotics”.
  • There are no mechanisms to react to real-time events or to flexibly modify, skip, or delete already planned moves.
3

I understand that using klipper for something that is not a 3d printer may be a not good thing to do, that’s why I am asking.

Do you think that running several instances of klipper to “fake” extra axes can be a better solution?

4

I don’t think it will work, because these instances do not communicate with each other and so they do not synchronise.

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5

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