# Running several MANUAL\_STEPPER in parallel

**URL:** <https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752>\
**Category:** General Discussion\
**Created:** [June 2, 2025, 8:10am UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752 "2025-06-02T08:10:17Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Gryphon](https://avatars.discourse-cdn.com/v4/letter/g/5daacb/32.png) [@Gryphon](https://klipper.discourse.group/u/Gryphon)\
**Post date:** [June 2, 2025, 8:10am UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752/1 "2025-06-02T08:10:17Z")

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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?

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**Author:** ![Sineos](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/sineos/32/18_2.png) [@Sineos](https://klipper.discourse.group/u/Sineos)\
**Post date:** [June 2, 2025, 10:13am UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752/2 "2025-06-02T10:13:14Z")

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

1. Klipper’s general capability to synchronize axes, e.g. [[stepper\_z1]](https://www.klipper3d.org/Config_Reference.html#stepper_z1)
2. [Generic Cartesian Kinematics](https://www.klipper3d.org/Config_Reference.html#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.

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**Author:** ![Gryphon](https://avatars.discourse-cdn.com/v4/letter/g/5daacb/32.png) [@Gryphon](https://klipper.discourse.group/u/Gryphon)\
**Post date:** [June 2, 2025, 5:57pm UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752/3 "2025-06-02T17:57:18Z")

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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?

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**Author:** ![EddyMI3D](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/eddymi3d/32/1981_2.png) [@EddyMI3D](https://klipper.discourse.group/u/EddyMI3D)\
**Post date:** [June 2, 2025, 6:24pm UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752/4 "2025-06-02T18:24:57Z")

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> [@Gryphon](#):
>
> Do you think that running several instances of klipper to “fake” extra axes can be a better solution?

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

You may look for a open source CAM/CNC system. [Free CAM Software | CRAFTSMANSPACE](https://www.craftsmanspace.com/free-software/free-cam-software.html)

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**Author:** ![system](https://global.discourse-cdn.com/free1/uploads/klipper/original/1X/64419bf2aac6639e6ef5cef200dcd456b0a01ac3.png) [@system](https://klipper.discourse.group/u/system)\
**Post date:** [August 1, 2025, 6:25pm UTC](https://klipper.discourse.group/t/running-several-manual-stepper-in-parallel/23752/5 "2025-08-01T18:25:30Z")

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