@jjem I worked with the dev team and struggled with poor closed loop behaviour, from memory axis jitters and choppy motion.
Based on the latest dev work I guess there were some issues with commutation and an on axis encoder that is "loosely coupled" with the motor hence the need for a motor shaft encoder as well as an axis feedback encoder.
I abandoned on axis closed loop, in favour of just motor closed loop and the team said they'd look into it some more. I guess the latest dev activity is the result of further thinking.
I've been out of the loop for quite a while so it's great to see the duet team have continued with development.
All the best
Barry M