6HC -> external stepper with CANopen instead of stp/dir/en ?

[lbtqsb]

Hi,
was wondering if external steppers that feature CANopen are compatible with the duet-environment, in my case a 6HC board, where it would be cheaper to get a big CANopen stepper (in my case tinkering with the idea to get one from nanotec https://en.nanotec.com/knowledge-base-article/canopen-motors-controllers) to save on the 1HC stp/dir/en-breakout-board...
Any suggestions anyone?
Best
L

[jay_s_uk]

@lbtqsb CANopen is not supported

[Phaedrux]

https://docs.duet3d.com/en/User_manual/Machine_configuration/CAN_connection

CAN-FD only

[dc42]

@lbtqsb when we started researching the use of CAN bus to communicate with expansion boards, I quickly established that CAN-Open was much too slow to support the moves/second rate needed by 3D printers and similar machines when executing curved outlines. In fact, plain CAN didn't have enough bandwidth even without the overheads of a heavyweight protocol such as CAN-Open. This is why we reluctantly gave up on the idea of supporting CAN-connected expansion boards on Duet 2, whose processor supports CAN but not CAN-FD.

Since we implemented the CAN support in RRF, a variant of CAN-Open that uses CAN-FD has been defined. I have not investigated whether it might be possible to support the movement rates needed for 3D printing; but I think it unlikely. The requirement is to support around 1000 moves/second to multiple CAN-connected boards, with each move containing details of the movement profile, any pressure advance applied, and any input shaping applied.

[lbtqsb]

@dc42
Thanks so much!
That clearified my decision which way to go down the road on the y I was contemplating... So it will be 2pcs 1HC to try out 48Volt with lot´s of Amp Thanks!