M112 Actions?

[DocTrucker]

What does the M112 emergency stop do? Does it actively stop steppers in a controlled manner in accordance with the acceleration and instant speed config settings or does it just kill the current and let the motors freewheel to a stop?

I'd always argued that the duet would likely be able to stop the motors quicker in a controlled manner than just killing the power and letting the motors freewheel. If M112 just kills the drivers then there is little difference.

Still no Health and Safety topic catagory?

[A Former User]

Maybe this helps you
https://github.com/dc42/RepRapFirmware/blob/2a8a8e45d9617eaaaf3b1ffe81e230026819c890/src/RepRap.cpp#L519

looks like it just stops the move in progress, and disables the drivers. apart from belt driven z-axis I haven't noticed any tendency for any pritner to freewheel or coast.