Encoder Support for Boards Other than 1HCL?

[curieos]

Based on the documentation, I'm assuming this isn't supported currently (except for the upcoming integrated motors), but just in case; Is it possible to utilize the onboard drivers on a 6HC or Mini 5+ to control a closed-loop stepper, with some sort of daughter board to handle the encoder? If not currently, could it be possible?

I understand the purpose of the 1HCL, but it's expensive and overkill for smaller printers with smaller motors, such as Toolchanger (not to mention the extra space). I'd like to put some form of closed-loop stepper onto my TC, and I'm wondering if it's possible to use the temp daughterboard, paneldue, or 12864 display headers for this purpose? Would it be possible to get firmware support?

[dc42]

@curieos yes the 1HCL is expensive because it's 48V-capable and has a high current driver. We're considering whether to do a smaller version for Nema 17 motors using 24-32V power and perhaps 1.6A max current.

Doing closed loop well is CPU intensive, so we use a dedicated CPU per drive at present. Also most CPUs have at most one quadrature interface. It may be that in future we will try a 2-motor board supporting only our magnetic encoder.

[curieos]

@dc42 Okay, thanks for the insight, I'll look forward to that lower current model!