@3dpm said in Using all TMC5160 functions on Duet3: I'm also happy to see that S-curve motion profile is planned for the future version 3.4 of the firmware. When is the release planned for? We don't have a release date for it because exactly how implement the planned features (more sophisticated input shaping and/or other ways of reducing ringing, S-curve acceleration and jerk-free cornering) isn't designed yet and we don't know how long it will take to implement. Design work will start in February once the 3.3 release is in RC stage, and implementation is planned to start in March.