Duet 3 Tool Board - CAN Connector & Step / Direction Outputs
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@yngndrw said in Duet 3 Tool Board - CAN Connector & Step / Direction Outputs:
Configuration / status information on one and trajectory / motion control on the other.
Dave once commented that moves are sent about two seconds in advance. Doesn't seem to reflect a high need for prioritization.
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@Danal Yes in CAN any board could send a message at any time and therefore act as a master, with the message ID allowing for prioritisation / arbitration. (Lowest ID wins) I think you're right in that it would probably make life easier in there was a BUS in each direction so that's a fair theory.
The buffering of moves makes a lot of sense in this setup and that probably rules out the different prioritisations.
Maybe there simply isn't enough bandwidth over one bus for the number of expansion boards they'd like to support?
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@yngndrw said in Duet 3 Tool Board - CAN Connector & Step / Direction Outputs:
I do wonder why both of the CAN buses are exposed via the same connector on the 6HC - Are they intended to be used together to provide a low and high priority bus?
The reason was lack of space. The second CAN bus was a late addition and isn't supported in firmware yet. It's there so that we can provide a low speed CAN bus as well as the standard high speed CAN-FD bus, to give us the option of supporting CANopen devices in future. It would require an external adapter to split the two buses.
Duet WiFi hardware designer and firmware engineer
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http://www.escher3d.com, https://miscsolutions.wordpress.com -
@dc42 Ah I see, that makes sense! Does that mean that the tool distribution board is missing the second termination jumper that the expansion board has, or is that an old design in the documentation, or is it intended that the splitter would always come before the tool distribution board?
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@yngndrw said in Duet 3 Tool Board - CAN Connector & Step / Direction Outputs:
is it intended that the splitter would always come before the tool distribution board?
Yes.
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@dc42 Is there a rough timeline for the family board? I am very interested in this option to drive a brushed DC motor on a Stratasys uPrint from a Geckodrive G320x. I need those step/dir outputs to control the Gecko.
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@deckingman Looking at the documentation I don't see the step/dir outputs available for the tool board. I think @dc42 is referring to a separate board that will allow the step/dir outputs.
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@Archeantus Sorry - the title of this thread is "Duet 3 Tool Board - etc" so I assumed as you posted in this thread that you meant the tool board. Suggest you start a new topic so as to remove any confusion.
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@Archeantus See comment here https://forum.duet3d.com/post/131959
Basically, they are in the works, but focus was on getting the tool board finished. No timeline for delivery, yet.
Ian
