Are there any plans for that?

Is there an option to connect CANopen servo drives directly to a Duet 3 by CAN-bus and use them for axes?

@bondus
Nice to see that you have advanced in it. I hope you'll have fast results.

We've used the RepRapFirmware 3.01-RC1 on Duet 2 for Five Bar Parallel SCARA configuration. It produces some sort of jerking when passes through 0 of thetaR (see the picture in https://duet3d.dozuki.com/Guide/Five+Bar+Parallel+SCARA/24?lang=en). Could you suggest how to eliminate the jerking?