First test on machine X-axis. Sound level is considerably improved compared to stepper drivers. There is still room for improvement. Feed-forward is not yet implemented and I haven’t tweaked tuning with machine load.

Using 8mm lead-screw with 1:4 gearing, so 4x8mm per rotation (32mm).

You may think it’s total overkill with two PnP nozzles on such large head. That is true. My goal is to make it easy to switch between PnP and CNC. Luckily OpenPNP does not require Klipper to work. It already has some pretty advanced motion features, like 3th order control etc. When up and running with OpenPNP it will be a good playground for Klipper/SimpleFOC integration or possibly make OpenPNP more capable with regard to CNC -> Gcode visuals