On Sun, 27 Sep 2026, Chris Albertson wrote:
I like the way Klipper solved the communications jitter issue. Kiliiper is
a lot like LCNC. There is a central Linux computer that reads the G-code
file, does planning and the math, and then the low-level stuff like
generating wavforms to drive a stepper motor or whatever is some on
microcontrollers that can be truely ?hard? real time.
What Klipper does is simple. The microcontroller clocks are synchronized to
the Linux system. Then the Linux host attaches a ?target time? with each
movement command. The microcontroller then buffers the command until the
exact right time. This way, millisecond-level RT jitter in Linux does not
show up on the motors.
This way, one can get 10-microsecond-level timing without real-time Linux.
The difference is that LinuxCNC is an unbuffered system at the motion level.
Buffering removes the real time requirement from the upper level controller
but loses the ability for the upper level controller and therefore motion to
repond to real time inputs.
Note that LinuxCNCs jitter (as long as it does not exceed
real time requirements) not affect motors either if the low
level hardware supports re-timing (which many do)
On Sep 27, 2026, at 11:24?AM, Nicklas SB Karlsson <[email protected]> wrote:
Now it seems to work reliable with jitter far below 1 millisecond.
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Peter Wallace
Mesa Electronics
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