I believe duets can goes close to the 12mbit max limit. The reason they went with can-FD and wrote their own protocol was that CANOpen and can2.0 was simply not fast enough for the motion command rates that they wanted to achieve.

I had a look at the duet source Here and looking at the formats, duet makes extensive use of the extended message format of can-fd. The movement command itself(line 82) is 4 32bit ints which comes out to 16 bytes if im not mistaken. Can2.0 has a limit of 8 bytes. So it seems you either need a can-fd controller on the odrive or modification to duet source to create a message that conforms to the can2.0 limits.

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Further the duet protocol contains time syncs and uses prescheduling and timing based motion commands so you would have to implement the relevant timers and protocol from scratch. The duet controller also seems to expect some return from the drive before it can be used.

In my case I am using a duet distribution board. so rj11 from duet3-6hc to distribution board. Then I am using the provided connectors from the distribution board to the 1lc.

I have set canbus terminators.

Apogee is the worst about ongoing support, or even support for that matter. My Ensemble Thunderbolt has an issue where if an audio source application is not visible, after a random amount of time the headphone output starts to break up. The main out is still fine. It's done it on three different Macs across OS upgrades even, and the issue will go away simply by refocusing the application so that it's visible. It can only be a software/driver issue, but their support just said it if was a driver issue they would have heard of it already and blew me off. Screw those guys.

However, one thing left out is the surface quality. the bondtech gears are also new and they are garbage. if you print with mk2.5 and 3 for months then switch to a CR-10 or any other machine (like mine with a titan aero) you'll have a WTF moment.... the quality out of CR10 and enter 3 for example is superior to current generation MK2.5-3 machines... by far. no it's not the trinamics... i have a duet on another machine and it's quality is top notch. however regardless the reliability is actually near the best you c an get vs machine like the Cr10 so you have to pick your battles. if they actually fixed it instead of saying "all printers do it" and just never talk about it again... that's a problem. i've lost some respect for prusa on that. just wait, the MK4 will come out with it fixed. if not that would be a disappointment.

We studied the sonogram and timing of duets of three groups of Central Yunnan western black crested gibbons (Nomascus concolor jingdongensis) in Dazhaizi, Mt. Wuliang. The study was based on a 13-month field observation period, from March 2003 to March 2004. A Sony TC-D5 Pro2 recorder, Sony C-76 directed microphone, and Sony tape were used to record the duet bouts in March 2007 and March 2008. Signal/RTS 4.0 was used to analyze the sonogram of the duet. We first presented sonograms of all kinds of sound units in the duets made by western black crested gibbons. The adult male could produce boom, aa notes and modulated figures. Adult females produced great call or abortive great call. The two adult females in each group usually produced great calls synchronously. After the great call, males always immediately produced a modulated figure to coordinate with the female. The interval between the modulated figure and great call was 2.7 s. On average, groups sang on 53% of days monitored, and sang 1.09 duet bouts per singing day. 91.5% of the duets were produced between half an hour before and three hours after the sunrise. The average duration of the duets was 12.9 min, and females produced 4.6 great calls during one duet bout. The intervals between two successive great calls were generally 115 s. There was no significant difference in the duration and frequency of the duet bouts, but there was significant difference in the number of the great calls and intervals between great calls among groups. 589ccfa754

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