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docs: Minor wording change to Endstop_Phase.md 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2020-03-01 11:40:13 -05:00
parent 31b2c3ea7a
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docs/Endstop_Phase.md
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@ -13,16 +13,16 @@ precision.
The stepper phase adjusted endstop mechanism can use the precision of
the stepper motors to improve the precision of the endstop switches.
When a stepper motor moves it cycles through a series of phases until
in completes four "full steps". So, a stepper motor using 16
micro-steps would have 64 phases and when moving in a positive
direction it would cycle through phases: 0, 1, 2, ... 61, 62, 63, 0,
1, 2, etc. Crucially, when the stepper motor is at a particular
position on a linear rail it should always be at the same stepper
phase. Thus, when a carriage triggers the endstop switch the stepper
controlling that carriage should always be at the same stepper motor
phase. Klipper's endstop phase system combines the stepper phase with
the endstop trigger to improve the accuracy of the endstop.
A stepper motor moves by cycling through a series of phases until in
completes four "full steps". So, a stepper motor using 16 micro-steps
would have 64 phases and when moving in a positive direction it would
cycle through phases: 0, 1, 2, ... 61, 62, 63, 0, 1, 2, etc.
Crucially, when the stepper motor is at a particular position on a
linear rail it should always be at the same stepper phase. Thus, when
a carriage triggers the endstop switch the stepper controlling that
carriage should always be at the same stepper motor phase. Klipper's
endstop phase system combines the stepper phase with the endstop
trigger to improve the accuracy of the endstop.
In order to use this functionality it is necessary to be able to
identify the phase of the stepper motor. If one is using Trinamic