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Thank you so much for your guidance.
What about enable pin? Joint.0.amp-enable-out?

Hello beauxnez,

on a fresh install from Linuxcnc from the ISO 2.9.4 it works with the two changes (ETH.h and puType::up;)
 
I think your problem is your system.
On which system do you work? Have you cleaned platformio/vscode?

 

Hi,

I like the idea also. So you want to go nearer to the points before doing a spline. 

I thought of splitting the resulting red points (limiting by gravity point an P) by half for example if the next angle is also in the same direction. Could be more sophisticated of course. Just a rough idea. This way we are not getting more inside in this situations.

Splitting in half between edgepoint and last point if next angle is the ame direction. And going one step back if the direction will change (not perfectly described of course).