| Feature | Duet 2 WiFi | Duet 2 Ethernet | Duet 3 6HC | Duet 3 Mini 5+ WiFi | Duet 3 Mini 5+ Ethernet |
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| Processor | ATSAM4E8E | ATSAME70Q20B | ATSAME54P20A |
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| Processor features | 120MHz ARM Cortex M4F, 512Kb flash, 128Kb RAM, hardware floating point (single precision), DMA, 2Kb cache | 300MHz ARM Cortex M7, 1Mb flash, 384Kb RAM, hardware floating point (double precision), DMA, 32Kb cache | 120MHz ARM Cortex M4F, 1Mb flash, 256Kb RAM, hardware floating point (single precision), DMA, 4Kb cache |
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| Networking | 2.4GHz WiFi (internal and external antenna versions available) | 100BaseTX Ethernet | 100BaseTX Ethernet, or via attached SBC | 2.4GHz WiFi with external antenna, or via attached SBC | 100BaseTX Ethernet, or via attached SBC |
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| Support for attached Raspberry Pi or other Single Board Computer (SBC) | Yes, from RRF 3.2 (requires hardware modification) | Yes | Yes |
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| Stepper drivers on-board | 5 x TMC2660 | 6 x TMC2160 or TMC5160 | 5 x TMC2209 |
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| Stepper driver features | Up to 2.4A peak current, microstep interpolation from x16 to x256, stall detection | Up to 6.3A peak current, microstep interpolation from any setting to x256, stall detection, stealthChop2 | Up to 2.0A peak current (TBC), microstep interpolation from any setting to x256, stall detection, stealthChop2 |
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| Stepper driver expansion | Up to 7 additional stepper drivers, of which up to 5 can be TMC2660 | Almost unlimited expansion using CAN-connected expansion boards | 2 additional TMC2209 stepper drivers; further expansion via CAN |
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| External stepper driver support | Up to 7 external stepper drivers when not using DueX expansion board. Signal levels are 3.3V. A 4-channel expansion breakout board is available to level shift them to 5V. | Via CAN bus | Possibility of driving 2 external stepper drivers from stepper driver expansion connector, or via CAN bus |
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| Heater outputs | Bed heater (up to 18A), 2 x extruder heater (up to 6A each) | Bed heater (up to 18A TBC), 3 x extruder heater (up to 6A each) | Bed heater (up to 18A TBC), 2 x extruder heater (up to 5A each) |
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| Thermistor/PT1000 inputs | 3, optimised for 100k thermistors, can support PT1000 sensors with reduced accuracy | 4, optimised for 100K thermistors and PT1000 sensors | 3, optimised for 100K thermistors and PT1000 sensors |
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| PT100 and thermocouple daughter board support | 2 boards (4 channels) | 2 boards (4 channels) | 1 board (2 channels) |
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| Heater/thermistor expansion | 5 more extruder heater outputs and thermistor inputs, 2 more PT100/thermocouple daughter boards (4 channels) | Via CAN-connected expansion boards | Limited expansion via CAN |
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| Endstop or filament monitor inputs | 5 on-board (STP pins are 8V-tolerant on revision 1.04 and later), 7 expansion | 9 on-board I/O connectors for endstop, filament monitor, Z probe or PanelDue connection. Inputs are 30V-tolerant. Almost unlimited expansion via CAN-connected expansion boards. | 5 on-board I/O connectors, 2 input-only connectors = 7 in total for endstop, filament monitor, Z probe or PanelDue connection. Inputs are 30V-tolerant. Further expansion via CAN-connected expansion boards. |
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| Endstop status LEDs | Yes | No | No |
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| Z probe connector | 4-pin with IN/GND/MOD/3V3 pins (IN pin is 30V-tolerant in revision 1.04 and later) | See under Endstop or filament monitor inputs | See under Endstop or filament monitor inputs |
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| Fan outputs | 3 controlled fans, 2 always-on fan connectors, voltage selectable between VIN, 5V or external supply (all fans together); 6 more controlled fans on expansion board | 6 controlled fans of which 3 support 4-wire fans with PWM and tacho wires, voltage selectable between VIN and 12V in 2 banks | 4 controlled fans of which 2 support 4-wire fans with PWM and tacho wires, voltage selectable between VIN and 12V in 2 banks |
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| Servo support | Up to 5 via expansion connector (3.3V drive unless expansion board used) | See under Endstop and filament monitor inputs. Also one output with 5V signal level for servo, laser or VFD converter (shared control signal with one of the 2-wire fan outputs). | See under Endstop and filament monitor inputs. Also one output with 5V signal level for servo, laser or VFD converter (shared control signal with one of the 2-wire fan outputs). |
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| Input power voltage | 11V to 25V | 11V to 32V | 11V to 25V |
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| Power monitoring | VIN voltage and input to on-board 5V regulator | VIN voltage and 12V regulator output voltage | VIN voltage |
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| LCD support | PanelDue colour touch screen | Typically provided by HDMI touch screen attached to the SBC. PanelDue also supported. | PanelDue colour touch screen, mini 12864 mono graphics display using ST7567 controller (3.3V signal levels) |
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| LED strip support | No | RGB Neopixel (max. 60 LEDs) or DotStar | RGB Neopixel (max. 60 LEDs, external 5V power required) |
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| Other expansion | 4 GPIO pins on Duex 2/Duex 5 expansion board, 16 GPIO pins on third-party SX1509B-based I/O expansion board | Almost unlimited expansion via CAN-connected expansion boards | Via I/O ports and CAN bus |
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| SD card interface speed | 20Mbytes/sec | 25Mbytes/sec | 22.5Mbytes/sec |
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| RepRapFirmware versions available | 2.0 series, 3.0 series | 3.0 series | 3.0 series |
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| Feature | Duet 2 Maestro | Duet 0.8.5 | Duet 0.6 |
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| Notes | Discontinued June 2020 | | |
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| Processor | ATSAM4S8C | ATSAM3X8E |
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| Processor features | 120MHz ARM Cortex M4, 512Kb flash, 128Kb RAM, DMA | ARM Cortex M3, 512Kb flash, 96Kb RAM, DMA |
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| Networking | 10BaseT/100BaseTX Ethernet | Ethernet |
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| Support for attached SBC | No |
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| Stepper drivers on-board | 5 x TMC2224 | 5 x A4982 | 4 x A4982 |
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| Stepper driver features | Up to 1.6A peak current, microstep interpolation from any setting to x256, stealthChop2 | Up to 2.0A peak current, x16 microstepping |
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| Stepper driver expansion | Up to 2 additional TMC2208 or TMC2224 stepper drivers | Up to 4 additional stepper drivers |
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| External stepper driver support | None | Via expansion connector and additional hardware |
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| Heater outputs | Bed heater (up to 18A TBC), 2 x extruder heater (up to 6A each) | Bed heater (up to about 13A), 2 x extruder heater (up to 4A), up to 4 more extruder heaters on DueX4 expansion board (last one shared with Fan 1) | Bed heater (up to about 11A), extruder heater (up to 4A), up to 4 more extruder heaters on DueX4 expansion board |
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| Thermistor/PT1000 inputs | 4, optimised for 100K thermistors and PT1000 sensors | 3 | 2 |
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| PT100 and thermocouple daughter board support | 2 boards (4 channels) - second board available only if I2C expansion pins are not used | Via expansion connector and additional hardware |
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| Heater/thermistor expansion | None | 4 more extruder heater outputs and thermistor inputs on DueX4 |
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| Endstop or filament monitor inputs | 5 on-board (STP pins are 30V-tolerant) | 5 on-board, 4 expansion | 4 on-board, 4 expansion |
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| Endstop status LEDs | No | Yes |
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| Z probe connector | 5-pin with IN/GND/MOD/3V3/5V pins (IN pin is 30V-tolerant) | 4-pin with IN/GND/MOD/3V3 pins | No, use expansion connector |
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| Fan outputs | 3 controlled fans, 1 always-on fan connector, voltage selectable between VIN, 5V or external supply in 2 banks | 2 controlled fans | 1 controlled fan |
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| Servo support | 1 servo output on board with 5V drive (shares the output with the Z probe MOD pin and the diagnostic LED) | Via expansion connector |
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| Input power voltage | 11V to 28V | 11V to 28V | 11V to 30V |
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| Power monitoring | VIN voltage | No |
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| LCD support | PanelDue colour touch screen, 12864 mono graphics display using ST7920 controller (5V signal levels) | PanelDue colour touch screen (via expansion connector) |
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| LED strip support | No | Via expansion connector and additional hardware |
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| Other expansion | 2 pins usable as analog inputs, GPIO, or UART; 2 pins usable as I2C or GPIO | No |
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| SD card interface speed | 15Mbytes/sec | 21Mbytes/sec |
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| RepRapFirmware versions available | 2.0 series, 3.0 series | 1.x series (latest is 1.26.1) |
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