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(footage credits: Mike Menci) Pick&Place multi-nozzle machines share one physical actuator to create the two nozzles’ Z axis in a counterweight, seesaw or rocker configuration (when one is moving up, the other is moving down).

The motion controller firmware most popular with OpenPNP – Smoothieware – had problems with mixed primary (linear) + secondary (rotary) axis moves. I tried to fix that … read the saga about that in the Pull request ;-).