Motion Jitter with LinuxCNC + EtherCAT
- Abdulkareem
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31 Jul 2025 12:14 #332597
by Abdulkareem
Motion Jitter with LinuxCNC + EtherCAT was created by Abdulkareem
I’m running LinuxCNC 2.9.4 on a fanless Venoen P12B with a PREEMPT_RT kernel and EtherCAT (IgH master + lcec HAL driver) connected to 5x EL8-EC400(COE) drives via an Intel I225-V NIC using thedriver. Everything initializes correctly—slaves reach OP state, clocks sync, link is stable at 100Mb/s Full Duplex—but I still get intermittent motion jitter, especially after reboot.shows good average latency (~2 µs) but occasional spikes up to 95 µs. I’ve tried kernel parameters likebut that worsened the issue, likely due to the system’s passive cooling. I’d like to keep my current hardware and am looking for any software-based solution to eliminate jitter with thedriver. Any help is greatly appreciated!
igccyclictestintel_idle.max_cstate=1 processor.max_cstate=1igcPlease Log in or Create an account to join the conversation.
- langdons
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02 Aug 2025 16:36 #332685
by langdons
Replied by langdons on topic Motion Jitter with LinuxCNC + EtherCAT
Predictable latency is not the main issue, spikes are the problem.
Did you change the governor to performance?
askubuntu.com/a/1530756/1717310
It helped me.
Did you change the governor to performance?
askubuntu.com/a/1530756/1717310
It helped me.
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