Leadshine EL8 interruptions

My CNC system with ethercat and Leadshine EL8 controller works as an absolute value system so far. When running the program, the system interrupts sporadically with the error message:
Motor 0 position error
Position: relatively current

I can also sometimes hear short interruptions during motor braking. However, these are not always directly related to the error message.
Can the warnings from the dsmg protocol be ignored or is a specific program or configuration change necessary?

How could I solve the problem?

Try reducing accelleration in your ini file. Decelleration also uses this figure. Its possible inertia in the system prevents the axis to slow down fast enough to follow the profile so a following error ocurrs. 

I had ths issue.

After changing the acceleration parameters to half the value, several test runs have shown that the problem is still present. 

Where else could this instability be coming from?

In the terminal I got this information:

Unexpected realtime delay on task 0 with period 1000000This Message will only display once per session.Run the Latency Test and resolve before continuing.task: main loop took 0.018594 secondsMotor 2 Positionssfehleremc/task/taskintf.cc 976: Error on joint 2, command number 377task: main loop took 0.037092 secondstask: main loop took 0.019966 secondstask: main loop took 0.024853 seconds

How could I solve the problems?

 

Please post your config xml file.
There seems to be a lot of unmatched datagrams
also your latency looks pretty awful. Please work on cleaning that up in the BIOS settings.

How can I improve the latency in the bios?

I have now tried to improve the bios according to the Linuxcnc documentation as suggested by rodw.

I also followed the instructions in the link from tommylight and tried to reduce the latency in this way.

Since the result is not really good yet, it would be great if I could get hints on a possible solution based on the files in the attachment

Slow the servo thread to 2ms, until you get the latency sorted out. I don't think you'll get away with a 1ms servo thread.

Try updating the PC/motherboard BIOS. Sometimes they ship with crap that generally works then sort it out halfway through the product lifecycle.