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Long story short, I am turning off everything PID related since I am using CSP and DC as long as my jitter setting is the same on all the motors they will all end up at the same commanded place at the same commanded time even if LinuxCNC is 2ms behind.
Yes I think this extra delay only has an effect when using feedback control like a linuxcnc PID loop.
The command reaches the Ethercat slaves within a servo-loop period time. The drives themselves should
be well tuned, that's the key thing.
