Ethercat random jitter fix

Did you say you had changing values on pll-reset-count? That one should stay on 1, not increase.
Can you perhaps record pll-err in halscope and show?

@grandixximo
Sync0shift is set to 300000

Try with synctorefclock false, and see if your reset counter also counts up or not 

I did, unfortunately with SyncToRefclock set to false, the dc-phased pin starts flickering.

the reset counter doesnt go up either.
with it set to true, the rest counter goes to 1 or 2 per lcnc launch.
what ive also found, without every driver being ready, the dc-phased pin is already HIGH. Is that supposed to happen?

Can you plot pll-err? Sounds like you have quite a bit of "normal" jitter.
That can be seen in pll-err.
dc-phased is just the condition that pll-err is below 10% of your servo cycle time.

I can yea. what bothers me, is that the DRO was "filled" with the encoder position right away previously. Now, it rarely does but most of the time, takes 5-10 seconds to fully fill in with machine positions. If you enable it before that, you get amplifier errors or a loud axis clunk.

I dont know of anything that changed other than weather