Good morning everyone. We're running some tests with Rodw on a Debian Trixie system, kernel 6.12.74-rt, and ethercat 1.6.9.
Just to be fair, we're using the same configuration on real machines, so motors connected to lead screws, running Debian 10, kernel 4.19.0-27-rt, ethercat 1.5.2, and linuxcnc 2.9.0-pre1. So, with Debian 10, the machines work without problems. When I first start up, the drives and all ethercat I/O are immediately visible, meaning, for example, the positions of the absolute encoders for the motors appear instantly upon startup.
With Debian Trixie, we're having two problems. A less serious one, that is, at startup, the motor encoders' values appear late, the first drive starting to appear after about a second (x axis), after another second Y appears and after that Z appears. But the most serious problem is that if you run the machine, the axes shake, then they stop shaking, then the vibration comes back and everything gets worse if I move windows on the desktop. Rodw has already attached the latency test on the matter, but I repeat, the PC is always the same and all the i/o and xml files are the same. Now I tried to copy from Debian 10 the bin/lcec_conf and rtlib/lcec.so files into the respective directories of Debian Trixie, without result, same problem. We tried to copy the same files from a version with the Grandixxximo patch, same problem, I also tried to vary the lcec.0.pll-drift pin, with values from 10 to 1000 without solving. Honestly, I don't I know what to do. I'm attaching the XML files I use on Debian 10 and Trixie.
