Greetings everyone.
So I tested Grandixximo's latest fix.
Slave 0, i.e., the VIPA's I/O, wasn't synchronizing, while the drives were. That is, the VIPA card's Run LED wasn't staying on, but blinking.
So I decided to change the slave sequence. The drives were on 0-1-2, and I/O was on 3, last.
Now slave 3, i.e., I/O, is running correctly.
I started testing. I have the impression that the drive quotas are read faster at startup, sometimes almost as fast as Debian 10. I tried refClockSyncCycles=1 and refClockSyncCycles=-1. In the refClockSyncCycles=1 mode, the axes emit noise more frequently.
The refClockSyncCycles=-1 mode seems to work better, but sometimes I hear a little noise, especially if I move the browser windows.
In refClockSyncCycles=-1 mode, the pll-err pin oscillates from about 800 to -1000, but if I move the windows, it sometimes reaches -10000, and I seem to understand that as the value increases, the noise increases. The pll-out pin stays at values from 2 to -2.
In refClockSyncCycles=1 mode, the pll-err pin always remains zero. The pll-out pin always remains zero.
In both modes, the ethercat command upload -p 0 -t uint16 0x1C32 0x01 returns 0x0002 2, on all axes, including the slave.
I tried changing the sync0Shift value to 500000 without any change.
At this point I'm thinking of changing the PC, I don't want the problem now to be the jitter of Debian Trixie, which is greater, at least double compared to Debian 10.
I'd like to point out that with this latest fix from Grandixximo, the pull-err value is hovering around zero, like Debian 10. While in previous versions the pull-err value was around 99200.
Furthermore, with the latest fix, the plug-out pin has a fluctuating value close to zero, while with previous versions it was always zero.
