Ethercat random jitter fix

you are missing the go package.

"sudo apt-get install golang"

then "make" and "sudo make install"

grandixximo wrote:

@TAKUYA
@Atsu

please check the value of the parameters lcec.0.pll-step
You can do so with this command

halcmd show param lcec.0.pll-step 

This parameter will be set at 1000 automatically if you have RTAPI_TASK_PLL_SUPPORT

also I have updated again the repo

if you could be so kind as to download, build and test again, thank you

github.com/grandixximo/linuxcnc-ethercat

Thank you! I pulled the latest changes and can confirm that it is now working. The dc-phased pin turns true, and I can see the pll- pins getting values other than zero. I did couple restarts and so far there is no grinding noise. I will continue testing to see if its gone for good.

@andrax

Sittner's repository does  not support 

syncToRefClock

If you want to test Sascha Ittner's code with pll
Set 
refClockSyncCycles="-1"

My code is a different repo

github.com/grandixximo/linuxcnc-ethercat

Sasha's code is missing some drivers, he has done a huge rework, he also removed the grind, but used another method, I am still undecided on how to merge his code properly.

Take care with merging Sasha's code. The master linuxcnc-ethercat driver is now Scott Lairds repo  github.com/linuxcnc-ethercat as it has a workflow that pushes the driver when built across to etherlabs repo on gitlab so we can get the driver with sudo apt install 

Honestly, waiting for Scott for some direction, he is not been replying any messages, so at the moment everything is stale, I don't really want to touch core functionality, I'm not sure about the uspace work by Sascha, should linuxcnc take that in as well? We would have to build Sasha's ethercat master as well to enable all of that. Not sure what the community needs

grandixximo wrote:

Honestly, waiting for Scott for some direction, he is not been replying any messages, so at the moment everything is stale, I don't really want to touch core functionality, I'm not sure about the uspace work by Sascha, should linuxcnc take that in as well? We would have to build Sasha's ethercat master as well to enable all of that. Not sure what the community needs

Thats a but disappointing. Its hard to keep commitment on projects like this. Sasha lost interest and it was badly broken. At one stage, I hosted the hal driver repo briefly when I built the initial 2.9 ISO then Bjarne at etherlab did a deal with Sasha to host it direct. I gladly gave it up. Then Scott did a deal with Sasha to host it and develop it (which he did). So I did some intros and Bjarne helped Scott build workflows to send builds to the etherlab repo so it was hosted and available so that was pretty cool. I see Sasha's page says use Scotts repo and he hadn't made any commits since 2024 until a mad flurry of commits in 2026! Whatever you do etherlab will be very supportive.

Its just a shame the Ethercat license does not allow linuxcnc to manage it.

Not sure if that helps....