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Some of the cheaper fixed bearing blocks are sold with non angular contact bearings, this is something to check.
Until you perform a backlash test, and yes this can manifest as repeatable, you can not rule out a mechanical issue.

Thanks Rod. I'll look into upgrading to 2.10.

Good to hear. I'd suggest slowing down the SPI comms like in the discussion above.

hal
loadrt remora-spi SPI_num=0 CS_num=0 SPI_freq=2000000

ini
#SERVO_PERIOD = 1000000
SERVO_PERIOD = 5000000

Did the subroutine execute?

You could run

halcmd show signal s-index-zero-for-ATC

From the command line to check