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Good to hear. Especially the -10 thing.
The "-" actually synchronizes linuxCNC's servo-thread to the DC reference clock.
Wasn't documented, I ran across it in the source code. Seems to work though, and I am happy to get
that feedback from you.
But I don't want to spread this. I have submitted a Pull Request to the linuxcnc-ethercat that will introduce
an optionthat will both document this and 
make it clear that this can be used. Until then, keep using the "-".

hey hakan
i discovered that i had huge latency problem i solved it with disable some features in BIOS and made core isolation, and then i changed the refclock to -10 and it worked! but i want to understand why it worked with -10
thank you guys for your help!

Comment out this line in the ini file.Hope it doesn't mean a lot of extra errors but I think it might work.
Then give cia402.0.pos-cmd a value in halshow.

Good day Forum
Wondering on possibility of implementing linuxcnc on a Older Motoman robot. 
Wondering if the necessary is in place to be able to to hand teach of the robot arm ( cobot style ) logging its trajectory etc. 
I think that would catapult Linuxcnc in the cobot world. 
ideas?

Thank  you 

forum.linuxcnc.org/38-general-linuxcnc-q...blems?start=0#335342