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Yes, it consistently appears to be around 10ms.

However, I believe I’ve found a workaround. I have noticed, that the EL5101 outputs the encoder period which is an absolutely stable signal. So I wrote a custom component to calculate the frequency based on it, which in turn can be used in PlasmaC. In the attached Halscope screenshot, you can see the troublesome frequency signal with drops from the EL5101 in red, the encoder period in cyan, and the calculated frequency in green.

I did on both machines. No pktuart (only on the location where I copied your files). So the locate command works, but pretty sure that they are not installed anywhere by linuxcnc

github.com/dkogan/libdogleg

Dogleg runs.
You basicly provide the equatation in a callback function. Then it iterates until result is within treshold.

Startvalue a=1
Startvalue b= 1
Increment a= 1
Increment b = 1

10 = 3 + a x b

This will do
result = left hand - right hand
0 = 10 - 3 + 1 x 1
Finally
0 = 0

Woo servos arrived, among other things.

So, now the read adventure begins.

Thank you ill dive into this now, not sure how I hadn't found this before. Cheers.

So did you

sudo ubdatedb

locate pktuart

(no 0 no * just pktuart )

A "RIP" installation is a Run In Place installation from source.
Its built and runs from a directory in the users home directory.
Its handy because it makes it easy to have different versions of
LinuxCNC on a computer at the same time

EDIT:
 I think pktuart may not exist on a binary LinuxCNC version as its built into hostmot2

Whats strange is that neither mesa_modbus or pktuart code has been changed for at least 2 years

How frustrating. All your good advice, no result at my side. No pktuart.0

I took another PC installed Debian bookworm. Installed Linuxcnc via the script as mentioned in Installing Linuxcnc (no binary). Installed Linuxcnc dev; build-essential etc.
Exact the same error as where it al started.
and no pktuart...

What do you mean by RIP installation?

That looks like maybe an electrical/wiring issue with the encoder.

Is differential signaling used?
 

Got some videos (or forum thread) of your setup? It sounds very interesting. Tube cutting subject is attracting:)

I'm posting screenshots from halscope. I think the encoder had some noise.

I am not sure why STARTUP_GCODE doesn't work - an example subroutine would help me investigate.
Usually for this sort of thing a preference file entry would be used. Any reason that you must use gcode variables?