Ethercat random jitter fix

ok, fixed. so the update works well. it does NOT solve the servo noise/resonance/howl. It does seem to have fixed everything else so far.

Do you get resonance even with motors on bench?

i think so. cant check now i but i think it was resonating when off the machine.
in omrons sysmac software (usb control) they are silent.

Could you share ini Hal and XML?

I take it back, all the same issues are there, zero change. Just took a while to show up.

So how do I check if it actually did the thing its supposed to do?

Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.

grandixximo wrote:

Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.
 

dc phase is true
app phase is changing around 600k
pll error is randomly changing plus or minus 30k
pll out is minus 1000



 

You have no grinding noise correct?
Your problem is random OP cycling, and motor resonate when the machine is off or on?

op state cycling. joint and limit errors when standing still, resonance. When the limit error happens it makes a clunk. It does not seem to ever have an issue in actual motion though.

Never had any of these issues, could be something with your configuration, ini Hal XML or the servo parametrization.
What my patch definitely improved is phasing, what could happen before the patch, was wrong phasing where latency could happen to sit on the threshold of when the servos were expecting the packets, and they could arrive at different cycles, making the motor grind, but all your listed issues probably have a different root cause. If you shared your configuration I could see if anything stands out to me. Other than settings it kind of sounds like an electromagnetic noise issue, are you using shielded cables for the ethercat network connections? Are all components properly grounded? Mostly the servo motors, and if you have a spindle with a VFD those need to be properly shielded filtered and grounded.