Servo jump error

Here is a better sample. This is 3 clicks in one direction while in the.0001 increment. I noticed that the motor jumped on all 3 clicks. The second photo is a close up of one of the clicks.

Maybe i missed something, but why is there :
motor.01..........
axis.2..........
Could you post the hall and ini files? And can you set the motor to run at a very low speed and do a plot of A and B channels of that encoder?
That sure looks like a messed up encoder in the video. Or just open it and check for rust. I did have such a case.

Here are the hal and ini files. On the encoder what pins would you want to see? raw counts? The only reason I dont think it is the encoder is that the servo drive is not showing any errors. The Yaskawa sigma5 drive has on board monitoring and the first photo I show is from that software. The encoder signal to linux comes from the servo drive as shown below. On the photo I posted the reference speed incoming is going across the zero axis during on click in .0001 increment. I think this shows that the motor is following the reference signal ok? Correct me if im wrong but I dont think the reference speed should cross the 0 axis.



thanks

can you try reducing the deadband?

Deadband was set at .00005 in the INI file, I dont know what the units are for deadband? Anyway tried reducing it to .000005 and still had the same results. I may crack into the motor today just to see if the encoder is dirty.

thanks again