Speed profile problem while using LINuxCNC EtherCAT

Hello.
Using LinuxCNC and EtherCAT module, we ask you a question about the problem of the speed command during feeding while driving the gantry test bed.
The system was configured using a DELTA ASD-A2 motor and drive.
There is a problem that the abnormal signal is periodically reflected in the speed profile when the speed is commanded.
Please check picture 1 for the error.
Please check picture 2 for information on the OS you are using.
Picture 3 is the latency test picture.
Please refer to the gantry.ini file for the file used for LinuxCNC setting.
Is there any way to solve the periodic error like picture 1??

Please help.

Thank you

this is very old kernel .....

do you use DC Clocks? Is the ethercat interpolation time in the delta amplifiers set to 1ms?

to get the right view, i need hal and ethercat_conf files.

Hello.

I'm not sure if we're using DC Clocks or not.

EtherCAT configuration file has been uploaded.

Thank you for your confirmation.

i can't find anything wrong.

check with dmesg, if there are exists any ethercat communication errors in the log

Dear db1981.
We will upload the entire dmesg file you requested.EtherCAT dmesg related contents are as follows. 

[ 63.753446] RTAI[sched]: hard timer type/freq = APIC/6235080(Hz); default timing: oneshot; linear timed lists.
[ 63.753448] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3192696000 hz.
[ 63.753449] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 63.758935] RTAI[math]: loaded.[ 63.822626] EtherCAT: Requesting master 0...
[ 63.822629] EtherCAT: Successfully requested master 0.
[ 63.823020] EtherCAT 0: Domain0: Logical address 0x00000000, 40 byte, expected working counter 6.
[ 63.823022] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 40 byte, type LRW.
[ 63.823032] EtherCAT 0: Master thread exited.[ 63.823035] EtherCAT 0: Starting EtherCAT-OP thread.
[ 63.825649] classicladder_rt: module license 'LGPL' taints kernel.[ 63.825651] Disabling lock debugging due to kernel taint
[ 63.825752] creating ladder-state[ 63.870481] LCEC: Invalid appTimePeriod of 1000000 for master 0 (should be 999827).
[ 69.061144] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 69.068127] EtherCAT 0: Domain 0: Working counter changed to 3/6.
[ 69.179852] EtherCAT 0: Slave states on main device: OP.
[ 70.065583] EtherCAT 0: Domain 0: Working counter changed to 6/6.

Is there any solution...And if the current kernel is not stable to use EtherCAT, can you recommend a combination of OS and RT kernel?

please check.

thank you

[ 63.825752] creating ladder-state[ 63.870481] LCEC: Invalid appTimePeriod of 1000000 for master 0 (should be 999827).

there could be timing errors...

I haven't worked with rtai since years. we dropped rtai support a few years ago in the lcec....

do a try with uspace preempt rt, If you compile lcnc by yourself you have also the option to install the "add-task-pll-functions" patch from the lcec repository, this will give an better timing performance.

If you use master / 2.9. the patch is already included.

dear db1981.

Thank you for answer.

I will try reinstalling using the uspace preempt rt you mentioned.

Afterwards, I will test using the refClockSyncCycles="-1" setting.

If I have any questions during the process, I will ask them in the relevant post.

Thank you very much.