Ethercat random jitter fix

Hello
Please see the attached Files.

Thanks for looking through them.

~Takuya

@atsu

Your servo drivers support a period of 1250000

????

@TAKUYA

I see that you did not set pdo 1600 for your X drive was this on purpose?

I don't think the EK1100 needs the dconf line at all, but that should not effect, your DC seems ok, can you open the halscope, plot pll_err and app_phase? also servo-thread

also Sync0Shift should be half or 30% your cycle time, not 0
 

grandixximo wrote:

@atsu

Your servo drivers support a period of 1250000

????

Yes, they should. The manual states the following:

In the work mode, the synchronization cycle must be an integer multiple of 125 μs. Otherwise, the servo
drive will report Er74.0 (EtherCAT synchronization cycle setting is incorrect.)

Initially, I ran the drives with a period of 1000000 ns, but increased it to the current value couple months ago. Did it because in some rare instances I got "Unexpected realtime delay on task 0 with period 1000000" error in UI. I can try lowering it back to 1000000 ns to see if it makes any difference.

@ Atsu

I made a small change in my repo, get the new code, and make a new build then test, see if pll-err and pll-out get a value this time.

Thanks! Unfortunately I don’t have time to test this today, but will do it tomorrow at the earliest or Monday at the latest.

I will give it a shot. Thanks for the Feedback regarding my files 

So ive tried the new repo code and it still hasnt enabled dc-phase or shown any value for PLL-ERR or PLL-out except 0.

Im not sure if i plotted it correctly because i couldnt find the servo thread in halscope (is it servothread.time? ). However, please see attached image for pll-err and app-phase like requested.

Sync0Shfit was changed to 300000 aswell like you suggested