Ethercat random jitter fix

ihavenofish
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21 Mar 2026 09:32 #344564 by ihavenofish

Replied by ihavenofish on topic 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.

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grandixximo
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21 Mar 2026 10:14 - 21 Mar 2026 10:16 #344565 by grandixximo

Replied by grandixximo on topic Ethercat random jitter fix

Do you get resonance even with motors on bench?

Last edit: 21 Mar 2026 10:16 by grandixximo.

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ihavenofish
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21 Mar 2026 10:51 #344567 by ihavenofish

Replied by ihavenofish on topic Ethercat random jitter fix

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.

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grandixximo
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21 Mar 2026 11:12 #344570 by grandixximo

Replied by grandixximo on topic Ethercat random jitter fix

Could you share ini Hal and XML?

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ihavenofish
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21 Mar 2026 11:33 #344571 by ihavenofish

Replied by ihavenofish on topic Ethercat random jitter fix

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?

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grandixximo
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21 Mar 2026 12:49 #344573 by grandixximo

Replied by grandixximo on topic Ethercat random jitter fix

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.

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ihavenofish
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21 Mar 2026 13:35 #344574 by ihavenofish

Replied by ihavenofish on topic Ethercat random jitter fix

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

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grandixximo
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21 Mar 2026 14:23 #344575 by grandixximo

Replied by grandixximo on topic Ethercat random jitter fix

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

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ihavenofish
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21 Mar 2026 14:28 #344576 by ihavenofish

Replied by ihavenofish on topic Ethercat random jitter fix

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.

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