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



 

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.

Another thing that comes to mind, do your servos have braking feature? The clunking and the resonance could be related to that if you do have brakes, possibly they are not being properly managed? I use braking on my Z servo drive, and if I lock it when idle I have resonance as well, that's the only thing that comes to mind, also it does make a noise when it engages more of a click than a clunk, just my brain went there...

no braking features.
noise, I'm not sure how to really tell if there was. the cables are all cat6.