How good is Ethercat motion control?

Now that I'm using my ethercat machine daily, I'm seeing some odd issues. Sometimes on startup it will trigger error b2 on the drives rapidly. this is apparently a timing conflict with modbus. Happens every dozen start ups.

Today i had a new one. I homed that machine, and then it began triggering joint errors and limits exceeded despite being nowhere near limits. i had to reboot the computer, and then it was fine.

If the machine starts "fine", it stays fine, but there is some flakeyness with the start up sequence.

Another thing I notice is when I tune my servos perfectly in the omron (usb) software, when they start under linux they are resonating, vibrating like 1 micron in travel. I don't know if that's a linuxcnc thing, and ethercat thing, or just a stupid omron thing.

Other than these quirks though, its great and I would not switch back for anything haha.