I’ve observed that the current shunt noise on axis 0 is much higher than on axis 1. Has anyone the same problem and knows why? I am using the same motors on both axis and configured the same settings. I have already swapped the motors, so I could eliminate that it’s a motor/ mechanical issue.
Additionally, I feel a torque ripple on axis 0 when moving the motor in torque control mode. Does anyone know how to solve this problem?
Another observation that I made: when both axis are in torque control mode and I’m e.g. commanding a torque of 0 to axis 0 and a torque of 0.04 to axis 1, motor 0 begins to jiggle.
I am guessing the issues/ observations are related. I’de be glad for explanations and advices, thanks!