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Motor jerks when moving using an LMC078, LXM32S and OTB for remote IOs

LMC078 contorller with 2 LXM32S servo drives and a CANOpen OTB. When the servo motor is run using any move command (MC_Jog, MC_Movevelocity, MC_moverelative...), we have a jerk that occurs in regular intervalls (2 - 3 sec), regardless of the speed.
We don't notice the problem if we use the SoMove software to move the motor.

Product Line:

The OTB CANOpen I/Os should first be mapped to GVL variables then the GVL variables should be used in POUs called by a Motion Task.
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