For others who find this thread: I just installed beta 3.3 and it's working correctly now, looks like root cause was in can communications.
Best posts made by DOP
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RE: Clearpath Servos with 1XD Expansion
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RE: Clearpath Servos with 1XD Expansion
@dc42 @jballard86 Either of you ever figure this out yet? i just setup with 2 clearpath servos i see 0 hiccups but the layer shifts are real! i'm on version RRF 3.2 via duet3 + Pi4 SBC.