screening / glitchy operation - sanity check

[dsc]

Ok I've tried the new approach with changes to the PR2 every 100ms, all works well on a scope and on the motor, although the motor still glitches now and then on start up. Have a look at the noise levels:



Huge is an understatement, this is measured directly on the plug to the driver, everything is grounded at this point, this includes:

- chassis of the machine
- motor
- driver
- screen on the PUL cable
- screen on the encoder cable

here's another print showing the noise levels with the motor stopped:



I'm surprised the thing doesn't trigger itself. If I unplug the motor and disconnect from the drive, the noise levels drop significantly:



The biggest question mark is the noise levels when I disconnect the screen on the PUL cable:



Grounding the screen seems to make things worse for some reason. Yes the screen is only connected on one side, the other side is tied back.

Regards,
dsc.