Here are some more pictures.
The second plot is the new stuff. It breaks apart the status words and tracks them, bit by bit.
Here’s the second one, zoomed in to the instant the command position jumped.
The command position jump happened at sample #2766977.
I don’t see really see anything new. What I do notice is that the Triggered Modify bit went high on all three axes and the multiaxis within the same sample. Also, the estop/error state went high 2ms later on all three axes and the multiaxis.
I was half hoping to see one of those bits come on first, but since everytihng’s running way faster inside the RTOS than 1 KHz, the scope data just can’t illustrate it.