[Greg McKaskle]

I reread the post with less bleary eyes and noticed that you said you received a watchdog error. The disable topic was about Safety Config, so I had them confused.

Watchdog is not on by default, and Safety is enabled only for the RobotDrive. Please determine which is on, try turning it off and verify that the symptoms change. If the jerking is being caused by WD or Safety, then it means you are missing deadlines. It may also mean you have a workaround.

Assuming you are missing deadlines, I'd verify you have no errors in the Diagnostics panel, as the current mechanism for catching errors and shuttling them to the window is quite heavy and can cause you to miss deadlines. If a missing jag is still being referenced, or a disable structure causes a wire to be bad and causes errors, ...

The disable issue is problematic to the original thread because most robots are in disable when they are being reimaged or reprogrammed. If disabled robots are throwing errors they take longer to respond and sometimes require a NoApp switch or similar. Making the disable code less CPU intensive due to errors seems like it will resolve many of these issues. I don't think disable has any impact in your robot's twitch.

Greg McKaskle