I don't own a RoboRio no, I am using a JETSON Nano with a USBtin to send and receive CAN messages and a STM32 that sends Joystick commands on the CAN bus.
For testing Ive set the Ramp to be very slow at only 5 ticks. I'm sending both control frames every 20 milli-seconds.
This morning I've been able to narrow down the problem to be related to my extra messages on the CAN-bus. In the picture in the first post, you can see the 0x180 message, which I use to transfer the values of some potentiometers, seems to cause a problem with the DMC60s, even through this message is completely unrelated to the DMC60 devices.
I further tested this by reducing the transmit period of this 0x180 message from 20ms down to 65ms, and the motor stuttering is drastically reduced.
I have tried changing the ID address of my extra message, but the problem seems to be just related to having the extra traffic on my CAN bus.
Is it possible that message collisions on the bus are causing problems for the DMC60c?