Peter Nachtwey
Member
Getting a trend of the control output, target position and actual position is a must. For a velocity control application substitute velocity for position. Sometimes is is handy to plot all 5 items which is the default on our software.
There is so much that can be determined by just looking at the trend.
If the trend is long, such that there are commands issued during the trend, it is good to have another line or pen that moves when a move command issued. For instance, after every motion command set a variable unique to that command and plot it. This way it is easy to tell when the commands were issued.
Also, it is best to update the trend as fast as possible. Much can happen between two samples 10 milliseconds apart.
There is so much that can be determined by just looking at the trend.
If the trend is long, such that there are commands issued during the trend, it is good to have another line or pen that moves when a move command issued. For instance, after every motion command set a variable unique to that command and plot it. This way it is easy to tell when the commands were issued.
Also, it is best to update the trend as fast as possible. Much can happen between two samples 10 milliseconds apart.