Make the motor follow.
Tune the controller. Watch motion and signals answer together.
Step response
Pin a run, change one setting, then compare the traces.
Frequency workbenchExplore the small-signal motor speed loop behind this controller setting.
Open loop L(z) = C(z)G(z) for the nominal motor, using the selected sample/hold period. Load, noise, anti-windup and motor parameter changes are excluded. A margin is a local design indicator, not a stability guarantee. T = 20 ms. Nyquist frequency: 157.1 rad/s.
Use the guided lead and lag experiments to change the controller, then compare the frequency response and time response.
Find the feedback loop
Read field notesWhere does the motor speed go after you change the target?
Use the response plot and the live target, actual speed and error readouts on one replay clock.
Move the target, then replay the response.
The large number is the gain; the smaller number is that term’s output at the replay cursor. Change one gain, then pin and compare the run.