Motor Lab

The three lessons change what the controller knows and what the target does.

1. 01

   Basic Drive

   Apply a fixed command, cut the power, and observe the arm coasting.

2. 02

   Stop on Target

   Use encoder feedback to enter and hold three progressively narrower zones.

3. 03

   Follow the Target

   Maintain alignment while the target moves, accelerates, and reverses.

The arm position, target position, and command can be inspected together.

123

1

Hold requirement

The station specifies a tolerance and hold duration. A brief crossing does not complete the hold.

2

Target, arm & duty

Compare the requested angle with the measured angle and motor command.

3

Physical response

The arm coasts after the motor command ends.

The plotted error is the difference between the target and measured joint position.

123

1

Completion

The summary reports two stations held. Completion depends on the sustained hold.

2

Crossing zero

A sign change indicates that the arm has passed the requested position.

3

Near-zero response

A small error can remain outside a narrow tolerance. Read it against the shaded zone.

Record the change, seed, and result so that successive runs can be compared.