In axis on the pull down menu for Machine, there is an option to open Hal Scope.
You may want to read up on the manuals for Hal Scope.
The first time you open it it will open the configuration window. I usually set it to trace 4 signals sampling in the servo thread, which is plenty for most servo tuning.
You'll also want to click on Configuration in the Machine pull down menu of Axis as well. This is where you can input your changes to P, I, D, FF1, FF2... for testing and then save them permanently to your ini file.
There are several servo tuning tutorials specific to Linuxcnc. Search them out they can be quite helpful.
Todd
I've been reading BJT's servo tuning page and the Hal Manual about HalScope. But I am missing the idea of, do your run a short move program or how do you produce the data you want to chart. Some where someone mentioned you cant get it jogging.
So as usual I am lost.
I usually just do incremental jog moves for my movements.
For the trigger I usually set it to normal use the rising edge of the velocity command for the axis I'm testing as the trigger.
I like to plot the velocity command, velocity feed back, and the pid error.
I've got a interactive HalScope session running. Channel 1 is "axis.0.f-error", channel 2 is "axis.0.joint-vel-cmd", channel 3 is "axis.0.joint-vel-fb", and channel 4 is "axis.0.motor-cmd".
Using MDI mode to move X axis back and forth 1.0 inch at a time.
Run Mode is set to "Normal", Trigger is set to "Normal". I have tried all 4 channels as trigger but still don't get anything on the screen.
