SCARA HMI
Monitor
Analysis
β Not connected
β Offline
Clear Graph
Connect
π E-STOP
βΈ WAITING
Ghost on
Ideal Path
Actual Path
Start Point
Target
Telemetry
Move 0
No active trajectory
Phase Portrait (ΞΈ vs ΞΈΜ)
Joint 1
Joint 2
EEF err
EEF vel
PWM
Position
Velocity
Serial Log
Move target
Xf
Yf
Elbow
Send Move
J1 β DC PID (Blue)
Kp1
Ki1
Kd1
Apply
J2 β Stepper PID (Orange)
Kp2
Ki2
Kd2
Apply
Microstep
Step Response Metrics
No data β complete a move first.
Advanced Analysis
Ideal vs Actual
No data β complete a move first.