Analyzing the anti-sway control

The variables shown in the following diagram are particularly well-suited for detailed analysis:

The SetpointValues.FromPG correspond to the setpoints calculated for the position order. Based on this, a correction profile is calculated that maps Out.ManipulatedValues. Added together, these variables result in the new setpoints Out.ModifiedSetpoints.

For analysis, the prepared trace template can be inserted and supplemented with the variables from Out.ManipulatedValues as needed. For more information, refer to chapter Trace function.