Delta RMC151 User Manual
Page 135
3 Controller Features
volume = the volume of trapped oil in the cylinder (in
3
)
For a 2
nd
order system. The damping factor is a unitless number. Hydraulic systems typical
from 0.3 to 0.8. If the load has a lot of friction, this value will become larger. A lower value
the system more difficult to control.
Specifies the maximum and minimum positions the simulator can move to. Notice that the
Maximum Compression distance goes beyond these limits. Setting the limits both to zero m
there is no limit. However, the RMC will simulate the feedback limit, whether it be counts,
current.
Simulates overlapped spools on hydraulic valves.
Simulates a null offset on hydraulic valves.
Used to calculate the forces during motion.
The max force of the system. Used when hitting the ends and in calculating the max speed
The maximum compression at the positive and negative physical limits. This simulates a sp
provide pressure or force feedback.
Once you have calculated the tuning parameters, you must set the positive and negative
travel limits and tune the axis according to the Tuning Position topic in order to move it.
Notice that on axes with analog feedback, if you move the simulated axis too far, it will
turn on the Transducer Overflow bit.
Troubleshooting
Applying Simulator Parameters
For best results, always change the Simulator axis parameters only from Axis Tools. If the
axis is in Simulate mode, and a simulator parameter is changed, the simulate model will
be suspended until the last simulate mode parameter register (Max Compression
[Fx:127]) has been updated. At this point, the new simulator model will be calculated and
the simulator model will be activated. When the simulator model is suspended, the Actual
Position will not move.
Simulator Unresponsive
In certain cases, the Actual Position may become unresponsive. One such case is if the
Actual Position is moved such that the Counts become zero on a linear MDT, SSI, or
Resolver axis.
If this occurs, you can reset the simulator by exiting and entering simulate mode:
1. In the Axis Tools, uncheck the Simulate Mode check box and download the axis
parameters.
2. Check the Simulate Mode check box and download the axis parameters. The Actual
Position will be set to the midpoint of the Positive and Negative Physical Limits.
Invalid Model
When the simulator parameters are changed, the RMC calculates the new simulator
model for the axis. This can take several control loops to complete. The axis uses the
model to simulate the motion. Due to the digital nature of the RMC, not all models are
valid. It is possible for the model generation to fail due to more subtle interactions
between the model parameters. Specifically, it is possible to have 2nd order models
rejected if the Natural Frequency is near its maximum, especially when the Damping
Factor is high.
If the simulator does not appear to be working, you may have an invalid model. Make
sure the simulator parameters are within their ranges. The valid ranges are given in the
help topics for each simulator parameter.
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