Delta RMC151 - Manual (Page 171)

3 Controller Features
• Control Axis
• 2 Inputs
• First Input: Select your position input type.
• Input Type: Pressure, Force (single-input), or Force (dual-input)
If you are using a single pressure transducer or load cell for the feedback,
choose Pressure or Force (single-input). If you are using two pressure
transducers for differential force feedback, choose Force (dual-input, diff.).
4. The Axis Definitions dialog will show you exactly which Control Output and analog
input(s) on the RMC will be used for the axis. You can change them if you wish.
5. Click OK on the Axis Definitions dialog. If you are online, these changes will be applied
to the controller. Make sure to update Flash and save your project.
Set Up and Tune the Position
Set up and tune the position control first. Refer to the Startup Procedure for details.
While tuning the position, you may need to set some of the pressure/force AutoStops to
Status Only to prevent any pressure/force errors from halting the axis.
Set Up the Pressure/Force Transducer Parameters
Make sure to set the following pressure/force parameters:
• Input Type: Choose Voltage or Current.
• Positive Pressure/Force Limit and Negative Pressure/Force Limit: These specify the
pressure or force in which the axis will be allowed to control in. If the Target
Pressure/Force exceeds these values, an error bit will be set and will halt the axis if
the AutoStops are set to do so.
Scale the Pressure/Force
Scaling the pressure or force feedback converts it from volts or current to useful units
such as pounds, newtons, etc. To scale the feedback, use the Pressure/Force Scale/Offset
Wizard.
1. In the Axis Tools, in the Axis Parameters Pane, on the Setup tab, in the Tools and
Wizards section, in the axis column you are using, click Launch to open the
Pressure/Force Scale/Offset Wizard.
2. Complete the wizard, then download the parameters. Make sure to update Flash and
save your project.
3. After scaling, move the axis and apply pressure or force and verify that the correct
Actual Pressure or Actual Force is displayed in the Axis Status Registers in Axis Tools.
Tune the Pressure/Force
See Tuning a Position-Pressure System.
Before tuning the pressure or force, you should read the rest of this topic to become
familiar with the pressure/force commands that will be used during tuning.
If the pressure/force is scaled in small units, such as psi, pounds, Pascal, or Newtons, the
gains will probably be very small. For example, you may want to start with a value of
0.01 for the Proportional and Integral Gain, and even smaller for the Differential Gain.
You can tune the pressure or force in either pressure/force control or pressure/force limit,
and it will control in either mode. For many applications, it is easiest to first tune the axis
in pressure control, even if you will be using pressure/force limit in your application.
Choose Pressure/Force Control or Pressure/Force Limit
At this point you should decide whether you will be using pressure/force control or
Pressure/Force Limit. With pressure/force control, the axis transitions from position
control to pressure/force control, and the pressure/force control is then independent of
the position control.
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