Delta RMC151 - Manual (Page 247)

4 Using RMCTools
Tip:
For a typical hydraulic cylinder position axis, the Accel and Decel parameters of the
Move absolute command are typically on the order of 10 to 100pu/sec 2 . The speed is
typically between 1 and 30pu/sec.
Examples:
d. Repeat the previous step for the other command button. For position axes, make sure
to enter the same velocity, acceleration, and deceleration, but a different position. For
pressure/force axes, use the same ramp time, but a different pressure/force value.
e. Click OK. Now you will see that the command buttons are labeled.
2. Send the Command
a. Click the command button for the direction you wish to tune. This will send the
command and automatically upload the plot from the RMC.
b. Click the other command button to move the axis back to where it was. This will send
the command and automatically upload the plot from the RMC.
3. Change a Gain
Based on the plot, change a gain, and download it.
a. Look at the plot that was automatically uploaded from the RMC and determine which
gain you wish to change. For details on which gains to change when during the tuning
procedure, see the Tuning Overview topic.
b. Click the Download button to download the change to the RMC.
4. Repeat
Repeat steps 2 and 3 until you are satisfied with the tuning, but keep these items in
mind:
a. For position axes, you can use the Adjust VFF button to have the RMC automatically
determine the Velocity Feed Forwards in both directions. Make a move, then click the
Adjust VFF button. Repeat for the other direction.
b. For pressure/force axes, you can use the Hold Prs/Frc button to enter pressure/force
control. For details, see the Tuning Pressure/Force topic.
c. Soon after you have gained decent control over the system, you should increase the
speed or rate of your moves to the speed or rate you expect to use during machine
operation.
deltamotion.com 227