Delta RMC151 - Manual (Page 287)

4 Using RMCTools
Analog Acceleration Scaling
Analog Pressure/Force Scaling
MDT Scaling
SSI Scaling
Quadrature Scaling
Resolver Scaling
4.17.2. Autotuning Wizard: Welcome Page
Next Wizard Page
To access this wizard:
In the Axis Parameters Pane, on the Tune tab, in the Tools and Wizards section, on the
Position Tuning Wizard row, click Launch. Choose Use Autotuning Wizard and click
Next.
Or,
In the Plot Manager, on the Tuning tab, click Tuning Wizard. Choose Use Autotuning
Wizard and click Next.
This page of the Autotuning Wizard describes the autotuning procedure that the wizard will
lead you through.
Read the information and warnings. If you agree, check the check box and click Next. If not,
you will not be able to complete the wizard.
Additional Information
Activating the Axis
You will use the wizard to generate open loop motion. You specify the position range in
which to move and the voltage to apply. For more details on the open loop profile, see the
Autotuning Wizard: Move Parameters topic.
The plot(s) captured by the motion will be added to the Plot History just like all plots. After
the wizard completes, you can review the plots to see if they represented typical motion
on your machine.
Motion systems often do not behave identically at low speeds and high speeds. Therefore,
it may be wise to use the Autotuning Wizard as a first pass at tuning. Once the system is
controllable, you can capture plots of motion at the intended speed and conditions of
normal machine operation. These plots can then be used with the Tuning Wizard to
compute a system model that more accurately represents the system during its normal
operation.
Building the System Model
Once the plots have been captured, the wizard computes the mathematical model of the
system. These model parameters are part of the axis parameters and are accessible in
the Axes Parameters Pane, All tab, Feedback → Filtering/Modeling section. Once you have
saved your project and/or updated Flash, the model parameters generated by the wizard
will always be accessible to you.
Choosing Gains
After the system model parameters have been generated, the Gain Calculator will open,
where you can choose from a range of appropriate gains based on the system model. See
the Gain Calculator topic for more details.
The model parameters are saved as part of the Axis Parameters. If, after creating a
model, you have saved the axis parameters, you can open the Gain Calculator at any
time and choose a new set of gains based on that model.
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