Delta RMC151 - Manual (Page 288)

RMC70/150 and RMCTools User Manual
4.17.3. Autotuning Wizard: Enter Move Parameters
Page
Previous Wizard Page Next Wizard Page
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.
On this page of the Autotuning Wizard, enter the parameters for the moves you will make. The
parameters specify the Control Output profile that will be used. These values you choose here
can be very important. For details, see the respective section below for your system type.
Hydraulic System or Electro-servo Motor in Velocity Mode
The Parameters
Starting Position (linear axes): This specifies the position at which you wish to start
each move. In the autotuning, you will be given the option of first moving the axis to this
starting position before doing the autotuning move. It is not necessary to move the axis
to the starting position. If you have selected two moves, each move will be limited by the
starting position of the other move. That is, if the Actual Position reaches the other
starting position, the axis will be halted. The autotuning will not necessarily use the entire
motion range. On a hydraulic system, the autotuning will typically require only a couple
inches. Therefore, you may be able to Move the Starting Positions for each move closer to
each other to avoid moving the axis so far just to start the autotuning move.
Move Limit (linear axes, single move): This defines the maximum length of the move.
If the Actual Position moves this distance from the specified Starting Position, the axis
will be halted.
Maximum Distance (rotary axes): This specifies the maximum distance the axis is
allowed to travel during autotuning. If the Actual Position travels farther than this
distance, the axis will be halted.
Move Direction: Specify which direction to move. If you are doing two moves, this
specifies the direction of the first move.
Output Voltage: Specifies the amount of Control Output voltage that will be applied
during autotuning. The default value of 3 volts is typically fine, but if you know the level
at which your axis will operating normally, you can set this to that value.
Ramp Rate: Specifies how fast the Control Output should ramp up to the specified
Output Voltage. This needs to be fairly high to provide enough information about the
system. For systems with fast response, you may wish to increase this value.
Plot Duration: This must be long enough to capture the entire move. If the entire move
is not captured, click back to this page and increase the plot duration. The plot duration
should be less than twice as long as the move time.
The Profile
For hydraulic systems or velocity mode motors, when you instruct the wizard to move the
axis, it will generate an open loop voltage profile similar to that shown below. Notice that
this move will not necessarily take up the entire range between the specified beginning
and ending points! On many hydraulic systems, the moves takes only a couple of inches.
268 Delta Computer Systems, Inc.