Delta RMC151 - Manual (Page 50)

RMC70/150 and RMCTools User Manual
3. Move the axis to test the gains. You can leave the Gain Calculator open while you
make moves.
Use the command buttons in the Tuning Tools to do this:
1. On the Tuning tab, click one of the command buttons labeled Click to set up.
2. Enter the position, velocity, acceleration, and deceleration for the Move
Absolute command. For systems scaled in inches, typical Accel and Decel
values are 10 to 100.
3. Do the same for the other command button, using the same velocity,
acceleration, and deceleration, but use a different position.
4. You can click the buttons you just configured to move the axis back and forth
to try your selected gains. The plots will automatically be uploaded so you can
see how the motion is performing.
4. Repeat until you are satisfied that the axis is controlling well.
2.3.6. Tuning a Position Axis
The following manual tuning procedure may be used to tune many position axes, hydraulic
axes and motors in velocity mode. This procedure works for Position PID control. Please read
the Tuning Overview topic before following this procedure. There is no substitute for
experience when tuning an axis. This procedure offers some guidelines, tips, and suggestions
for tuning your system. While these steps will work for some systems, they may not be the
best for a particular system.
Before beginning the tuning procedure, set all the gains and feed forwards on the axis to zero.
Tuning Procedure
Before beginning the tuning procedure, make sure you have completed the steps in the
StartUp Procedure up to the Tuning section. You must be able to move your actuator
properly (a positive Control Output causes increasing position) and have valid feedback.
Pre-Tuning Steps:
These steps come before actually tuning the gains.
1. Test Wiring and Polarity
This step is for verifying that the system wiring and setup is correct before doing any
closed loop control.
• In the Command Tool, issue a Direct Output (9) command to the axis. Use small
Output value, such as 0.050-0.150 V. Use a Ramp Rate of 100. If the axis does not
move, increase the Output until the axis begins to move.
DANGER: The Direct Output (9) command disables the safety features on the RMC!
Use this command carefully!
• A positive Control Output should yield increasing position units. If it does not, do the
following:
i. On the RMCTools toolbar, click the Axis Tools button .
ii. In the Axis Parameters Pane, on the Setup tab, toggle the Invert Output
Polarity parameter, then click the Download button .
• Issue a Direct Output (9) command again with a negative drive. This should yield
decreasing position units.
2. Check the Deadband
30 Delta Computer Systems, Inc.