Delta RMC151 - Manual (Page 51)

2 Starting Up the RMC
If the axis exhibits a deadband, you may need to use the Deadband parameters.
Check Whether the System Exhibits a Deadband:
a. Give increasing amounts of Output to the axis with the Direct Output (9) command
until the system starts to move.
b. The value of Output at which the system starts to move is your deadband. If this
value is approximately 0.4 V or greater, or if the axis begins to move quickly at the
deadband value, you should probably use the deadband parameters. If the point at
which it begins to move it is less than 0.4 V, it is left to the discretion of the designer.
Set the Deadband Parameters:
If you found that your system has a deadband, set the deadband parameters in the
following manner:
a. On the RMCTools toolbar, click the Axis Tools button .
b. In the Axis Parameters Pane, on the All tab, expand the Output section.
c. Set the Output Deadband parameter to the value of your deadband.
d. Set the Deadband Tolerance to a small value.
e. Click the Download button to apply the changes to the RMC.
3. Non-linear Valves
If you are using a non-linear hydraulic valve, set the valve linearization parameters as
described in the Valve Linearization topic. Delta does not recommend using a non-linear
valve if a linear valve is available.
4. Adjust the Output Bias
Some systems may drift significantly when the Control Output is at zero volts, which
may adversely affect control. Use the Output Bias parameter to adjust the output such
that the axis does not move when you issue an Open Loop command with zero volts
Control Output. The RMC always adds the Output Bias to the Control Output.
Check if your system need Output Bias:
a. Issue an Open Loop Rate (10) command to the axis. Use an Output of zero and a
Ramp Rate of 100.
b. If the axis moves significantly, you need to set the Output Bias.
Set the Output Bias:
a. In the Axis Tools, in the Axis Parameters Pane, on the Tune tab, enter a small
number in the Output Bias parameter, such as 0.05 V or -0.05 V.
b. Keep increasing (or decreasing) the number until the axis stands still.
c. Click the Download button to apply the changes to the RMC.
5. Set Up the Tuning Tools
In the Tuning Tools, set up the command buttons so that one button will move the axis
one direction, and the other will move it in the other direction.
a. Click the down arrow on the command button .
b. Enter the Position, Speed, Acceleration, Deceleration, and Direction (Nearest for
linear axes) for the Move Absolute command, then click OK.
Tip:
For a typical hydraulic cylinder, 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.
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