Delta RMC151 - Manual (Page 65)

2 Starting Up the RMC
Do not give a lot of Integral Gain, just enough to make sure it eventually gets to the
Target Pressure/Force.
5. Ramp the Pressure/Force Up and Down
For the remainder of the tuning, repeat the following steps:
1. Ramp the pressure/force.
This can be done with the Ramp Pressure/Force (Linear) (42) or Ramp Pressure/Force
(S-Curve) (41) command.
2. Change a gain.
3. View the plot.
Tip: You can use the Tuning Wizard to calculate a model and use the Gain Calculator to
choose gains. After uploading a plot of pressure or force control, where the axis is controlling a
changing pressure or force, click the Tuning Wizard.
The Tuning Tools make this very easy. In the Tuning Tools, set up the command buttons
so that one button will ramp the pressure/force in one direction, and the other will ramp
it in the other direction.
• In the Tuning Tools, click one of the buttons labeled Click to set up.
• Choose the Ramp Pressure/Force (Linear) (42) or Ramp Pressure/Force (S-Curve) (41)
command and enter valid command parameters for your axis.
• Repeat the previous step on the other command button. Enter the same command,
except for a different Requested Pressure/Force.
• Click OK. Now you will see that the command buttons are labeled.
To ramp the pressure/force, just click one of the buttons, and the plot will automatically
be uploaded.
6. Adjust the Feed Forwards
Pressure/Force Rate Feed Forward
Ramp the pressure/force, and adjust the Pressure/Force Rate Feed Forward. Start with a
small value. The Pressure/Force Rate Feed Forward should help the Actual
Pressure/Force track the Target Pressure/Force during the ramp.
Pressure/Force Feed Forward
Most systems do not require the Pressure/Force Feed Forward. If your system exerts a
pressure or force that is roughly linear to the amount of Control Output, you may need
the Pressure/Force Feed Forward. To tune the Pressure/Force Feed Forward, move the
Target Pressure/Force to various values, and adjust the Pressure/Force Feed Forward
while the Target Pressure/Force is stationary. Do this for several value of pressure/force
to ensure the best Pressure/Force Feed Forward.
7. Re-adjust the Proportional and Integral
Ramp the pressure/force, and re-adjust the proportional and integral gains. This should
make it track better.
8. Adjust the Differential Gain
If you need better control, add some Differential Gain. The Differential Gain is typically a
couple orders of magnitude less than the Proportional Gain.
9. Tune the Transition
Now that both position and pressure/force are tuned, you can tune the transition between
position and pressure/force control or pressure/force limit.
deltamotion.com 45