Delta RMC101 - Manual (Page 45)

RMC100 Startup Appendix B: Tuning
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Appendix B: Tuning
After setting up your system, it must be tuned in order to control it. The better tuned
a system is, the better it follows the desired trajectory and holds position.
Tuning procedures differ depending on the type of system. This section contains
procedures that may work for the following systems:
• A Hydraulic Position Axis or Motor in Velocity Mode
• A Motor in Torque Mode
• A Position/Pressure System
Please read the "General Tuning Guidelines" before continuing to any of the tuning
procedures.
General Tuning Guidelines
Keep these general guidelines in mind throughout the tuning procedure.
There is no substitute for experience when tuning an axis. The procedures offer
some guidelines, tips, and suggestions for tuning your system. While the steps will
work for many systems, they may not be the best for a particular system.
• The tuning procedure is a reiteration of the following general steps. Use these
steps throughout the tuning procedure:
− Make a move. Use the Go (G) command for making moves.
− View the plotted move. See the Plots topic for more information. Viewing
the plot will help you determine which parameters must be changed.
− Change a parameter. To do this, edit the parameter in RMCWin and then
click to initialize the RMC100 with this value.
− Repeat these steps using the same move until the parameter is at the
desired value. See the Stored Commands topic for repeating moves.
• Use the Sum of Errors Squared in the RMCWin plotting utility to determine
how the last parameter change affected the system. The Sum of Errors Squared
indicates how closely the Actual Position is tracking the Target Position. If this
number decreases significantly, the last parameter change was good. If this
number increases significantly, the last parameter change was bad.
• Remember, that in order to use the Sum of Errors Squared to compare moves,
the moves must be identical.
• Begin the tuning procedure with long, slow moves and low Accelerations. This
will prevent you from losing control of and potentially damaging the system.
• To obtain the greatest tuning precision, use the shortest Plot Time possible.
This will spread the move across the entire plot window and allow you to see
precisely how the system is responding. See the Plot Time topic in the online
help.
• You may want to turn off some of the Auto Stop bits. The Auto Stop turns off
the Drive if an error occurs. In the initial stages of tuning, a Following Error or
other error may occur, causing an undesired halt. Setting these bits to "Status
Index/tuning/overview
Index/go
Index/plots/using
Index/stored commands/using
Index/plot time