Delta RMC101 - Manual (Page 50)

Appendix B: Tuning RMC100 Startup Guide
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the axis. Note that not all systems allow the differential gain to be set high
enough for the drive to be "fuzzy".
A disadvantage of Differential Gain is that it amplifies position measurement
noise. If there is too much noise or the gain is too high, this can cause the
system to chatter or oscillate.
10. Increase System Speed
Gradually increase the Speed and Acceleration values while making long
moves. Look for following errors, overshoot, or oscillations.
− If an overdrive error occurs, there is not enough drive capacity to drive the
axis at the requested Speed or Acceleration. Should this occur, reduce the
Speed and/or Acceleration and Deceleration.
− If a following error occurs during acceleration and deceleration and
adjusting the Gains and Feed Forwards does not help, the Acceleration and
Deceleration ramps are too steep for the response of the system.
− Should the system seem a little sloppy, try adjusting the Proportional Gain.
− If the Drive is not high, the gains can probably be increased for better
control. If the Drive is too high, or an overdrive error occurs, the system is
not capable of performing the requested move. The Speed, and/or
Accelerations may need to be decreased.
− If the system vibrates while in position, the Dead Band value may need to
be increased.
The final tuning of the system should be made at the speed of intended
operation.
Tuning a Position/Pressure System
Tuning a position/pressure system is not a trivial task. In order to be successful, the
system must be set up properly. Read the Position/Pressure Setup, the
Position/Pressure Tuning Procedure, and the Position/Pressure Example in the
online help before beginning the procedure.
Position/Pressure Setup
Steps for Setting Up Position/Pressure Control:
1. Configure the Axes
Once the RMC is correctly wired to the transducers, the modules must be
correctly configured.
a) Configure the Position Axis
The following procedure is for configuring MDT modules. If you have a
different module, look up its configuration procedure in the on-line help.
i. Set blanking period (if required)
• If you have a clevis-mounted transducer, see MDT configuration
to change the blanking period from the default 21 ms to 5 ms,
otherwise do nothing here.
ii. Configuration word
• Double-click the Config Word for the MDT axis.
Index/tuning/position-pressure
Index/position-pressure
transition/position-pressure setup