Delta RMC101 - Manual (Page 54)

Appendix B: Tuning RMC100 Startup Guide
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Step 0: This step is normally linked to after finishing a sequence. If the event
control is at step 0, it usually means the event control has stopped.
This step does nothing.
Step 1: Issues a P command so the axis will hold position. Waits for 1/2 sec
so the drive output will stabilize for the next step.
Step 2: Issues a Set Null Drive to Integral Drive. This updates the null drive
(drive needed to hold position), which is critical for pressure control.
Step 3: This step moves to 36.0 in. at 10 in./sec (assuming it is set up for a
resolution of 0.001 in., then 36000 = 10 in. and 10000 = 10 in.) It then
waits until bit 1 (the In Position bit) is on before continuing to the next
step.
Step 4: This step sets up the pressure parameters that will be used in step 5.
The Mode word is set up to Calculate Ramp Time and Integrator
Active Only at Pressure. Pressure Set A is 1000, Pressure Set B is 500,
and the Command Pressure is 5000. This step waits 0 msec and goes
to step 5. Note that the Ramp Time, set to 200, is not used since
Calculate Ramp Time has been selected.
Step 5: This step moves toward 40 in. with the Monitor Pressure bit set in the
Mode word. Once the pressure reaches Pressure Set A (as set in step
4), it will begin controlling pressure. It will go to a pressure of 5000 (
as set in step 4). This step waits until bit 0 (At Pressure) is on before
continuing to step 6.
Step6: This step changes the Command Pressure to 6000, with the same
Pressure Set A and B as in step 4 and a Ramp Time of 50. The
pressure will ramp to 6000, and then the step waits 1000 msec before
continuing to step 7.
Step 7: This step changes the Command Pressure to 5000, with the same
Pressure Set A and B and Ramp Time values as in step 6. The
pressure will ramp to 5000, and then the step waits for 1000 msec
before continuing to step 5. Steps 5 and 6 will repeat until a Quit
Events (Q) command is issued. Ramping the pressure up and down in
this manner is very useful when tuning the pressure. It is important
that the Ramp Time be fairly short, because parameters suitable for
slow changes (long Ramp Times) may make the system unstable for
fast changes.
Notes on using event control for position/pressure:
• To begin an Event Step sequence, enter the desired event number in the
Command Value field and issue a Start Events (E) command by typing "E"
in the Command field on the main screen.
• Before any commands may be issued to an axis, a Set Parameters (P)
command must be issued. This initializes the axis.
• Event control is only allowed on position axes. However, when a pressure
command is entered in an Event Step on a position axis that has an
assigned pressure axis, then the command is issued to the pressure axis
instead of the position axis.
• For a list of pressure commands that will be sent to the pressure axis, refer
to Command. Notice, however, that the Set Mode (M), Open Loop (O),