Delta RMC101 - Manual (Page 232)

RMC100 and RMCWin User Manual
4-46
• Issue Open Loop (O) commands with small positive and negative drives to see if the cylinder
goes in the right direction.
• If the cylinder moves in the wrong direction, the wiring to the drive may be swapped, or Reverse
Drive mode can be selected in the Config word.
• Check the deadband. This system has a very small deadband, approx 5 millivolts, so we will not
worry about it.
• Set the gains and feed forwards to zero and issue a Set Parameters (P) command.
• Double-click the Axis 0 Auto Stop word (in the Parameters field).
o
Set the Overdrive, Integrator Windup and Overdrive bits to Status only. Note that is possible
only on systems where safety is not important.
o
Set the proportional gain to a small value, such as 5. Issue a Set Parameters (P) command.
o
Set the Plot Time for Axis 0 to 4.
o
Now make a move. The tuning process will consist of repeatedly making moves. To easily make
repeated moves, use Stored Commands.
o
To edit and view the Stored Commands, click Stored Command Editor on the Stored
Commands menu. The following window appears:
o
For example, ALT-1 on axis 0 will issue a Go cmd to 4000 at a speed of 2 in/sec, with
acceleration rates of 10 in/(sec*sec). These are common initial values for moving hydraulic
systems. Thes values are editable from this window.
o
To use the stored commands, click on any Axis 0 field, then press e.g. ALT-1 to move to 4