Delta RMC101 - Manual (Page 233)

Position/Pressure Control 4.12
Controller Features 4-47
in. and ALT-5 to move to 20 in. The command will be issued to the axis where the cursor is
located.
• Using the Stored Commands, a move is made in this example from 2 in. to 8 in. The move will
take less time than what the Plot Time is set to so that the entire move can be viewed.
• After making the move, press the Insert key. This opens the Plot window with the last move. It
looks like this:
o
The detail window in the plot may be opened by clicking Show Detail Window on the Data
menu. The detail window provides much useful information.
o
In this plot, the colored lines represent:
o
Red Actual Position
Dark Blue-Green Target Position (Desired Position)
Blue Actual Speed
Pink Target Speed
Green Drive Output (volts)
Yellow Pressure
o
Note the Sum Error Squared. This number gives an indication of the position error
throughout the entire move. If the same move is repeated, this value can be compared to
previous moves to determine whether the control has improved or worsened. If the number
decreases, the control has improved.
• If the system controls fairly well, which this one does, increase the speed. Here it is increased to
20.000 in/sec. The plot time can also be reduced to 2.
• Increase the proportional gain until some oscillation appears, then back off 10-20%. On this
system that point is about 70. The plot looks like this: