Delta RMC101 - Manual (Page 236)

RMC100 and RMCWin User Manual
4-50
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The Sum Error Squared decreased to 13,000!
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The overshoot disappeared.
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The Extend and Retract Feed Forwards are generally not the same for hydraulic systems.
• The position is now tuned. To check that this will work at higher speeds, increase the Accel and
Decel to 300 and the speed to 40000. The plot (plot time = 1 sec) looks like this:
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The parameters work well for the higher speed (no lagging, overshoot or oscillation), and
will be left unchanged.
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The Sum Error Squared increased, but that is only because of the higher speed, which
inherently results in greater position errors.