Delta RMC101 - Manual (Page 238)

RMC100 and RMCWin User Manual
4-52
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 = 36 in. and 10000 = 10 in./sec) 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 (the point at which
pressure control begins) is 1000, Pressure Set B (the point at which pressure control ends) 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 1 (At Pressure) is on before
continuing to step 6.
Step6:
This step changes the Command Pressure to 6000, Pressure Set A to 500, Pressure Set B to
500, and sets the Ramp Time to 50. The pressure will ramp to 6000, and then the step waits 500
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 500
msec before continuing to step 7. Steps 6 and 7 will repeat continuously.
This example is continued in the next topic.
4.12.6 Position-Pressure Example (Part 4)
This is part 4 of the complete step-by-step example of setting up and tuning a position/pressure
axis.
Part 4: Tuning Pressure
The pressure is tuned with the following steps:
• Set the Proportional Gain on the pressure axis (Aux 2) to a small value, such as 2. Set all other
Aux 2 gains and feed forwards to 0 and issue a P command.
• Run the event sequence # 1. This will make a move that goes into pressure control and then
ramps between pressures. The plot looks like this: