Delta RMC101 User Manual
Page 34
RMC100 and RMCWin User Manual
2-6
• A Hydraulic Position Axis or Motor in Velocity Mode
• A Motor in Torque Mode
• A Position/Pressure System
Tuning Wizard
RMCWin provides a time-saving tuning wizard that calculates the gains based on plots of the
motion. For details, see the Tuning Wizard topic.
General Tuning Guidelines
Keep these general guidelines in mind throughout the tuning procedure.
There is no substitute for experience when tuning an axis. The procedures offer some guidelines,
tips, and suggestions for tuning your system. While the steps will work for many systems, they
may not be the best for a particular system.
• The tuning procedure is a reiteration of the following general steps. Use these steps throughout
the tuning procedure:
• Make a move. See the Go (G) command for making moves.
• View the plotted move. See Plots for more information. Viewing the plot will help you
determine which parameters must be changed.
• Change a parameter. See Parameter Area for information on changing parameters in the
RMC.
• Repeat these steps using the same move until the parameter is at the desired value. See
Using Stored Commands for repeating moves.
• Use the Sum of Errors Squared in the RMCWin plotting utility to determine how the last
parameter change affected the system. The Sum of Errors Squared indicates how closely the
Actual Position is tracking the Target Position. If this number decreases significantly, the last
parameter change was good. If this number increases significantly, the last parameter change
was bad.
• Remember, that in order to use the Sum of Errors Squared to compare moves, the moves must
be identical.
• Begin the tuning procedure with long, slow moves and low Accelerations. This will prevent you
from losing control of and potentially damaging the system.
• To obtain the greatest tuning precision, use the shortest Plot Time possible. This will spread the
move across the entire plot window and allow you to see precisely how the system is
responding.
• You may want to turn off some of the Auto Stop bits. The Auto Stop turns off the Drive if an error
occurs. In the initial stages of tuning, a Following Error or other error may occur, causing an
undesired halt. Setting these bits to "Status Only" will make the RMC ignore the errors so you