Delta MMC120 - Manual (Page 18)

18
PC
NC
RX
TX
DTR
Ground
DSR
RTS
CTS
(9-pin female connector)
1
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3
4
5
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7
8 1
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MMC120
(9-pin male connector)
9
Shield
RX
TX
DTR
Ground
DSR
RTS
CTS
NC
Shield
TX
RX
RTS
CTS
DSR
Ground
NC
(25-pin female connector)
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3
4
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8 1
2
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4
5
6
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8
(9-pin male connector)
9
Shield
RX
TX
DTR
Ground
DSR
RTS
CTS
NC DTR 20
Tuning
There is no substitute for experience when tuning an axis. This section offers some
guidelines, tips, and suggestions for tuning your system. While these steps will work for
many systems, they may not be the best for a particular system.
In many hydraulic systems the feed forward parameters (
EXTEND FEED FORWARD
and RETRACT FEED FORWARD ) are the most important parameters for position
tracking during a move. One way to adjust these parameters is to set the
DIFFERENTIAL GAIN and INTEGRAL GAIN to zero and the PROPORTIONAL
GAIN to a small value (between 1 and 5), then make long slow moves in both directions.
Adjust the EXTEND FEED FORWARD and RETRACT FEED FORWARD until the
axis tracks within 10% in both directions. In hydraulic systems, the EXTEND and
RETRACT FEED FORWARD terms will differ by the ratio of the extend and retract
piston areas.
Alternately, you can find the appropriate value for the FEED FORWARD terms by
making moves with the axis at a SPEED of 10,000 or 10 inches/second. The amount of
output drive required to maintain this SPEED is the correct value for the FEED
FORWARD parameter.
A third approach is to use the
Set Feed Forward command. This command, used after a
move without oscillation or overdrive on an axis, will automatically adjust the FEED
FORWARD parameter for the direction of that move.