Delta RMC101 User Manual download pdf (Page 38)

100

101

RMC100 and RMCWin User Manual

2-10

Tuning Procedure

1. Do Open Loop Move

This step is for verifying that the system wiring and setup is correct before doing any closed loop

control. Issue an Open Loop (O) command with a small drive, such as 50-150. Increase the drive

until the axis begins to move. A positive drive should yield increasing counts. Issue an Open Loop

command again with a negative drive. This should yield negative counts.

Before continuing, verify that all the Gains and Feed Forwards are set to zero.

2. Check Dead Band

If your system has a large dead band, you will need to set the Dead Band Eliminator value. To

find your dead band, give increasing amounts of drive to the system with the Open Loop

command. The value of drive at which the system starts to move is your dead band. If this value

is approximately 400 or greater, the Dead Band Eliminator should probably be used. If it is less, it

is left to the discretion of the designer.

3. Adjust the Differential Gain

Torque motors generally do not have much damping. Damping must be provided for the system,

or it will be difficult to control. Providing some Differential Gain will effectively dampen the system.

Do the following:

a. Set all the gains to zero. Issue an Open Loop (O) command of zero.

b. Increase the Differential Gain. Issue a Set Parameters (P) command to put the axis in

closed loop control.

c. Repeat b until sufficient damping is obtained. There are several methods this can be done,

depending on the system:

• For small motors, rotate the motor manually to get a feel for the resistance to movement

(damping). Repeat step b until the damping is significant. If the motor chatters or

oscillates, decrease the gain.

• For systems that cannot be moved manually, repeat step b until the motor starts

humming (or chattering or oscillating) and then back the Differential Gain off

significantly, perhaps even 50%, to avoid oscillating later while making moves.

• For finer adjustment on large systems, repeat step b, and then momentarily (e.g. 5

milliseconds) give a drive output to the motor. The event step table can be used to do

this with the Open Loop command. This jolt to the system will provide a clear indication

of whether the Differential Gain is too high.

Do not set the Differential Gain too high! Remember that the point here is only to provide

some damping for continuing the tuning process. The Differential Gain will be fine-tuned later.

Keep in mind that motors often require a very high Differential Gain.

4. Adjust the Proportional Gain

Adding Proportional Gain will now improve system performance. Adjust the Proportional Gain by

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Delta RMC101 User Manual Page 38

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