Delta RMC101 User Manual download pdf (Page 46)

Appendix B: Tuning RMC100 Startup Guide

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Only" will make the RMC ignore the errors so you can tune the axis. This may

not be possible on some systems because of safety concerns. Remember to set

these bits to either "Soft Stop" or "Hard Stop" when you have gained sufficient

control of the axis.

• When changing the parameters, remember that they are not updated in the

RMC until the Set Parameters (P) command

is issued. They are not

stored into the RMC FLASH memory until the Update FLASH command

is issued.

Tuning a Position Axis

The following procedure may be used to tune many hydraulic position axes and

motors in velocity mode.

1. Set all Gains and Feed Forwards to zero

This is done by editing the values in the main RMCWin window. Then click

the

to initialize the RMC100.

2. Set the Null Drive

The drive it takes to hold the axis in position is referred to as the Null drive. If

the axis tends to drift significantly when you give it an Open Loop drive of 0,

you should set the null drive. This drive is then always added to the total drive

output and helps the RMC100 accurately follow the motion profile. To set the

null drive, issue a P command to hold the axis in position in closed loop, then

issue the N command.

3. 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.

4. Adjust the Proportional Gain

The Proportional Gain must be adjusted to gain some control over the system

for continuing the tuning procedure. Adjust the Proportional Gain by slowly

increasing it and making moves. When the system gets close to final position

reasonably quickly, continue to the next step. If the system begins to oscillate,

decrease the gain.

5. Adjust the Feed Forwards

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.

Make a long move without any oscillation or overdrive. Then issue the Set

Feed Forward command. This command will automatically adjust the Feed

Forward parameter for the direction of that move.

6. Adjust the Acceleration Feed Forwards

The Acceleration Feed Forward terms help eliminate following errors while

accelerating. It is particularly useful for systems moving large masses with

relatively small cylinders. Such systems often have a delay before the start of

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Delta RMC101 User Manual Page 46

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