Delta RMC101 User Manual download pdf (Page 49)

RMC100 Startup Appendix B: Tuning

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c) Repeat b until sufficient damping is obtained. There are several methods

to do this, 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 (see the Event Control help topic) 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.

5. Adjust the Proportional Gain

Adding Proportional Gain will now improve system performance. Adjust the

Proportional Gain by slowly increasing it and making moves. If the system

begins to oscillate, decrease the gain.

6. Adjust the Feed Forwards

In torque motor applications, feed forward parameters (Extend Feed Forward

and Retract Feed Forward) often do not require high values. Adjust these

parameters by making 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.

7. Adjust the Acceleration Feed Forwards

The Acceleration Feed Forward terms help minimize errors during acceleration

and deceleration. Increase the Extend and Retract Acceleration Feed Forward

terms until the errors disappear.

8. Adjust the Integral Gain

The Integral Gain is helpful for maintaining position. It will not significantly

affect tracking during short, fast moves. Increase the Integral Gain until the

system starts oscillating, then back it down some. Motors may require a high

Integral Gain.

9. Readjust the Differential Gain

Differential Gain tends to dampen out oscillations and help the axis track

during acceleration and deceleration. This will positively affect short, fast

moves.

Important: If you increase the Differential Gain, you may be able to increase

the Proportional Gain somewhat without causing the system to oscillate.

If the drive output during the constant velocity portion of the move is smooth,

the Differential Gain is perhaps not set high enough. The drive output may

look "fuzzy." This indicates that the drive is responding to the minute errors of

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Delta RMC101 User Manual Page 49

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