Delta RMC151 - Manual (Page 52)

RMC70/150 and RMCTools User Manual
Example:
c. Repeat the previous step for the other command button. Enter the same velocity,
acceleration, and deceleration, but a different position.
6. Set Symmetrical/Ratioed
If your system behaves differently in each direction of motion, you will need to set the
Symmetrical/Ratioed parameter is set to Ratioed. This will provide two Velocity Feed
Forwards, one in each direction of motion. The other gains will be ratioed according to the
Velocity Feed Forwards, resulting in the same control in both directions.
If you have a single-rod hydraulic cylinder, choose Ratioed.
The Symmetrical/Ratioed parameter can be accessed in the Tuning Tools on the Tune
tab in the Axis Parameters section. Remember to download the changes by clicking the
Download button.
Tuning Steps:
These steps are for adjusting the tuning gains. Use the Tuning Tools for these steps.
6. Adjust the Proportional Gain
The Proportional Gain must be adjusted to gain some control over the system for
continuing the tuning procedure. You will fine-tune it later.
• Start with a small value of Proportional Gain. Remember that it is a floating point
number, and you may have to start with a number smaller than 1, depending on your
system. When you change the gain, click the Download button to apply the
change to the RMC.
• From the Command Tool, issue the Move Absolute (20) command to move the axis.
Tip:
For a typical hydraulic cylinder, the Accel and Decel parameters of the Move
absolute command should be on the order of 20 -100. The speed is typically
between 1 and 30.
• Slowly increase the Proportional Gain as you make moves. Increase it until the
following are true:
o The Actual Position gets to the Command Position reasonably quickly.
32 Delta Computer Systems, Inc.