Delta RMC101 - Manual (Page 53)

RMC100 Startup Appendix B: Tuning
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commands numerous times. Doing this from a PLC or by typing commands in
RMCWin is very awkward. To simplify the process, Event Steps in RMCWin
should be used for setting up and tuning position/pressure control.
To perform position/pressure control, the following steps must be set up in the
Event Step Table:
1. Issue a P command so the axis will hold position.
2. Issue a Set Null Drive to Integral Drive (n) command. This updates the
null drive (drive needed to hold position), which is critical for pressure
control.
3. Move the axis to the correct starting position. Normally, the axis should be
at a position where the pressure is below the desired entry pressure
(Pressure Set A).
4. Set up the pressure control mode. This sets up the parameters that the
pressure axis will use when it enters pressure regulating mode. This is done
by issuing the Set Pressure (^) command.
Note: this step does not put the axis into pressure regulating mode.
This step sets up the following parameters:
Mode Sets Ramp Type, Ramp Time and Integrator
Mode
Pressure Set A Pressure at which Pressure control begins.
Pressure Set B Pressure at which Pressure control ends.
Ramp Time Time to ramp to commanded pressure.
Command Pressure The pressure the system will go to when
regulating pressure.
5. Move in the direction of increasing pressure with the monitor pressure bit
set (pressure monitoring mode). When the pressure reaches Pressure Set A,
the axis enters pressure regulating mode. The axis enters pressure control
according to the parameters previously set up by the Set Pressure
command.
6. Control the pressure as desired.
The following sample Event Step Table illustrates these steps:
Explanation of each step in the Event Step table: