Delta RMC151 - Manual (Page 246)

RMC70/150 and RMCTools User Manual
Tuning Parameters
You can change the tuning parameters and then download
them to the controller by clicking the Download button. For
challenging tuning systems, you also have access to all the
axis parameters, just as in the Axes Parameters pane in the
Axis Tools.
Status Registers
This section provides you with basic axis information. For
example, the Actual Position is helpful so you know which
direction to move the axis.
You can choose which registers appear by clicking the
Customize Tuning Tools
button.
Command Buttons
Tuning involves repeatedly issuing the same commands to
move the axis back and forth. The command buttons ([Click
to Set up]) simplify this process. Click the button to customize
it.
Using the Tuning Tools
After you have set up your actuator and feedback, and completed the scale and offset,
you are ready to tune the axis. The following procedure describes how to use the Tuning
Tools to tune your axis.
Autotuning
Position Axes
To autotune a position axis, click Tuning Wizard and follow the wizard. After
completing autotuning, you must test the tuning by moving the axis. Read the
Manual Tuning section below to learn how to set up the command buttons to move
the axis and view plots of the motion.
Pressure or Force Axes
The Tuning Wizard can calculate gains for pressure or force axes given an existing plot
that shows the pressure or force changing. On the Pressure tab, click Tuning
Wizard.
Manual Tuning
This section describes how to use the Tuning Tools during the tuning process. It does not
describe the order of changing gains. For details on which gains to change when during
the tuning procedure, see the Tuning Overview topic.
1. Set Up the Command Buttons
For position axes, click the Position tab. For pressure or force axes, click the Pressure
or Force tab. Then, set up the command buttons so that one button will move the axis
one direction, and the other will move it in the other direction.
a. Click the down arrow on the command button .
b. Enter the parameters for the command, then click OK.
c. Make sure the correct plot template is selected.
226 Delta Computer Systems, Inc.