Delta RMC151 - Manual (Page 45)

2 Starting Up the RMC
The Tuning Wizard makes the tuning process very easy. The Tuning Wizard provides
autotuning and tuning based on existing plot.
Autotuning
Autotuning automatically moves the axis and then provides a range of gains from which
you can choose with a simple slider bar. The RMC autotuning can be used on many
systems. Even if autotuning is used, the user should posses a solid understanding of
manual tuning to ensure proper tuning.
Autotuning can be used for position axes, including rotary and linear axes, and motors in
velocity mode or torque mode. Autotuning does not support velocity, pressure, or force
axes, although pressure or force axes can be tuned using an existing plot as described
below.
See the Autotuning topic for details on how to perform autotuning.
Tuning Using an Existing Plot
The Tuning Wizard can be used to tune position, pressure and force axes based on plots
of motion that have been previously captured. If your axis cannot be autotuned, or if you
already have plots of the axis, you can use this method to tune your axis. See the Tuning
Wizard topic for more details.
Note: Plots chosen for the Use an Existing Plot method should have been captured in
capture mode. Do not use plots captured in trend mode, as they can cause inaccurate results.
Manual Tuning
Manual Tuning Procedures
Tuning procedures differ depending on the type of system. Please read the Tuning
Guidelines below before continuing to any of the tuning procedures. Click the following
links for suggested tuning procedures:
• Tuning a Hydraulic Position Axis or Motor in Velocity Mode - the most common
tuning procedure
• Tuning a Motor in Torque Mode
• Tuning Position-Pressure or Position-Force
• Tuning Pressure/Force
• Tuning Active Damping and Acceleration Control
• Tuning a Pneumatic System
Manual Tuning Guidelines
Keep the following guidelines in mind throughout the tuning procedure. There is no
substitute for experience when tuning an axis. The procedures offer some guidelines, tips,
and suggestions for tuning your system. While the steps will work for many systems, they
may not be the best for a particular system.
• Use the Tuning Tools
The Tuning Tools in the Plot Manager provide a single place where you can issue
repeated commands and change and download gains. In addition, plots are
automatically uploaded after a command.
• Reiterate these Steps:
The tuning procedure is a reiteration of the following general steps. Use these steps
throughout the tuning procedure:
1. Make a move
Typically, this is done using the Move Absolute (20) command. The Tuning
Tools provide two buttons to easily issue two commands, typically one for each
direction.
Tip:
For a typical hydraulic cylinder, the Accel and Decel parameters of the Move
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