Delta RMC151 - Manual (Page 47)

2 Starting Up the RMC
1. Using plots of motion, the Tuning Wizard computes a mathematical model of the
system. The Tuning Wizard provides two methods of obtaining plots:
o Autotuning Wizard - Position Axes Only
The Autotuning Wizard automatically moves the axis as specified by the user.
With the plots generated by the motion, the Autotuning Wizard determines the
system model.
o Using Existing Plots - Position, Pressure, and Force Axes
For position axes, the user chooses existing plots of motion from which the
Tuning Wizard determines a system model. The existing plots must be listed in
the Plot History pane.
For pressure or force axes, the Tuning Wizard uses the currently displayed plot
to determine a system model.
2. The Gain Calculator uses the system model to determines valid gains. In the Gain
Calculator, the user positions a slider bar to pick from a range of appropriate gains for
the system. The Gain Calculator stays open, making it easy to move the axis to try out
various sets of gains. If a certain set of gains is not acceptable, simply move the slider
and click Apply to try out a new set of gains.
Using the Tuning Wizard
Position Axes:
1. Open the Tuning Wizard: In the Axes Parameters Pane, on the Tune tab, in the
Tools and Wizards section, on the Position Tuning Wizard row, click Launch. Or,
in the Plot Manager, on the Tuning tab, click Tuning Wizard.
2. Choose Use Autotuning Wizard if you would like RMCTools to move the axis and
compute a system model. Choose Use an existing plot if you already have plots of
motion of your system that can be used to compute a system model.
a. Autotuning
If you chose Use Autotuning Wizard, follow the instructions in the wizard.
For more detailed information, click the Help button in the wizard.
b. Use an Existing Plot
If you chose Select an existing plot, you must already have plots of motion
of your system in the Plot History pane. Make sure the Output Polarity was
correct when the plot was captured, that is, that a positive Control Output
results in movement in the direction of increasing position units.
For details on generating plots suitable for the Tuning Wizard, see the Creating
Plots for the Tuning Wizard topic.
3. After the wizard completes, it will open the Gain Calculator. For more details, see the
Gain Calculator topic.
Pressure or Force Axes:
1. First, generate a plot that shows the pressure or force changing. To generate a good
plot, do the following:
a. Set the Pressure/Force Proportional Gain to a small value. For systems scaled
in pounds, 0.01 is often a good starting value.
b. Move the axis to where it encounters pressure or force.
c. Use the Hold Current Pressure/Force (19) command to enter pressure or force
control.
d. Increase the Pressure/Force Proportional Gain until the Actual Pressure/Force
starts moving toward the Target Pressure/Force. It should not get all the way
toward to Target Pressure/Force. Give just enough gain to make sure it comes
somewhat close.
e. Use the Ramp Pressure/Force (S-Curve) (41) command to ramp the pressure
or force.
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