Delta RMC151 - Manual (Page 62)

RMC70/150 and RMCTools User Manual
c. Repeat the previous step for the other command button, and enter a different value
for the Pressure/Force.
Tuning Steps:
1. Enter Pressure/Force Control
Set the Pressure/Force Proportional Gain to a small value, such as 0.01.
In the Tuning Tools, on the Pressure/Force tab, click the Hold Prs/Frc button to enter
pressure/force control. Then click one of the buttons you set up to ramp the Command
Pressure to the desired value.
You may wish to move the axis in open loop to where it encounters pressure/force before
you click the Hold Prs/Frc button.
If the axis halts due to an Output Saturated error, reduce the Proportional Gain and
repeat.
2. Adjust the Proportional Gain
Start with a small value. If the application is a hydraulic cylinder controlling force in
pounds, a typical starting value may be 0.01 or smaller.
In the Tuning Tools, on the Pressure/Force tab, notice that the Target
Pressure/Force and Actual Pressure/Force are displayed.
Keep increasing the 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 the Actual begins approaching the
Target.
3. Adjust the Integral Gain
Add some Pressure/Force Integral gain, approximately twice as much as the
Pressure/Force Proportional Gain. The Actual Pressure/Force should go towards the Target
Pressure/Force.
Do not give a lot of Integral Gain, just enough to make sure it eventually gets to the
Target Pressure/Force.
4. Ramp the Pressure/Force Up and Down
For the remainder of the tuning (steps 5, 6 and 7), repeat the following steps for each
gain parameter you change:
1. Ramp the pressure/force with one of the buttons you set up in the Tuning Tools.
2. View the plot.
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