Delta RMC101 Manual do Utilizador descarregar pdf (Página 44)

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RMC100 and RMCWin User Manual

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generate this model by evaluating the response of the system to changes in the Drive output.

2. Choose Gains

You can then select gains appropriate to your system by using a simple slider indicating your

preference for the desired responsiveness of the system from "Conservative" to "Aggressive".

The tuning gains are automatically computed using this setting and the mathematical model that

was created for your system.

Warning: The gains calculated by this wizard are not guaranteed to be correct or safe. Before applying

auto-generated gains to an axis, you must first ensure that it is safe to move the axis and then be

prepared to instantly stop all motion via an Emergency Stop button.

Requirements

To successfully use the Tuning Wizard, you must be able to perform the items listed below.

• Move the axis in both directions in open loop control, or closed loop control if you are re-tuning

an axis.

• Take plots of both directions of motion. You can take these plots before using the Tuning

Wizard, as the wizard will ask you to provide the plots. There are further requirements on the

plots used to calculate the gains. For more details, see the Tuning Wizard: Obtaining Plots topic.

Notice that for symmetrical systems, only one plot is necessary.

2.2.3.6 Tuning Wizard: Obtaining Plots

The Tuning Wizard uses plots of the axis motion to compute the system model used for

calculating the gains. This topic provides requirements, tips and procedures for creating plots that

yield the best chances of creating an accurate system model.

Plot Requirements

1. Drive output must change during plot.

The plot must show the Drive output changing with corresponding movement on the axis.

2. Drive output should not cross the Null Drive value.

The Drive output should not cross the Null Drive value, which is typically near zero. That is, the

move should only be in one direction. If the system is symmetrical, this condition does not need

to be met.

Plot Tips

In addition to the requirements listed above, these tips will help improve the chances of creating

an accurate system model:

1. The plot should show a combination of rapid transitions and steady or smooth sections of the

Drive output.

2. The amplitude changes of the Drive output should be large enough so that they cause

significant motion on the axis.

3. The plot time should generally be 1 or 2 seconds. Systems with very large masses (>10,000

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