control. A Closed Loop Halt will not exit pressure or force control.
Releasing a Pressure or Force
Exiting pressure or force control when the actuator is exerting a force against a dead stop

may require careful consideration, especially if it is critical that the force does not

overshoot.
One method is to issue the Hold Current Position (5) command. However, the axis will

now be holding position, and since the Actual Position typically jumps around a bit, it may

cause an undesired increase in the force. Therefore, this may not be a good choice.
Another option is to issue a Move Absolute (20) to move back from the current position.

However, the Actual Velocity typical jumps around a bit, and if it moving in the direction

of increasing force at the instant the Move Absolute command is issued, then the Target

Position must first turn around, meaning that the force may actually increase before

decreasing.
Sometimes, the Open Loop Rate (10) command may work best because it alleviates both

of the aforementioned problems. The Quick Move Absolute (15) will also work well, with

the added benefit that it moves to a known position.

Pressure/Force Control Status Bits

The following status bits give the status of the pressure or force control. These tell you

what the control is doing, and can also be very useful in user programs.
At Pressure/Force
When the axis is in Pressure/Force control or Pressure/Force Limit and the Target

Pressure/Force reaches the Requested Pressure/Force and the Actual Pressure/Force

is within the At Pressure/Force Tolerance window from the Target Pressure/Force, the At

Pressure/Force Status bit will be set. This bit indicates that the ramp is complete and the

axis is at the pressure or force.
Pressure/Force Control
The Pressure/Force Control Status bit indicates that the axis is in closed-loop pressure or

force control.
Pressure/Force Limit Enabled
This bit indicates that pressure/force limit is enabled. If an axis is in pressure or force

control, pressure/force limit will not be active. If the axis exits pressure/force control to

open loop or closed-loop position or velocity control, it will enter pressure/force limit if the

Pressure/Force Limit Enabled bit is on.
Pressure/Force Limited
This bit indicates that pressure/force limit is enabled and the axis is limiting the

pressure/force. If an axis is in pressure or force control, pressure/force limit will not be

active and this bit will not be set.
Pressure/Force Target Generator Bits

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This manual is related to the following products:

RMC150 RMC70