Delta RMC151 - Manual (Page 806)

RMC70/150 and RMCTools User Manual
This bit will be set when the transition begins. Notice that this is when the motion
command is issued, not necessarily when the Transition rate command is issued. When
the transition actually takes place, this bit will be set until the axis "locks on".
8.5. Pressure/Force Control
8.5.1. Standard
8.5.1.1. Command: Hold Current Pressure/Force (19)
Supported Axes: Pressure/Force Control Axes
Firmware Requirement: 2.50 or newer
Hardware Limitations: RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Integrator Preload (%) -100% to 100%
Description
This command enters pressure or force control and holds the current Actual
Pressure/Force. That is, the Command Pressure/Force and the Target Pressure/Force will
be set to the Actual Pressure/Force, even if the axis is already in pressure/force control.
If the axis is in Pressure/Force Limit when this command is issued, the axis will switch to
pressure/force control. Pressure/force limit is not active when the axis is in pressure/force
control.
If the axis' pressure/force is changing quickly at the time you want to enter
pressure/force control, you may want to use the Enter Pressure/Force Control (Auto) (44)
or Enter Pressure/Force Control (Time) (45) commands instead.
The Integrator Preload specifies the value that the Integral Output Term should be set
to when transitioning into pressure/force control. The Preload is specified as a percentage
of the Output Scale (typically 10V), and is not affected by the pre-transition integrator
state. Typically, this can be left at the default value of 0. If the pressure/force exhibits a
drop upon entering pressure/force, increase this value to help smooth the transition.
Compare to Stop Pressure/Force (43) Command
The Stop Pressure/Force (43) command will stop the current Target Pressure or Force
immediately or with a ramp, and will not affect the state of pressure control on the axis.
The Hold Current Pressure/Force command will immediately hold the current Actual
Pressure or Force, and will put the axis in pressure or force control if it is not already.
Exiting Pressure/Force Control
To exit pressure/force control, send any open-loop command or closed-loop position
command to the axis.
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