Delta RMC151 - Manual (Page 807)

8 Command Reference
Status Bits
At Pressure/Force
If 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 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 Target Generator Bits
The Pressure/Force Target Generator bits in the Status Bits register indicate which
portion of the move the axis is currently in. These bits are useful when programming
complex motion sequences.
Pressure/Force Target Generator Done bit
This bit indicates that the Target Pressure/Force has reached the Requested
Pressure/Force. This bit will be set immediately when this command is issued.
Pressure/Force Target Generator State A and B bits
The Target Generator State A and B bits will always be zero during this command.
8.5.1.2. Command: Stop Pressure/Force (43)
Supported Axes: Pressure or Force Control Axes
Firmware Requirement: 1.50 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Pressure/Force Accel Rate (Pr or Fr) ≥ 0
Description
This command stops the Pressure or Force target. The Target Pressure/Force will come to
a stop at the rate specified by the Pressure/Force Accel Rate and the Command
Pressure/Force will be set to the target. If the Accel Rate is zero, the Target
Pressure/Force will stop immediately.
This command will not affect the state of pressure or force control. That is, if the axis is in
pressure or force control, or pressure or force limit, this command will not take it out of
that state, nor will it put it into pressure or force control if it was not in pressure or force
control.
Compare to Hold Current Pressure/Force (19) Command
The Hold Current Pressure/Force (19) command will immediately hold the current Actual
Pressure or Force, and will put the axis in pressure or force control if is not already. The
Stop Pressure/Force 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.
Status Bits
At Pressure/Force
This bit will not be set.
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