Delta RMC151 - Manual (Page 808)

RMC70/150 and RMCTools User Manual
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
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 the move is complete, which occurs when the Target Pressure/Force
has stopped.
Pressure/Force Target Generator State A and B bits
B
A Description
0 0 Done
0 1 Reserved
1 0 Reserved
1 1 Decelerating to zero velocity
8.5.1.3. Command: Ramp Pressure/Force (Rate) (18)
Supported Axes: Pressure/Force Control Axes
Firmware Requirement: 2.70 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 Requested Pressure/Force (Pr or Fr) any
2 Pressure/Force Rate (Pr/s or Fr/s) ≥ 0
3 Pressure/Force Accel Rate (Pr/s 2 or Fr/s 2 ) ≥ 0
Description
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