Delta RMC151 - Manual (Page 809)

8 Command Reference
This command ramps the Target Pressure or Force to the requested Pressure or
Force at the rate specified by the Pressure/Force Rate parameter. It will accelerate to
that rate as specified by the Pressure/Force Accel Rate. This command will not put the
axis in pressure/force control if it is not already in pressure/force control.
If the Pressure/Force Accel Rate is zero, it will mean infinite acceleration and the
Pressure/Force will simply ramp linearly using the specified Pressure/Force Rate.
The Pressure/Force can also be ramped with other commands:
• Ramp Pressure/Force (S-Curve) (41)
• Ramp Pressure/Force (Linear) (42)
For more details, see the pressure/force control or pressure/force limit topics.
Status Bits
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
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 or Target Force has reached the Requested
Pressure/Force. If the ramp is interrupted, e.g. due to a halt, the done bit will not be
set because the commanded motion was not completed. Notice that this bit does not
indicate whether the Actual Pressure or Actual Force has reached the Requested
Pressure/Force.
Pressure/Force Target Generator State A and B bits
B
A Description
0 0 Pressure/Force is stopped (done)
0 1 Pressure/Force is accelerating
1 0 Pressure/Force is changing at a constant rate
1 1 Pressure/Force is decelerating
8.5.1.4. Command: Ramp Pressure/Force (S-Curve) (41)
deltamotion.com 789