Delta RMC151 - Manual (Page 811)

8 Command Reference
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 increasing
1 0 Reserved
1 1 Pressure/Force is decreasing
8.5.1.5. Command: Ramp Pressure/Force (Linear) (42)
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 Requested Pressure/Force (Pr or Fr) any
2 Ramp Time (sec) ≥ 0
Description
This command linearly ramps the Target Pressure or Force to the requested Pressure
or Force in the time specified by the Time for Move parameter. This command will not
put the axis in pressure/force control if it is not already in pressure/force control.
The Pressure/Force can also be ramped with other commands:
• Ramp Pressure/Force (Rate) (18)
• Ramp Pressure/Force (S-Curve) (41)
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/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
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