Delta RMC151 - Manual (Page 812)

RMC70/150 and RMCTools User Manual
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/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/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
8.5.1.6. Command: Enter Pressure/Force Control (Auto) (44)
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 Requested Pressure/Force (Pr or Fr) any
2 Ramp Type
• Linear (0)
• S-curve (1)
A valid integer as
described
3 Integrator Preload (%) -100% to 100%
Description
This command enters pressure or force control and then ramps the pressure or force to
the Requested Pressure/Force in the manner specified by the Ramp Type. The rate of
the ramp is automatically determined based on the Actual Pressure Rate or Actual Force
Rate at the time this command is issued.
This command is especially designed for transitioning from position or velocity control to
pressure or force control while the axis is moving.
792 Delta Computer Systems, Inc.