Delta RMC151 - Manual (Page 825)

8 Command Reference
RMC150E: No limitations
Command Parameters
None.
Description
This command disables transitions on a pressure/force axis. When transitions are
disabled, issuing any pressure/force command that requires a transition will cause a
command error, which will halt the axis if the AutoStops are set to do so.
Transitions are useful for starting certain types motion even though the axis is not at the
correct starting point. For example, the Curve Start (Prs/Frc) (87), Sine Start (Prs/Frc)
(76), and Gear Absolute (Prs/Frc) (59) commands normally require that the Target
Pressure/Force be at the correct starting point. However, if a pressure/force transition has
been enabled (by issuing the Transition Rate (Prs/Frc) (64) command), then these
commands can be issued even though the axis is not at the correct starting point. The
axis will transition in the manner requested by the current transition mode. See the
Transition Rate (Prs/Frc) (64) command for details.
This command will not affect any transitions that are in progress. When the RMC powers
up, transitions are disabled on all axes. To enable pressure/force transitions, issue the
Transition Rate (Prs/Frc) (64) command.
8.5.3.3. Command: Transition Rate (Prs/Frc) (64)
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
Command Parameters
# Parameter Description Range
1 Prs/Frc Rate (Pr/s or Fr/s) Any REAL
number.
2 Prs/Frc Accel Rate (Pr/s 2 or Fr/s 2 ) Any REAL
number.
3 Transition Type
• Seek (0)
• Reach (1)
• Superimposed (2)
A valid integer as
described.
Description
This command enables transitions and defines the pressure/force rate and pressure/force
acceleration of the transition. This command does not start any motion. Rather, it will
apply when certain pressure/force commands are issued to the axis.
Transitions are useful for starting certain types of motion even though the axis is not at
the correct starting point. For example, the Gear Absolute (Prs/Frc) (59), Sine Start
(Prs/Frc) (76), and Curve Start (Prs/Frc) (87) commands normally require that the Target
Pressure/Force be at the correct starting point. However, if a transition has been enabled,
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