Delta RMC151 - Manual (Page 902)

RMC70/150 and RMCTools User Manual
The Command Pressure or Force is the requested pressure or force. For Pressure or Force
Limit, this will hold the requested Pressure/Force Limit value.
9.2.1.7.9. Target Pressure/Force
Type: Axis Status Register
RMC70 Address: %MDn.60, where n = 8 + the axis number
RMC150 Address: %MDn.60, where n = 8 + the axis number
System Tag: Pressure Input: _Axis[n].TarPrs, where n is the axis number
Force Input: _Axis[n].TarFrc, where n is the axis number
How to Find: Axes Status Registers Pane, Basic tab
Data Type: REAL
Units: Pr or Fr
Description
In Pressure/Force control, the Target Pressure/Force is the instantaneous desired
Pressure/Force value for the axis.
In Pressure/Force Limit, the Target Pressure/Force is the pressure/force value that should
not be exceeded. The control algorithm will try to limit the motion such that the Actual
Pressure or Force does not exceed the Target Pressure/Force.
The Target Pressure/Force is calculated every loop by the target generator of the RMC.
When the axis is not in Pressure/Force Control or Pressure/Force Limit, the Target
Pressure/Force can still be ramped up or down, but will have no effect on control.
See Pressure/Force Control Overview for more details.
9.2.1.7.10. Target Pressure/Force Rate
Type: Axis Status Register
RMC70
Address:
%MDn.63, where n = 8 + the axis number
RMC150
Address:
%MDn.63, where n = 8 + the axis number
System Tag: Pressure Input: _Axis[n].TarPrsRate, where n is the axis number
Force Input: _Axis[n].TarFrcRate, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Feedback or Pressure/Force/Accel
Feedback
Data Type: REAL
Units: Pr/s or Fr/s
Description
Target Pressure/Force Rate is the rate of change of the Target Pressure/Force. The Target
Pressure/Force Rate is calculated every loop by the target generator of the RMC.
9.2.1.7.11. Cycles (Pressure or Force)
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