Delta RMC151 - Manual (Page 993)

9 Register Reference
Parameter Tag Name Bit Number(s)
Integrator Mode IntMode 0-3
Symmetrical/Ratioed Symm 4
Pressure/Force Orientation PFOrientation 5-6
Gain Sets GainSets 7-11
Unidirectional Mode UniMode 12-14
For details on the values that each bit represents, see the respective parameter topic.
9.2.2.5. Pressure/Force Control
9.2.2.5.1. At Pressure/Force Tolerance
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.56, where n = 12 + the axis number
Secondary Control Axis: %MDn.76, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.56, where n = 24 + the axis number
Secondary Control Axis: %MDn.76, where n = 24 + the axis
number
System Tag: Pressure Axis: _Axis[n].AtPrsTolerance, where n is the axis number
Force Axis: _Axis[n].AtFrcTolerance, where n is the axis number
How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup
Axes Parameters Pane, Setup tab: Secondary Control Setup
Data Type: REAL
Units: Pr or Fr
Range: ≥ 0
Default Value: 10.0
Description
This parameter specifies a tolerance around the Command Pressure or Command Force.
In pressure/force control or pressure/force limit , when the Target Pressure/Force is at
the Command Pressure/Force, and the Actual Pressure/Force is within this tolerance, the
At Pressure/Force Status bit is set. The At Pressure/Force bit is not latched and will be
cleared if the axis moves outside the At Pressure/Force Tolerance.
9.2.2.5.2. Pressure/Force Error Tolerance
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.56, where n = 12 + the axis number
Secondary Control Axis: %MDn.76, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.56, where n = 24 + the axis number
Secondary Control Axis: %MDn.76, where n = 24 + the axis
number
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