Delta RMC101 - Manual (Page 237)

Position/Pressure Control 4.12
Controller Features 4-51
This example is continued in the next topic.
4.12.5 Position-Pressure Example (Part 3)
This is part 3 of the complete step-by-step example of setting up and tuning a position/pressure
axis.
Part 3: Setting up for Pressure Control
Now that the position control is tuned, the pressure can be tuned. First, the step table must be set
up.
• Set up a step table to simplify entering pressure control. The step table is as follows:
Explanation of the steps:
TIP: To view the options selected in the Mode word of each Event Step, open the Event Step
table, enter the step exactly as it appears in the figure, and then double-click on the Mode
word for that step.
Step 0:
This step does nothing.
Step 1:
Issues a P command so the axis will hold position. Waits for 1/2 sec so the drive output will
stabilize for the next step.
Step 2:
Issues a Set Null Drive to Integral Drive (n) command. This updates the null drive (the drive
needed to hold position), which is critical for pressure control.