Delta RMC101 - Manual (Page 761)

Appendix B: Command Field Reference
B-13
0xDF
This chart shows commands that can be issued to pressure axes:
Description ASCII Decimal Hex
Set Pressure Set A | 124 0x7C
Set Bias Drive B 66 0x42
Start Events E 69 0x45
Set Mode M 77 0x4D
Open Loop O 79 0x4F
Set Parameters P 80 0x50
Quit Events Q 81 0x51
Set Pressure Ramp Time \ 92 0x5C
Set Pressure ^ 94 0x5E
Set Pressure Set B _ 95 0x5F
Set Parameter on-the-fly None 208-223 0xD0-
0xDF
B.2 Pressure/Force Command Fields
B.2.1 Mode (Pressure/Force)
Default: 0x0000
Bits in the Mode word determine the way the RMC regulates pressure. Bit 15 is the MSB and bit 0
is the LSB.
Click here for the Mode Bit Map
Bit 5 - Ramp Mode Type
If this bit is set, the pressure ramps linearly. If this bit is cleared, the pressure ramp is an S-curve.
It is recommended that this bit be left cleared, as it is much smoother and easier for the hydraulic
system to track curved ramps. Notice that the Ramp Time field is used differently for the two
modes when entering pressure. In S-curve mode the entering pressure ramp is only a half ramp
(the deceleration), so only half the Ramp Time is used for the half ramp. Linear mode ramps have
no acceleration/deceleration phases, so the Ramp Time field always refers to the entire ramp and
is therefore not divided by two.