Delta RMC151 - Manual (Page 168)

RMC70/150 and RMCTools User Manual
Scaling the feedback converts it from volts or current to useful units such as pounds,
newtons, etc. To scale the feedback, use the Pressure/Force Scale/Offset Wizard.
1. In the Axis Tools, in the Axis Parameters Pane, on the Setup tab, in the Tools and
Wizards section, in the axis column you are using, click Launch to open the
Pressure/Force Scale/Offset Wizard.
2. Complete the wizard, then download the parameters. Make sure to update Flash and
save your project.
3. After scaling, move the axis and apply pressure/force and verify that the correct
Actual Pressure or Actual Force is displayed in the Axis Status Registers in Axis Tools.
Tune the Pressure/Force
See Tuning a Pressure/Force Axis.
Enter Pressure or Force Control
To enter pressure or force control, issue one of the following commands:
• Hold Current Pressure/Force (19)
This command will enter pressure/force control and hold the current pressure/force .
This command is a good choice if your axis is stopped or moving slowly.
• Enter Pressure/Force Control (Time) (45)
This command will enter pressure/force control and then ramp to the requested
pressure/force within the specified time.
• Enter Pressure/Force Control (Auto) (44)
This command will enter pressure/force control and ramp to the requested
pressure/force. The ramp is automatically calculated based on the current rate of
change of the Actual Pressure or Force. This command is designed to be used when
the system is moving and the Actual Pressure or Force is rising quickly, which
indicates the axis is encountering the resisting pressure/force. This command can
provide a very smooth transition from position to pressure control while the system is
moving.
• Enter Pressure/Force Control (Rate) (46)
This command will enter pressure/force control and then ramp to the requested
pressure/force at the requested rate and acceleration.
When the axis is in pressure/force control, the Pressure/Force Control status bit will be
set.
Controlling Pressure or Force
Once the axis is in pressure/force control, you can issue any of the pressure/force
commands, including the commands that enter pressure/force control. For example, you
can ramp the pressure up or down, perform a sinusoidal profile, or follow a spline.
For details on each command, see the respective help topics.
• Ramp Pressure/Force (Rate) (18)
• Hold Current Pressure/Force (19)
• Ramp Pressure/Force (S-Curve) (41)
• Ramp Pressure/Force (Linear) (42)
• Stop Pressure/Force (43)
• Enter Pressure/Force Control (Auto) (44)
• Enter Pressure/Force Control (Time) (45)
• Enter Pressure/Force Control (Rate) (46)
• Sine Start (Prs/Frc) (76)
• Sine Stop (Prs/Frc) (77)
• Change Target Parameter (Prs/Frc) (81)
148 Delta Computer Systems, Inc.