Delta RMC151 - Manual (Page 176)

RMC70/150 and RMCTools User Manual
affect normal closed-loop motion even when the pressure is very low. Therefore, if
possible, do not enter Pressure/Force Limit until you need to.
4. Move the axis. When the motion begins to affect the pressure, the RMC will limit the
motion such that the Actual Pressure/Force does not exceed the Command
Pressure/Force. To make an axis go to a certain pressure/force, the axis must be
commanded to move to a point at or beyond the point where the pressure/force limit
is reached.
Use a User Program
It is often advantageous to make a User Program to handle the steps above. For
example, one step waits until the pressure reaches a certain level, and then goes to the
next step that enables pressure limit.
Example:
Changing the Target Pressure/Force
Once the axis is in pressure or force control, you can issue any of the following
pressure/force commands to change the pressure/force. For example, you can ramp the
pressure up or down, or perform a sinusoidal profile, or follow a spline. For details on
each command, see the respective help topics.
• Ramp Pressure/Force (Rate) (18)
• Ramp Pressure/Force (S-Curve) (41)
• Ramp Pressure/Force (Linear) (42)
• Stop Pressure/Force (43)
• Sine Start (Prs/Frc) (76)
• Sine Stop (Prs/Frc) (77)
• Change Target Parameter (Prs/Frc) (81)
• Curve Start (Prs/Frc) (87)
• Curve Start Advanced (Prs/Frc) (89)
DO NOT issue the pressure/force commands that enter pressure/force control, because
this will exit pressure/force limit:
156 Delta Computer Systems, Inc.