Delta RMC151 - Manual (Page 810)

RMC70/150 and RMCTools User Manual
Supported Axes: Pressure or Force Control Axes
Firmware Requirement: 1.00 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Requested Pressure/Force (Pr or Fr) any
2 Ramp Time (sec) ≥0
Description
This command ramps the Target Pressure/Force to the Requested Pressure/Force in
the time specified by the Ramp Time parameter. The ramp is an s-curve generated by a
5th-order polynomial. This command will not put the axis in pressure/force control if it is
not already in pressure/force control.
If the pressure or force is changing when this command is issued, and the Requested
Pressure/Force requires that the pressure/ force must change direction, it is possible
that the pressure/force may reach a large value before turning around, especially if the
Ramp Time is large.
The Pressure/Force can also be ramped with other commands:
• Ramp Pressure/Force (Rate) (18)
• Ramp Pressure/Force (Linear) (42)
For more details, see the pressure/force control or pressure/force limit topics.
Status Bits
At Pressure/Force
When the axis is in Pressure/Force control or Pressure/Force Limit and the Target
Pressure/Force reaches the Requested Pressure/Force and the Actual Pressure/Force
is within the At Pressure/Force Tolerance window from the Target Pressure/Force, the At
Pressure/Force Status bit will be set. This bit indicates that the ramp is complete and the
axis is at the pressure or force.
Pressure/Force Control
The Pressure/Force Control Status bit indicates that the axis is in closed-loop pressure or
force control.
Pressure/Force Limit Enabled
This bit indicates that pressure/force limit is enabled. If an axis is in pressure or force
control, pressure/force limit will not be active. If the axis exits pressure/force control to
open loop or closed-loop position or velocity control, it will enter pressure/force limit if the
Pressure/Force Limit Enabled bit is on.
Pressure/Force Limited
This bit indicates that pressure/force limit is enabled and the axis is limiting the
pressure/force. If an axis is in pressure or force control, pressure/force limit will not be
active and this bit will not be set.
Pressure/Force Target Generator Bits
The Pressure/Force Target Generator bits in the Status Bits register indicate which
portion of the move the axis is currently in. These bits are useful when programming
complex motion sequences.
Pressure/Force Target Generator Done bit
This bit indicates that the Target Pressure or Target Force has reached the Requested
Pressure/Force. If the ramp is interrupted, e.g. due to a halt, the done bit will not be
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