Delta RMC151 - Manual (Page 814)

RMC70/150 and RMCTools User Manual
At the beginning of the plot, the position is increasing. At 0.5 seconds, the Actual
Pressure starts increasing. When the Actual Pressure reaches 1000 at approximately 0.56
seconds, the Enter Pressure/Force Control command is issued and the axis smoothly
transitions to pressure control, and the Target Pressure ramps to 5000.
Exiting Pressure/Force Control
To exit pressure/force control, send any open-loop command or closed-loop position
command to the axis.
Status Bits
At Pressure/Force
When the axis is in Pressure or Force control and the Target Pressure or Force reaches
the Requested Pressure/Force and the Actual Pressure or Actual 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 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
set because the commanded motion was not completed. Notice that this bit does not
indicate whether the Actual Pressure or Actual Force has reached the Requested
Pressure/Force.
Pressure/Force Target Generator State A and B bits
B
A Description
0 0 Pressure/Force is stopped (done)
0 1 Pressure/Force is increasing
1 0 Reserved
1 1 Pressure/Force is decreasing
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