Delta RMC151 - Manual (Page 821)

8 Command Reference
Note:
See the Position-Pressure and Position-Force Control topic for information on setting up a
position-pressure or position-force axis.
Entering Pressure or Force Limit Mode
This procedure is can be used to enter Pressure/Force Limit mode.
1. Make sure the Target Pressure/Force has been set to the desired value. For example,
the Ramp Pressure/Force (Linear) (42) command can be used to set the Target
Pressure/Force to the desired value.
2. Send the Set Pressure/Force Limit Mode (40) command to enable Pressure/Force
Limit.
3. Move the axis as desired. When the motion begins to affect the pressure, the RMC will
limit the motion such that the Actual Pressure/Force does not exceed the Target
Pressure/Force.
Note:
Pressure/Force Limit mode may 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.
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 (Linear) (42)
• Ramp Pressure/Force (S-Curve) (41)
• 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:
• Hold Current Pressure/Force (19)
• Enter Pressure/Force Control (Auto) (44)
• Enter Pressure/Force Control (Time) (45)
• Enter Pressure/Force Control (Rate) (46)
Exiting Pressure/Force Limit
An axis will exit pressure/force limit mode if any of the following occurs:
• The Set Pressure/Force Limit Mode (40) command is sent with the
Pressure/Force Limit command parameter set to 0 (Disabled).
• A Direct Output (9) command is sent to the axis.
• An Open Loop Halt or Direct Output Halt occurs on the axis.
• The Fault Controller (8) command is issued to the RMC.
For more details, see the Pressure/Force Limit topic.
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