User Manual

RMC70/150 and RMCTools User Manual
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.
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.
8.5.3. Specialty
8.5.3.1. Command: Gear Absolute Prs/Frc (59)
Supported Axes:
Position Control Axes
Supported Control Modes:
Position PID, Position I-PD
Firmware Requirement:
2.70 or newer
Hardware Limitations:
RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
See the Commands Overview
topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
#
Parameter Description
Range
1
Master Register
Note: See Specifying a Register Address below.
Valid RMC register
2
Master Point A (Pr or Fr)
Any REAL number
3
Master Point B (Pr or Fr)
Any REAL number
4
Slave Point A (Pr or Fr)
Any REAL number
5
Slave Point B (Pr or Fr)
Any REAL number
6
Endpoint Behavior
• Fault (0)
• Truncate (1)
• Extrapolate (2)
A valid integer as
described.
Description
802 Delta Computer Systems, Inc.