Command: Hold Current Pressure/Force (19)

Supported Axes:

Pressure/Force Control Axes

Firmware Requirement:

2.50 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	Integrator Preload (%)	-100% to 100%

Description

This command enters pressure or force control and holds the current Actual Pressure/Force. That is, the Command Pressure/Force and the Target Pressure/Force will be set to the Actual Pressure/Force, even if the axis is already in pressure/force control.

If the axis is in Pressure/Force Limit when this command is issued, the axis will switch to pressure/force control. Pressure/force limit is not active when the axis is in pressure/force control.

If the axis' pressure/force is changing quickly at the time you want to enter pressure/force control, you may want to use the Enter Pressure/Force Control (Auto) (44) or Enter Pressure/Force Control (Time) (45) commands instead.

The Integrator Preload specifies the value that the Integral Output Term should be set to when transitioning into pressure/force control. The Preload is specified as a percentage of the Output Scale (typically 10V), and is not affected by the pre-transition integrator state. Typically, this can be left at the default value of 0. If the pressure/force exhibits a drop upon entering pressure/force, increase this value to help smooth the transition.

Compare to Stop Pressure/Force (43) Command

The Stop Pressure/Force (43) command will stop the current Target Pressure or Force immediately or with a ramp, and will not affect the state of pressure control on the axis. The Hold Current Pressure/Force command will immediately hold the current Actual Pressure or Force, and will put the axis in pressure or force control if it is not already.

Status Bits

At Pressure/Force

If 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 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/Force has reached the Requested Pressure/Force. This bit will be set immediately when this command is issued.

Pressure/Force Target Generator State A and B bits

The Target Generator State A and B bits will always be zero during this command.