Command: Ramp Pressure/Force (Linear) (42)

Supported Axes:	Pressure or Force Control Axes
Firmware Requirement:	1.50 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 linearly ramps the Target Pressure or Force to the requested Pressure or Force in the time specified by the Time for Move parameter. This command will not put the axis in pressure/force control if it is not already in pressure/force control.

The Pressure/Force can also be ramped with other commands:

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/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/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/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