Set Position/Pressure Command

Character: c (lower case C)
Decimal: 99
Hexadecimal: 0x63
Command Value: Unused

Note: This command is supported in RMC100 CPU firmware dated 19980414 or later.

This command can be used in two modes, controlled by the Monitor Pressure bit in the Mode field:

Set Position (Monitor Pressure bit cleared)

This command sets the Command Position to the current Actual Position, and places the axis into closed loop control (thereby exiting open loop or pressure control). This results in the axis exiting open loop or pressure control and holding the current position. One practical use for this command is to follow it with a Relative Move command to back up a specified amount from the point where the axis exited pressure or open loop.

Set Pressure (Monitor Pressure bit set)

This command begins controlling pressure by holding the current pressure. Therefore the Command Pressure is set to the Actual Pressure and the axis enters pressure control mode. The Pressure Set A parameter is ignored as the threshold to enter pressure; however, the Actual Pressure must be above Pressure Set B when this command is issued or a Parameter Error will result (this is to avoid having the axis immediately exit pressure control). This command will generate a parameter error if the axis is already controlling pressure, as the actual Set Pressure command should be used to change the pressure.