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Supported Axes: |
Position Control Axes |
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Supported Control Modes: |
See the Commands Overview topic for basic command information and how to send commands from PLCs, HMIs, etc.
Command Parameters
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# |
Parameter Description |
Range |
|---|---|---|
|
1 |
Control Behavior
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a valid integer as described |
Description
This command switches the axis to closed loop, unless it already is, and sets the Target and Command Positions equal to the Actual Position, and holds the current position. No ramping is done on the Target Position. This command should not be sent when the axis is moving at a significant speed, since this command will stop it suddenly. To slowly stop the axis, use the Stop (Closed Loop) (6) command instead.
It is not necessary to send this command after a closed loop command that will already hold the final position, such as the Move Absolute (20) command. Doing so will actually cause the axis to hold the current actual position, which is likely different from the initial commanded position.
The In Position Status bit is valid with this command.
Control Behavior
The Control Behavior parameter determines the way that the control mode is affected by this command. This parameter can have the following values:
Standard (0)
Not recommended for new designs.
The controller will try to maintain the current control output, setting the integrator or filtered output accordingly, and also taking into account the Velocity Feed Forward that results from the value of the Target Velocity at the time this command was sent. This means the Control Output will be affected by any noise on the velocity, which is typically undesirable since it may make the value of the Control Output unpredictable.
Reset (1)
The control output, integrator, and output filter are reset to zero, ignoring their states prior to this command being issued. This occurs in both Position PID and Position I-PD whether or not the axis is already in closed loop control. Notice that the Output Bias will still be applied.
This option is recommended for situations where you want the Control Output to start at zero volts unconditionally.
The Reset option is not available in RMC75/150 firmware versions prior to 3.53.3.
Maintain (2)
The controller will try to maintain the current control output, setting the integrator or filtered output accordingly. This option is recommended for situations where you want the Control Output to smoothly maintain it's value, such as transitioning from pressure/force to position control while a significant amount of control output is required to maintain position.
This option is preferred over the Standard (0) option, since this option does not include the velocity in its Control Output calculation, and therefore will give a more predictable, smooth transition on the Control Output. Since this command assumes the axis is not moving much prior to the command being sent, and will not have any velocity afterward, the velocity typically need not be taken into account.
The Maintain option is not available in RMC75/150 firmware versions prior to 3.65.0 or RMC200 firmware prior to 1.02.0.
Status Bits
In Position Bit
When the Actual Position is within the In Position Tolerance window from the Target Position, the In Position Status bit will be set. This bit indicates that the move is complete and the axis is at position.
Target Generator State Bits
The 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.
Target Generator Done bit
This bit turns on immediately, indicating the target is complete.
Target Generator State A and B bits
These will both be off.
See Also
Stop (Closed Loop) (6) command | List of Commands | Commands Overview
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