# Force Control Mode Block Diagram

**URL:** <https://forum.deltamotion.com/t/force-control-mode-block-diagram/1172>\
**Category:** RMCTools\
**Created:** [April 13, 2023, 5:17pm UTC](https://forum.deltamotion.com/t/force-control-mode-block-diagram/1172 "2023-04-13T17:17:56Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![khonodel](https://forum.deltamotion.com/letter_avatar_proxy/v4/letter/k/90ced4/32.png) [@khonodel](https://forum.deltamotion.com/u/khonodel)\
**Post date:** [April 13, 2023, 5:17pm UTC](https://forum.deltamotion.com/t/force-control-mode-block-diagram/1172/1 "2023-04-13T17:17:56Z")

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Hi!

I was looking through the RMCtools Help webpage and found the position control PID diagram on [this page](https://deltamotion.com/support/webhelp/rmctools/#t=Controller_Features%2FControl_Modes%2FPosition_PID.htm) and was wondering if the diagram for force control is the same with Pos replaced with Frc?

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**Author:** ![Aaron\_Heinrich](https://forum.deltamotion.com/letter_avatar_proxy/v4/letter/a/54ee81/32.png) [@Aaron\_Heinrich](https://forum.deltamotion.com/u/Aaron_Heinrich)\
**Post date:** [April 14, 2023, 8:48pm UTC](https://forum.deltamotion.com/t/force-control-mode-block-diagram/1172/2 "2023-04-14T20:48:06Z")

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It isn’t a direct replacement of Position with Force, but it is not too complicated. Notice that the Force PID algorithm uses a rate term (analogous to a Velocity), but there are no additional derivative terms.

 ![image](https://forum.deltamotion.com/uploads/default/original/1X/01a43af34be7b52ff6b07cffe7a266fc6a01195f.png)

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<div class="post-metadata">

**Author:** ![khonodel](https://forum.deltamotion.com/letter_avatar_proxy/v4/letter/k/90ced4/32.png) [@khonodel](https://forum.deltamotion.com/u/khonodel)\
**Post date:** [April 14, 2023, 9:19pm UTC](https://forum.deltamotion.com/t/force-control-mode-block-diagram/1172/3 "2023-04-14T21:19:31Z")

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Perfect! Thats exactly what i need!