To pump supercritical carbon dioxide into a supercritical extractor without overpressure in the reservoir and to record the volume being delivered, the pumping speed is controlled and the volume pumped is determined from a pressure-related signal used in a feedback circuit. The feedback controls the velocity of pumping in conjunction with programmed values to avoid destructive reverse torque. A cam in the pump controls piston stroke, has a depressurization portion with an initial slope equal to but in the opposite direction of the final slope, rounded transition slopes, increasing linear velocity to the refill portion and constant velocity in the refill portion.