Festo CMMB-AS-0x User Manual

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PD_filter effect principle:
Position
Command
P
Px0.707
Px0.293
Time
Command After Filter
Command Before Filter
Filter TimeFilter Time
Figure 6-6: Pulse filter principle
6.5.1 Master-slave mode
The master-slave mode is a type of pulse train mode – PD_CW = 2. The pulse input for the slave controller
comes from an external incremental encoder or the encoder output of the master controller.
Encoder output (ENCO) signal resolution of the master controller is specified via Encoder_Out_Res.
Table 6-17: Master-slave mode
Panel
address
Internal
address
Type
Name
Description
Value
2340.0F
Int32
Encoder_Out_Res
Specify encoder output pulse number
for 1 motor encoder revolution
User defined
For slave controller parameter setting, please refer to upper introduction of pulse mode.
Wiring between the master and the slave is as follows:
ENCO_A34
ENCO_/A36
ENCO_B30
ENCO_/B32
ENCO_Z26
ENCO_/Z28
MA+ 27
MA- 29
MB+ 31
MB- 33
MZ+ 35
MZ- 18
Figure 6-7: Master slave wiring (example: from one CMMB controller to another)
6.6 Homing mode (6)
For some applications, the system needs to start from the same position every time after power on. In the
homing mode, the user can specify the system’s home position and a zero (starting) position.

Festo CMMB-AS-0x Specifications

General

Manufacturer	Festo
PWM frequency	20 kHz
Resolution of the analogue value	12 bit
Sampling time	1 ms
Number of digital inputs	4
Short circuit strength	Yes
Protection class	IP20
Communication Interface	CANopen
Category	Controller
Operating voltage range DC	18 - 30 V DC
Nominal operating voltage DC	24 V
Nominal value range voltage	0 ... 10 V
Nominal value range current	0 ... 20 mA
Storage Temperature	-20 ... 70 °C