Festo CMMP-AS-C5-3A User Manual

Table of contents
6 Festo P.BE-CMMP-AS-3A-HW-EN 0708NH
4.2 Functions of the CMMP-AS servo positioning controller ............................... 35
4.2.1 Compatibility ............................................................................... 35
4.2.2 Pulse width modulation (PWM) .................................................... 36
4.2.3 Setpoint management.................................................................. 36
4.2.4 Controlled torque mode ............................................................... 37
4.2.5 Controlled speed mode ................................................................ 37
4.2.6 Torque-limited speed control ....................................................... 38
4.2.7 Synchronisation to external clock sources .................................... 38
4.2.8 Load torque compensation for vertical axes .................................. 38
4.2.9 Positioning and position control ................................................... 38
4.2.10 Synchronisation, electrical gearboxes ........................................... 40
4.2.11 Brake management ...................................................................... 40
4.3 Positioning control ..................................................................................... 40
4.3.1 Overview ..................................................................................... 40
4.3.2 Relative positioning ..................................................................... 41
4.3.3 Absolute positioning .................................................................... 42
4.3.4 Motion profile generator .............................................................. 42
4.3.5 Homing run ................................................................................. 42
4.3.6 Positioning sequences ................................................................. 43
4.3.7 Optional Stop input ..................................................................... 44
4.3.8 Contour control with linear interpolation ...................................... 44
4.3.9 Time-synchronised multi-axis positioning ..................................... 45
5. Functional safety engineering ..................................................................... 46
5.1 General information and intended use ........................................................ 46
5.2 Integrated "Safe standstill" function .......................................................... 48
5.2.1 General information / description of "Safe standstill" ................... 48
5.2.2 Secure stopping brake control...................................................... 50
5.2.3 Functional method / Timing ......................................................... 51
5.2.4 Typical applications ..................................................................... 54
6. Mechanical installation ............................................................................... 59
6.1 Important instructions ............................................................................... 59
6.2 Device view ............................................................................................... 61
6.3 Assembly ................................................................................................... 64
7. Electrical installation .................................................................................. 65
7.1 Connector pin assignments ........................................................................ 65
7.2 Entire CMMP-AS system ............................................................................. 66
7.3 Connection: Power supply [X9] ................................................................... 68
7.3.1 Layout on device [X9] ................................................................... 68
7.3.2 Counterplug [X9] .......................................................................... 68

Festo CMMP-AS-C5-3A Specifications

General

Brand	Festo
Model	CMMP-AS-C5-3A
Category	Controller
Language	English