Festo CMMP-AS-***-M3 Series User Manual

5 Setting parameters
108 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Index 60FB
h
Name position_control_parameter_set
Object Code RECORD
No. of Elements 4
Sub-Index 01
h
Description position_control_gain
Data Type UINT16
Access rw
PDO mapping no
Units 256 = “1”
Value Range 0 … 64*256 (16384)
Default Value 102
Sub-Index 02
h
Description position_control_time
Data Type UINT16
Access ro
PDO mapping no
Units µs
Value Range 0
Default Value 0
Sub-Index 04
h
Description position_control_v_max
Data Type UINT32
Access rw
PDO mapping no
Units speed units
Value Range 0 … 131072 min
-1
Default Value 500 min
-1
Sub-Index 05
h
Description position_error_tolerance_window
Data Type UINT32
Access rw
PDO mapping no
Units position units
Value Range 1 … 65536 (1 R)
Default Value 2 (1/32768 R)

Festo CMMP-AS-***-M3 Series Specifications

General

Power Supply	24 V DC
Communication Interfaces	EtherCAT, CANopen
Safety Functions	STO (Safe Torque Off)
Number of axes	1
Protection Class	IP20
Control Mode	Position, Velocity, Torque Control
Feedback	Encoder, Resolver
Ambient Temperature Range	0 to 40 °C
Relative Humidity	5% to 95% (non-condensing)
Storage Temperature Range	-25 ... +70 °C