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

5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 111
Index 6065
h
Name following_error_window
Object Code VAR
Data Type UINT32
Access rw
PDO mapping yes
Units position units
Value Range –
Default Value 9101 (9101/65536 R = 50°)
Object 6066
h
: following_error_time_out
If a contouring error longer than defined in this object occurs, the related bit 13 following_error is set in
the statusword.
Index 6066
h
Name following_error_time_out
Object Code VAR
Data Type UINT16
Access rw
PDO mapping yes
Units ms
Value Range 0 … 27314
Default Value 0
Object 60F4
h
: following_error_actual_value
The current contouring error can be read out via this object. This object is specified in user-defined
increments.
Index 60F4
h
Name following_error_actual_value
Object Code VAR
Data Type INT32
Access ro
PDO mapping yes
Units position units
Value Range –
Default Value –

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