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

5 Setting parameters
122 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Sub-Index 02
h
Description encoder_x10_numerator
Data Type INT16
Access rw
PDO mapping no
Units –
Value Range –32768 … 32767 (except 0)
Default Value 1
Sub-Index 03
h
Description encoder_x10_divisor
Data Type INT16
Access rw
PDO mapping no
Units –
Value Range 1 … 32767
Default Value 1
Sub-Index 04
h
Description encoder_x10_counter
Data Type UINT32
Access ro
PDO mapping yes
Units Increments (4 * number of lines)
Value Range 0 … (encoder_x10_resolution -1)
Default Value –
5.10 Incremental Encoder Emulation
Overview
This object group makes it possible to parametrise the incremental encoder output [X11]. As a result,
master-slave applications, in which the output of the master [X11] is connected to the input of the slave
[X10], can hereby be parametrised under CANopen.
Description of the objects
Objects treated in this chapter
Index Object Name Type Attr.
2028
h
VAR encoder_emulation_resolution INT32 rw
201A
h
RECORD encoder_emulation_data ro
201A
h
_01
h
VAR encoder_emulation_resolution INT32 rw
201A
h
_02
h
VAR encoder_emulation_offset INT16 rw

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