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

5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 123
Object 201A
h
: encoder_emulation_data
The object record encoder_emulation_data encapsulates all setting options for the incremental en
coder output [X11]:
Through the object encoder_emulation_resolution, the output increment number (= fourfold number of
lines) can be freely set as a multiple of 4. In a master-slave application, this must correspond to the
encoder_X10_resolution of the slave to achieve a ratio of 1:1.
With the object encoder_emulation_offset, the position of the output zero pulse can be shifted com
pared to the zero position of the actual value encoder.
Index 201A
h
Name encoder_emulation_data
Object Code RECORD
No. of Elements 2
Sub-Index 01
h
Description encoder_emulation_resolution
Data Type INT32
Access rw
PDO mapping no
Units (4 * number of lines)
Value Range 4 * (1 … 8192)
Default Value 4096
Sub-Index 02
h
Description encoder_emulation_offset
Data Type INT16
Access rw
PDO mapping no
Units 32767 = 180°
Value Range –32768 … 32767
Default Value 0
Object 2028
h
: encoder_emulation_resolution
The object encoder_emulation_resolution is available only for compatibility reasons. It corresponds to
the object 201A
h
_01
h
.
Index 2028
h
Name encoder_emulation_resolution
Object Code VAR
Data Type INT32
Access rw
PDO mapping no
Units  201A
h
_01
h
Value Range  201A
h
_01
h
Default Value  201A
h
_01
h

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