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

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 13
2.3 Configuration of CANopen stations on the CMMP-AS-...-M3
M3
This section is only applicable for the motor controller CMMP-AS-…-M3.
Several steps are required in order to produce an operational CANopen interface. Some of these set
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. As some
parameters are only effective after saving and reset, we recommend that commissioning with the FCT
without connection to the CANopen bus should be carried out first.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the offset of the node number, bit rate and activation of the bus communication via DIP
switches.
The status of the DIP switches is read once at Power ON / RESET.
The CMMP-AS takes over changes to the switch setting in ongoing operation only at the
next RESET or restart
2. Parametrisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
– Basic address of the node number
– Protocol CANopen DS 402 (Operating parameter tab)
– Physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopen master  Sections 2.5 and 3.

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