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

7 Operating modes
188 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Object 6081
h
: profile_velocity
The object profile_velocity specifies the speed that is normally reached at the end of the acceleration
ramp during positioning. The object profile_velocity is specified in speed units.
Index 6081
h
Name profile_velocity
Object Code VAR
Data Type UINT32
Access rw
PDO mapping yes
Units speed units
Value Range –
Default Value 1000
Object 6082
h
: end_velocity
The object end_velocity (end speed) defines the speed the drive must have when it reaches the target
position (target_position). Normally, this object must be set to zero so that the motor controller stops
when it reaches the target position (target_position). For continuous positioning, a speed different
from zero can be specified. The object end_velocity is specified in the same units as the object
profile_velocity.
Index 6082
h
Name end_velocity
Object Code VAR
Data Type UINT32
Access rw
PDO mapping yes
Units speed units
Value Range –
Default Value 0
Object 6083
h
: profile_acceleration
The object profile_acceleration specifies the acceleration with which the motor accelerates to the
nominal value. It is specified in user-defined acceleration units ( chapter 5.3
Conversion factors (factor group)).
Index 6083
h
Name profile_acceleration
Object Code VAR
Data Type UINT32

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