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

Festo CMMP-AS-***-M3 Series
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7 Operating modes
194 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Affected objects from other chapters
Index
Object Name Type Chapter
6040
h
VAR controlword INT16 6 Device control
6041
h
VAR statusword UINT16 6 Device control
6093
h
ARRAY position_factor UINT32 5.3 Conversion factors
6094
h
ARRAY velocity_encoder_factor UINT32 5.3 Conversion factors
6097
h
ARRAY acceleration_factor UINT32 5.3 Conversion factors
Object 60C0
h
: interpolation_submode_select
The type of interpolation is established via the object interpolation_submode_select. Currently, only
the manufacturer-specific variant “Linear Interpolation without Buffer” is available.
Index 60C0
h
Name interpolation_submode_select
Object Code VAR
Data Type INT16
Access rw
PDO mapping yes
Units
Value Range -2
Default Value -2
Value Interpolation type
-2 Linear Interpolation without Buffer
Object 60C1
h
: interpolation_data_record
The object record interpolation_data_record represents the actual data record. It consists of an entry
for the position value (ip_data_position) and a control word (ip_data_controlword), which specifies
whether the position value should be interpreted absolutely or relatively. Specification of the control
word is optional. If it is not specified, the position value is interpreted absolutely. If the control word
should also be specified, for reasons of data consistency, first subindex 2 (ip_data_controlword) and
then sub-index 1 (ip_data_position) are written, since data transfer is triggered internally with write
access to ip_data_position.
Index 60C1
h
Name interpolation_data_record
Object Code RECORD
No. of Elements 2

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Festo CMMP-AS-***-M3 Series Specifications

General IconGeneral
Power Supply24 V DC
Communication InterfacesEtherCAT, CANopen
Safety FunctionsSTO (Safe Torque Off)
Number of axes1
Protection ClassIP20
Control ModePosition, Velocity, Torque Control
FeedbackEncoder, Resolver
Ambient Temperature Range0 to 40 °C
Relative Humidity5% to 95% (non-condensing)
Storage Temperature Range-25 ... +70 °C

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