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

7 Operating modes
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 201
After the synchronous travel process is ended, deletion of the bit enable_ip_mode prevents further
evaluation of position values.
Then the system can switch into another operating mode, if necessary.
Interruptions of interpolation in case of error
If an ongoing interpolation type (ip_mode_active set) is interrupted by occurrence of a controller error,
the drive first behaves as specified for the respective error (e.g. removal of the controller enable and
change into the status SWITCH_ON_DISABLED).
The interpolation can only be continued through a new synchronisation, since the motor controller must
be brought back into the status OPERATION_ENABLE, through which the bit ip_mode_active is deleted.
7.5 Speed Adjustment Operating Mode (Profile Velocity Mode)
7.5.1 Overview
The speed-regulated operation (Profile Velocity Mode) contains the following subfunctions:
– Setpoint value generation through the ramp generator
– Speed recording through differentiation via the angle encoder
– Speed regulation with appropriate input and output signals
– Limitation of the torque setpoint value (torque_demand_value)
– Monitoring of the actual speed (velocity_actual_value) with the window function/threshold
The significance of the following parameters is described in the Positioning chapter (Profile Position
Mode): profile_acceleration, profile_deceleration, quick_stop.

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