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

7 Operating modes
202 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
[acceleration
units]
Multiplier Multiplier
[acceleration
units]
[acceleration
units]
acceleration_factor
(6097
h
)
Profile
Acceleration
Profile
Deceleration
Quick Stop
Deceleration
velocity_encoder_factor
(6094
h
)
Profile
Velocity
quick_stop_deceleration (6085
h
)
profile_deceleration (6084
h
)
profile_acceleration
(
6083
h
)
velocity_demand_value (606B
h
)
position_actual_value (6063
h
)
Differentiation
d/dt
Velocity_actual_value (606C
h
)
velocity_demand_value (606B
h
)
velocity_control_parameter_set (60F9
h
)
Velocity
Controller
velocity_actual_value (606C
h
)
Window
Comparator
velocity_threshold (606F
h
)
velocity_threshold (606F
h
)
Timer
status_word (6041
h
)
velocity = 0
velocity_actual_value (606C
h
)
Window
Comparator
velocity_window (606D
h
)
velocity_window_time (606E
h
)
Timer
status_word (6041
h
)
velocity_reached
control effort
Fig. 7.9 Structure of the speed-regulated operation (profile velocity mode)

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