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

7 Operating modes
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 209
Object 6080
h
: max_motor_speed
The object max_motor_speed gives the highest allowed speed for the motor in min
-1
. The object is
used to protect the motor and can be taken from the motor technical data. The speed setpoint value is
limited to this value.
Index 6080
h
Name max_motor_speed
Object Code VAR
Data Type UINT16
Access rw
PDO mapping yes
Units min
-1
Value Range 0 … 32768 min
-1
Default Value 32768 min
-1
Object 60FF
h
: target_velocity
The object target_velocity is the setpoint specification for the ramp generator.
Index 60FF
h
Name target_velocity
Object Code VAR
Data Type INT32
Access rw
PDO mapping yes
Units speed units
Value Range –
Default Value –
7.6 Speed ramps
Selected as modes_of_operation - profile_velocity_mode; the setpoint value ramp is also activated.
And so it is possible to limit a jump-like setpoint change to a specific speed change per time via the
objects profile_acceleration and profile_deceleration. The controller not only permits specification of
different values for braking deceleration and acceleration, but also differentiation between positive and
negative speed. The following illustration depicts this behaviour:

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