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

7 Operating modes
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 215
Object 6074
h
: torque_demand_value
By means of this object, the current nominal torque can be read out in thousands of the nominal torque
(6076
h
). The internal limitations of the controller (current limit values and I
2
t monitoring) are hereby
taken into account.
Index 6074
h
Name torque_demand_value
Object Code VAR
Data Type INT16
Access ro
PDO mapping yes
Units motor_rated_torque/1000
Value Range --
Default Value --
Object 6076
h
: motor_rated_torque
This object specifies the nominal torque of the motor. This can be taken from the motor's name plate. It
is entered in the unit 0.001 Nm.
Index 6076
h
Name motor_rated_torque
Object Code VAR
Data Type UINT32
Access rw
PDO mapping yes
Units 0.001 mNm
Value Range –
Default Value 296
Object 6077
h
: torque_actual_value
By means of this object, the motor's actual torque can be read out in thousanths of the nominal torque
(object 6076
h
).
Index 6077
h
Name torque_actual_value
Object Code VAR
Data Type INT16

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