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

7 Operating modes
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 217
Object 6087
h
: torque_slope
This parameter describes the modification speed of the setpoint value ramp value. This is specified in
thousandths of the nominal torque per second. For example, the torque setpoint value target_torque is
raised from 0 Nm to the value motor_rated_torque. If the initial value of the intermediately switched
torque ramp should reach this value in one second, the value 1000 is written in this object.
Index 6087
h
Name torque_slope
Object Code VAR
Data Type UINT32
Access rw
PDO mapping yes
Units motor_rated_torque/1000 s
Value Range –
Default Value 0E310F94
h
Object 6088
h
: torque_profile_type
The object torque_profile_type specifies with which curve shape a setpoint value jump should be
executed. Currently, only the linear ramp is implemented in this controller, so this object can only be
written with the value 0.
Index 6088
h
Name torque_profile_type
Object Code VAR
Data Type INT16
Access rw
PDO mapping yes
Units –
Value Range 0
Default Value 0
Value Significance
0 Linear ramp

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