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

CMMP‐AS‐...‐M3/-M0
282 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Index
A
Acceleration
– Brake (position) 189.....................
– Quick stop (position) 189.................
acceleration_factor 86.....................
Activate undervoltage monitor 94............
Actual position value (increments) 110........
Actual speed value 205.....................
Actual value
– Position in increments
(position_actual_value_s) 110.............
– Position in position units
(position_actual_value) 110...............
– Torque (torque_actual_value) 215..........
actual_dc_link_circuit_voltage 93............
actual_size 198...........................
analog_input_offset 128....................
analog_input_offset_ch_0 128...............
analog_input_offset_ch_1 128...............
analog_input_offset_ch_2 128...............
analog_input_voltage 127..................
analog_input_voltage_ch_0 127.............
analog_input_voltage_ch_1 127.............
analog_input_voltage_ch_2 128.............
Analogue inputs
– Input voltage 127........................
– Input voltage channel 0 127...............
– Input voltage channel 1 127...............
– Input voltage channel 2 128...............
– Offset voltage 128.......................
– Offset voltage channel 0 128...............
– Offset voltage channel 1 128...............
– Offset voltage channel 2 128...............
Angle encoder offset 100...................
Approach new position 191.................
B
Behaviour with command
– disable operation 171....................
– quick stop 171..........................
– shutdown 170..........................
Brake delay time 141......................
brake_delay_time 141.....................
buffer_clear 199..........................
buffer_organisation 198....................
buffer_position 198.......................
C
cob_id_sync 35...........................
cob_id_used_by_pdo 29...................
commissioning_state 146...................
Contouring error 105.......................
– Error window 111........................
– Limit value overrun 113...................
– Time-out time 111.......................
Contouring error limit value 113..............
Contouring error limit value exceeded 113......
Control word for interpolation data 195........
control_effort 112.........................
Controller enable logic 91...................
Controller error 37.........................
controlword 156..........................
– Bit assignment 152, 155, 157.............
– Commands 157.........................
– Object description 156...................
Conversion factors 80......................
– Choice of prefix 89.......................
– Position factor 82.......................
Correction velocity 108.....................
Current following error 111..................
Current intermediate circuit voltage 93........
Current limiting 116........................
Current regulator
– Gain 102...............................
– Parameters 102.........................
– Time constant 102.......................
Current setpoint value 215..................
current_actual_value 216...................
current_limitation 116.....................
curve generator 186.......................
Cycle time
– Current regulator 145....................
– Position control 145, 146................
– Speed regulator 145.....................

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