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

CMMP‐AS‐...‐M3/-M0
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 3
Table of Contents – CMMP‐AS‐...‐M3/-M0
Instructions on this documentation 7.................................................
Target group 7...................................................................
Service 7.......................................................................
Information on the version 7........................................................
Documentation 8................................................................
1 Fieldbus interfaces 9........................................................
2 CANopen [X4] 10............................................................
2.1 General information on CANopen 10.............................................
2.2 Cabling and pin assignment 11.................................................
2.2.1 Pin allocations 11...................................................
2.2.2 Cabling instructions 11...............................................
2.3 Configuration of CANopen stations on the CMMP-AS-...-M3 13........................
2.3.1 Setting of the node number 14.........................................
2.3.2 Setting of the transmission rate with DIP switches 15.......................
2.3.3 Activation of CANopen communication with DIP switches 15.................
2.3.4 Setting the physical units (factor group) 15...............................
2.4 Configuration of CANopen participants on the CMMP-AS-...-M0 16.....................
2.4.1 Setting the node number via DINs and FCT 17.............................
2.4.2 Setting the transmission rate via DINs or FCT 17...........................
2.4.3 Setting the protocol (data profile) via DINs or FCT 18.......................
2.4.4 Activation of CANopen communication via DINs or FCT 18...................
2.4.5 Setting the physical units (factor group) 19...............................
2.5 Configuration CANopen master 19..............................................
3 CANopen access procedure 20.................................................
3.1 Introduction 20.............................................................
3.2 SDO Access 21..............................................................
3.2.1 SDO Sequences for Reading and Writing 22...............................
3.2.2 SDO Error Messages 23...............................................
3.2.3 Simulation of SDO access 24..........................................
3.3 PDO Message 25............................................................
3.3.1 Description of the Objects 26..........................................
3.3.2 Objects for PDO Parametrisation 29.....................................
3.3.3 Activation of PDOs 34................................................
3.4 SYNC message 35...........................................................
3.5 EMERGENCY Message 36.....................................................
3.5.1 Overview 36........................................................
3.5.2 Structure of the EMERGENCY Message 37................................

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