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

CMMP‐AS‐...‐M3/-M0
4 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
3.5.3 Description of the Objects 37..........................................
3.6 Network Management (NMT Service) 39..........................................
3.7 Bootup 41.................................................................
3.7.1 Overview 41........................................................
3.7.2 Structure of the Bootup Message 41....................................
3.8 Heartbeat (Error Control Protocol) 42............................................
3.8.1 Overview 42........................................................
3.8.2 Structure of the Heartbeat Message 42..................................
3.8.3 Description of the Objects 42..........................................
3.9 Nodeguarding (Error Control Protocol) 43.........................................
3.9.1 Overview 43........................................................
3.9.2 Structure of the Nodeguarding Messages 43..............................
3.9.3 Description of the Objects 44..........................................
3.9.4 Object 100Dh: life_time_factor 45......................................
3.9.5 Table of Identifiers 45................................................
4 EtherCAT with CoE 46........................................................
4.1 Overview 46................................................................
4.2 EtherCat-Interface CAMC-EC 46.................................................
4.3 Installing the EtherCAT interface in the controller 48................................
4.4 Pin allocation and cable specifications 48.........................................
4.5 Configuration of EtherCAT participants 50........................................
4.5.1 Setting of the physical units of measure (Factor Group) 50...................
4.6 CANopen communication interface 51...........................................
4.6.1 Configuration of the Communication Interface 51..........................
4.6.2 New and revised objects under CoE 54...................................
4.6.3 Objects not supported under CoE 61....................................
4.7 Communication Finite State Machine 62..........................................
4.7.1 Differences between the finite state machines of CANopen and EtherCAT 64....
4.8 SDO Frame 65..............................................................
4.9 PDO Frame 66..............................................................
4.10 Error Control 68.............................................................
4.11 Emergency Frame 68.........................................................
4.12 XML Device Description File 69.................................................
4.12.1 Fundamental structure of the device description file 69.....................
4.12.2 Receive PDO configuration in the RxPDO node 71..........................
4.12.3 Transmit PDO configuration in the TxPDO node 73..........................
4.12.4 Initialisation commands via the “Mailbox” node 73.........................
4.13 Synchronisation (Distributed Clocks) 74..........................................
5 Setting parameters 75.......................................................
5.1 Loading and Saving Parameter Sets 75...........................................

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