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

CMMP‐AS‐...‐M3/-M0
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 5
5.2 Compatibility settings 78......................................................
5.3 Conversion factors (factor group) 80.............................................
5.4 Output stage parameter 90....................................................
5.5 Current Regulator and Motor Adjustment 96......................................
5.6 Speed Control 103............................................................
5.7 Position Controller (Position Control Function) 105..................................
5.8 Setpoint value limitation 116....................................................
5.9 Encoder Adjustments 118......................................................
5.10 Incremental Encoder Emulation 122..............................................
5.11 Setpoint/Actual Value Activation 124.............................................
5.12 Analogue inputs 127..........................................................
5.13 Digital inputs and outputs 129..................................................
5.14 Limit Switch/Reference Switch 134...............................................
5.15 Sampling of Positions 137......................................................
5.16 Brake Activation 140..........................................................
5.17 Device Information 141........................................................
5.18 Error Management 148........................................................
6 Device Control 150............................................................
6.1 Status Diagram (State Machine) 150.............................................
6.1.1 Overview 150........................................................
6.1.2 Status diagram of the motor controller (state machine) 151...................
6.1.3 Control word (controlword) 156.........................................
6.1.4 Read-out of the motor controller status 159...............................
6.1.5 Status words (statuswords) 160.........................................
6.1.6 Description of the additional objects 170..................................
7 Operating modes 173.........................................................
7.1 Setting the operating mode 173.................................................
7.1.1 Overview 173........................................................
7.1.2 Description of the Objects 173..........................................
7.2 Operating mode reference travel (homing mode) 175................................
7.2.1 Overview 175........................................................
7.2.2 Description of the Objects 176..........................................
7.2.3 Reference Travel Processes 180.........................................
7.2.4 Control of Reference Travel 184.........................................
7.3 Positioning Operating Mode (Profile Position Mode) 186..............................
7.3.1 Overview 186........................................................
7.3.2 Description of the objects 187..........................................
7.3.3 Description of function 190.............................................
7.4 Synchronous position specification (interpolated position mode) 193...................
7.4.1 Overview 193........................................................

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