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

CMMP‐AS‐...‐M3/-M0
6 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
7.4.2 Description of the Objects 193..........................................
7.4.3 Description of function 199.............................................
7.5 Speed Adjustment Operating Mode (Profile Velocity Mode) 201........................
7.5.1 Overview 201........................................................
7.5.2 Description of the Objects 203..........................................
7.6 Speed ramps 209.............................................................
7.7 Torque Regulation Operating Mode (Profile Torque Mode) 212.........................
7.7.1 Overview 212........................................................
7.7.2 Description of the Objects 213..........................................
A Technical appendix 218........................................................
A.1 Technical Data Interface EtherCAT 218............................................
A.1.1 General 218.........................................................
A.1.2 Operating and environmental conditions 218...............................
B Diagnostic messages 219......................................................
B.1 Explanations on the diagnostic messages 219......................................
B.2 Error codes via CiA 301/402 220.................................................
B.3 Diagnostic messages with instructions for fault clearance 223.........................
Index 282........................................................................

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