Festo CMMP Series User Manual

Beschneiden:
Oben: 61,5 mm
Unten: 61,5 mm
Links: 43,5 mm
Rechts: 43,5 mm
CANopen for Motor Controller
CMMP…
Manual
CANopen
CMMP…
Manual
557 344
de 0708NH
[723 757]

Festo CMMP Series Specifications

General

Control Mode	Position, Torque
Communication Interfaces	CANopen, EtherCAT, PROFINET, Ethernet/IP
Power Supply	24 V DC
Feedback System	Incremental encoder, Absolute encoder
Number of axes	1
Relative humidity	5% to 95% (non-condensing)
Operating temperature	0 °C ... +50 °C

Summary

2. Safety instructions for electrical drives and controllers

2.2 Hazards due to Incorrect Use

Identifies potential dangers from improper use of the controller.

2.3 Safety instructions

Comprehensive safety guidelines for operation and installation.

2.3.2 Safety Instructions for Installation and Maintenance

Specific safety guidelines for installation and maintenance procedures.

2.3.3 Protection against Contact with Electrical Parts

Safety measures to prevent contact with hazardous electrical components.

2.3.5 Protection against Hazardous Movements

Safety measures to prevent injury from unintended motor movements.

3. Cabling and Plug Assignment

4. Activation of CANopen

5. Access Procedure

5.2 SDO Access

5.5 EMERGENCY Message

6. Setting Parameters

6.1 Load and Save Parameter Sets

6.3 Conversion Factors (Factor Group)

6.5 Current Regulator and Motor Adjustment

Crucial parameters for adjusting current regulator and motor settings.

6.6 Speed regulator

Configuration and adjustment of the speed regulator.

6.7 Position Controller (Position Control Function)

Parameters for configuring the position controller function.

6.9 Encoder adjustments

6.11 Command/feedback value activation

6.13 Digital inputs and outputs

6.14 Limit switch/homing switch

6.16 Brake triggering

6.16.1 Overview

6.18 Error management

6.18.1 Overview

General overview of error handling.

7. Device control

7.1 Condition diagram (state machine)

7.1.3 Controlword (control word)

Details on the controlword bits for triggering device actions.

7.1.5 Statuswords (status word)

Information on statusword bits indicating device events.

8. Operating modes

8.1 Setting the operating mode

8.2 Operating Mode Reference Travel (Homing Mode)

Configuration and process for homing the motor.

8.3 Positioning Operating Mode (Profile Position Mode)

8.5 RPM Regulation Operating Mode (Profile Velocity Mode)

8.7 Torque Regulation Operating Mode (Profile Torque Mode)