Festo CMMP Series User Manual

7. Device control
Festo P.BE-CMMP-CO-SW-EN 0708NH 143
EXAMPLE
The above example shows which bits in the controlword need to be set in
order to enable the motor controller. Now the newly written condition
should be read out of the statusword:
Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE:
1.) Write condition transition 2 into the controlword.
2.) Wait until the condition READY_TO_SWITCH_ON is displayed in the
statusword.
Transition 2:
controlword = 0006
h
Wait until (statusword & 006F
h
) = 0021
h
*1)
3.) Transitions 3 and 4 can be written together into the controlword.
4.) Wait until the condition OPERATION_ENABLE is displayed in the
statusword.
Transition 3+4:
controlword = 000F
h
Wait until (statusword & 006F
h
) = 0027
h
*1)
Note:
The example assumes that no other bits are set in the controlword
(for the transitions, only bits 0 … 3 are important).
*
1)
To identify the conditions, bits that are not set must also be
evaluated (see table). For that reason, the statusword must be masked
accordingly.
7.1.5 Statuswords (status word)
Object 6041
h
: statusword
Index
6041
h
Name
statusword
Object code
VAR
Data Type
UINT16
Access
ro
PDO Mapping
yes
Units
--
Value Range
--
Default Value
--

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