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Festo CMMP Series User Manual

Festo CMMP Series
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7. Device control
144 Festo P.BE-CMMP-CO-SW-EN 0708NH
Bit
Value
Function
0
0001
h
Condition of the motor controller (see Tab. 7.4).
(These bits must be evaluated together)
1
0002
h
2
0004
h
3
0008
h
4
0010
h
voltage_enabled
5
0020
h
Condition of the motor controller (see Tab. 7.4).
6
0040
h
7
0080
h
warning
8
0100
h
drive_is_moving
9
0200
h
remote
10
0400
h
target_reached
11
0800
h
internal_limit_active
12
1000
h
set_point_acknowledge / speed_0 / homing_attained /
ip_mode_active
13
2000
h
following_error / homing_error
14
4000
h
manufacturer_statusbit
15
8000
h
Drive referenced
Tab. 7.5: Bit arrangement in the statusword
All bits of the statusword are unbuffered. They represent the
current device status.
Besides the motor controller status, various events are displayed in the statusword, that
is, to each bit is assigned a specific event, such as contouring error. The individual bits
have the following meaning thereby:
Bit 4
voltage_enabled
This bit is set when the final stage transistors are switched on.
Applies when in the object 6510
h
_ F0
h
(compatibility_control)
bit 7 is set (see chapter 6.2):
This bit is set when the final stage transistors are switched on.
Warning
In case of a defect, the motor can still be under voltage.

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Festo CMMP Series Specifications

General IconGeneral
Control ModePosition, Torque
Communication InterfacesCANopen, EtherCAT, PROFINET, Ethernet/IP
Power Supply24 V DC
Feedback SystemIncremental encoder, Absolute encoder
Number of axes1
Relative humidity5% to 95% (non-condensing)
Operating temperature0 °C ... +50 °C

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