Festo CMMP Series User Manual

8. Operating modes
154 Festo P.BE-CMMP-CO-SW-EN 0708NH
8. Operating modes
8.1 Setting the operating mode
8.1.1 Overview
The motor controller can be placed into a number of operating modes.
Only some are specified in detail under CANopen:
- torque-controlled mode
- profile torque mode
- velocity-controlled mode
- profile velocity mode
- reference run (homing)
- homing mode
- positioning mode
- profile position mode
- synchronous position specification
- interpolated position mode
8.1.2 Description of the Objects
Objects treated in this chapter
Index
Object
Name
Type
Attr.
6060
h
VAR
modes_of_operation
INT8
wo
6061
h
VAR
modes_of_operation_display
INT8
ro
Object 6060
h
: modes_of_operation
The object modes_of_operation sets the operating mode of the motor controller.
Index
6060
h
Name
modes_of_operation
Object code
VAR
Data Type
INT8
Access
rw
PDO Mapping
yes
Units
--
Value Range
1, 3, 4, 6, 7
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