Festo CMMP Series User Manual

8. Operating modes
168 Festo P.BE-CMMP-CO-SW-EN 0708NH
Bit 13
Bit 12
Meaning
0
0
Homing run is not completed yet
0
1
Homing run successfully completed
1
0
Homing run not successfully completed
1
1
Prohibited condition
Tab. 8.2: Description of the bits in the statusword
8.3 Positioning Operating Mode (Profile Position Mode)
8.3.1 Overview
The structure of this operating mode is evident in Fig. 8.16:
The target position (target_position) is passed on to the curve generator. This generates a
nominal position value (position_demand_value) for the position controller, which is
described in the Position Controller chapter (Position Control Function, chapter 0). These
two function blocks can be set independently of each other.
Trajectory
Generator
Position
Control
Function
Limit
Function
Multiplier
position
target_position
607Ah
position_demand_value
(60FDh)
control_effort
(60FAh)
[position units]
target_position
(607Ah)
Trajectory
Generator
Parameters
Position Control
Law Parameters
position_factor
(6093h)
polarity
(607Eh)
position_range_limit
(607Bh)
software_position_limit
(607Dh)
home_offset
(607Ch)
Fig. 8.16: Curve generator and position controller
All input variables of the curve generator are converted with the variables of the factor
group (see chapter 6.3) into the internal units of the regulator. The internal variables are
marked here with an asterisk and are normally not needed by the user.

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