Festo CMMP Series User Manual

8. Operating modes
Festo P.BE-CMMP-CO-SW-EN 0708NH 169
8.3.2 Description of the Objects
Objects treated in this chapter
Index
Object
Name
Type
Attr.
607A
h
VAR
target_position
INT32
rw
6081
h
VAR
profile_velocity
UINT32
rw
6082
h
VAR
end_velocity
UINT32
rw
6083
h
VAR
profile_acceleration
UINT32
rw
6084
h
VAR
profile_deceleration
UINT32
rw
6085
h
VAR
quick_stop_deceleration
UINT32
rw
6086
h
VAR
motion_profile_type
INT16
rw
Affected objects from other chapters
Index
Object
Name
Type
Chapter
6040
h
VAR
controlword
INT16
7.1.3 Controlword (control word)
6041
h
VAR
statusword
UINT16
7.1.5 Statuswords (status word)
605A
h
VAR
quick_stop_option_code
INT16
7 Device control
607E
h
VAR
polarity
UINT8
6.3 Conversion factors
6093
h
ARRAY
position_factor
UINT32
6.3 Conversion factors
6094
h
ARRAY
velocity_encoder_factor
UINT32
6.3 Conversion factors
6097
h
ARRAY
acceleration_factor
UINT32
6.3 Conversion factors
Object 607A
h
: target_position
The object target_position (target position) determines to which position the motor
controller should travel. The current setting for speed, acceleration, brake delay and type
of travel profile (motion_profile_type) etc. must be considered thereby. The target
position (target_position) is interpreted either as an absolute or relative statement
(controlword, bit 6).
Index
607A
h
Name
target_position
Object code
VAR
Data Type
INT32
Access
rw
PDO Mapping
yes
Units
position units
Value Range
--
Default Value
0

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