Festo CMMP Series User Manual

8. Operating modes
172 Festo P.BE-CMMP-CO-SW-EN 0708NH
Access
rw
PDO Mapping
yes
Units
acceleration units
Value Range
--
Default Value
14100 min
-1
/s
Object 6086
h
: motion_profile_type
The object motion_profile_type is used to select the type of positioning profileThe object
motion_profile_type.
Index
6086
h
Name
motion_profile_type
Object code
VAR
Data Type
INT16
Access
rw
PDO Mapping
yes
Units
--
Value Range
0, 2
Default Value
0
Value
Curve chape
0
Linear ramp
2
Jerk-free ramp
8.3.3 Functional description
There are two possibilities for passing on a target position to the motor controller:
Simple positioning task
If the motor controller has reached a target position, it signals this to the host with the bit
target_reached (bit 10 in the object statusword). In this operating mode, the motor
controller stops when it has reached the goal.
Sequence of positioning tasks
After the motor controller has reached a target, it immediately begins travelling to the next
target. This transition can occur smoothly, without the motor controller meanwhile coming
to a standstill.
These two methods are controlled through the bits new_set_point and
change_set_immediately in the object controlword and set_point_acknowledge in the
object statusword. These bits are in a question-answer relationship to each other. This
makes it possible to prepare a positioning task while another is still running.

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