Festo CMMP Series User Manual

9. Index
Festo P.BE-CMMP-CO-SW-EN 0708NH 201
9. Index
A
A in 7-segment display ...................... 130
Acceleration
Brake (positioning) ......................... 171
Quick stop (positioning) ................. 171
With of the Reference travel ........... 161
acceleration_factor .............................. 65
Actual Intermediate circuit voltage ...... 73
Actual position value (position units) .. 93
Actual speed value ............................ 188
Actual torque value ........................... 198
Actual value
position in position_units
(position_actual_value) ................. 93
torque (torque_actual_value) ......... 198
actual_dc_link_circuit_voltage ............ 73
actual_size ........................................ 180
analog_input_offset .......................... 112
analog_input_offset_ch_0 ................. 112
analog_input_offset_ch_1 ................. 112
analog_input_offset_ch_2 ................. 112
analog_input_voltage ........................ 111
analog_input_voltage_ch_0 .............. 111
analog_input_voltage_ch_1 .............. 111
analog_input_voltage_ch_2 .............. 111
Analogue inputs ................................ 111
Input voltage channel 0 .................. 111
Input voltage channel 1 .................. 111
Input voltage channel 2 .................. 111
Input voltages ................................ 111
Offset voltages ............................... 112
Offset voltages channel 0 ............... 112
Offset voltages channel 1 ............... 112
Offset voltages channel 2 ............... 112
Angle transmitter offset ....................... 81
B
Brake
delay time ....................................... 124
Brake delay time ................................ 124
brake_delay_time .............................. 124
buffer_clear ....................................... 181
buffer_organisation ........................... 180
buffer_position .................................. 180
C
cob_id_sync ......................................... 40
cob_id_used_by_pdo .......................... 34
commissioning_state ......................... 130
Condition
Not Ready to Switch On .................. 137
Ready to Switch On ........................ 137
Switch On Disabled ........................ 137
Switched On ................................... 137
Contouring error .................................. 86
Definition .......................................... 86
Error window .................................... 93
Timeout time .................................... 94
contouring error time-out time ............ 94
Contouring window .............................. 93
Control of the regulator ..................... 134
control_effort ....................................... 94
Controller enable ................................. 69
Controller enable logic! ........................ 69
Controlword ....................................... 139
Bit assignment ........................ 136, 140
Commands ..................................... 140
Object description .......................... 139
Controlword for interpolation data .... 177
Conversion factors ............................... 59
Choice of algebraic sign .................... 68
Position factor .................................. 61
Correction velocity ............................... 91
Current controller
Gain .................................................. 83
Parameter ......................................... 83
Time constant ................................... 84
Current limitation................................. 98
Current nominal value ....................... 198
current_actual_value ......................... 199
current_limitation ................................ 98
Curve generator ................................. 168
Cycle time
Current controller ........................... 128
Position controller .......................... 129
Positioning control ......................... 129
Cycle time PDOs................................... 34
cycletime_current_controller ............. 128
cycletime_position_controller ........... 129
cycletime_trajectory_generator ......... 129
cycletime_velocity_controller ............ 129

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