Festo CMMP Series User Manual

5. Access Procedure
Festo P.BE-CMMP-CO-SW-EN 0708NH 41
Access
rw
PDO Mapping
no
Units
--
Value Range
80000080
h
, 00000080
h
Default Value
00000080
h
5.5 EMERGENCY Message
The motor controller monitors the function of its major assemblies. These include the
power supply, final stage, angle transmitter evaluation and technology connections. In
addition, the motor (temperature, angle transmitter) and limit switch are checked.
Incorrect parameterisations can also result in error messages (division by zero, etc.).
When an error occurs, the error number is shown in the motor controller's display. If
several error messages occur simultaneously, the message with the highest priority
(lowest number) is always shown in the display.
5.5.1 Overview
The motor controller transmits an EMERGENCY message when an error occurs or an error
is acknowledged. The identifier of this message is put together from the identifier 80
h
und
der node number of the affected controller.
Error free
Error occured
0
4
3
2
1
After a reset, the regulator is in the Error Free state (which it might leave immediately,
since an error has been present from the beginning). The following condition transitions
are possible:
No.
Cause
Meaning
0
Initialization completed
1
Error occurs
There was no error, and an error occurs. An EMERGENCY telegram is
sent with the error code of the error that occurred.
2
Error acknowledgement
An error acknowledgement (see chapter 7.1.5) is attempted,
but not all causes are fixed.

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