Festo CMMP Series User Manual

C
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6 Festo P.BE-CMMP-CO-SW-EN 0708NH
5.7 Bootup ................................................................................................................ 49
5.7.1 Overview .............................................................................................. 49
5.7.2 Structure of the Bootup Message ........................................................ 49
5.8 Heartbeat (error control protocol) ....................................................................... 49
5.8.1 Overview .............................................................................................. 49
5.8.2 Structure of the Heartbeat Message .................................................... 49
5.8.3 Description of the Objects ................................................................... 50
5.9 Nodeguarding (error control protocol) ................................................................ 50
5.9.1 Overview .............................................................................................. 50
5.9.2 Structure of the Nodeguarding messages ............................................ 51
5.9.3 Description of the Objects ................................................................... 51
5.9.4 Objekt 100D
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: life_time_factor ............................................................. 52
6. Setting Parameters ............................................................................................... 54
6.1 Load and Save Parameter Sets ............................................................................ 54
6.1.1 Overview .............................................................................................. 54
6.1.2 Description of the Objects ................................................................... 56
6.2 Compatibility settings.......................................................................................... 57
6.2.1 Overview .............................................................................................. 57
6.2.2 Description of the Objects ................................................................... 57
6.3 Conversion Factors (Factor Group) ...................................................................... 59
6.3.1 Overview .............................................................................................. 59
6.3.2 Description of the Objects ................................................................... 60
6.4 Final stage parameters ........................................................................................ 68
6.4.1 Overview .............................................................................................. 68
6.4.2 Description of the Objects ................................................................... 69
6.5 Current Regulator and Motor Adjustment ............................................................ 76
6.5.1 Overview .............................................................................................. 76
6.5.2 Description of the Objects ................................................................... 77
6.6 Speed regulator ................................................................................................... 84
6.6.1 Overview .............................................................................................. 84
6.6.2 Description of the Objects ................................................................... 84
6.7 Position Controller (Position Control Function) .................................................... 86
6.7.1 Overview .............................................................................................. 86
6.7.2 Description of the Objects ................................................................... 89
6.8 Nominal value limitation ..................................................................................... 98
6.8.1 Description of the Objects ................................................................... 98
6.9 Encoder adjustments ......................................................................................... 101
6.9.1 Overview ............................................................................................ 101
6.9.2 Description of the Objects ................................................................. 101

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