Festo CMMP Series User Manual

C
Festo P.BE-CMMP-CO-SW-EN 0708NH 7
6.10 Incremental encoder emulation ......................................................................... 106
6.10.1 Overview ............................................................................................ 106
6.10.2 Description of the Objects ................................................................. 106
6.11 Command/feedback value activation ................................................................ 107
6.11.1 Overview ............................................................................................ 107
6.11.2 Description of the Objects ................................................................. 108
6.12 Analogue inputs ................................................................................................ 111
6.12.1 Overview ............................................................................................ 111
6.12.2 Description of the Objects ................................................................. 111
6.13 Digital inputs and outputs ................................................................................. 113
6.13.1 Overview ............................................................................................ 113
6.13.2 Description of the Objects ................................................................. 113
6.14 Limit switch/homing switch ............................................................................... 117
6.14.1 Overview ............................................................................................ 117
6.14.2 Description of the Objects ................................................................. 117
6.15 Sampling of positions ........................................................................................ 119
6.15.1 Overview ............................................................................................ 119
6.15.2 Description of the Objects ................................................................. 120
6.16 Brake triggering ................................................................................................. 123
6.16.1 Overview ............................................................................................ 123
6.16.2 Description of the Objects ................................................................. 123
6.17 Device Information ............................................................................................ 124
6.17.1 Description of the Objects ................................................................. 124
6.18 Error management ............................................................................................. 131
6.18.1 Overview ............................................................................................ 131
6.18.2 Description of the Objects ................................................................. 131
7. Device control ..................................................................................................... 134
7.1 Condition diagram (state machine) ................................................................... 134
7.1.1 Overview ............................................................................................ 134
7.1.2 The Condition Diagram of the Motor Controller (State Machine) ....... 135
7.1.3 Controlword (control word) ................................................................ 139
7.1.4 Read-Out of the Motor Controller Condition ...................................... 142
7.1.5 Statuswords (status words) ............................................................... 143
7.1.6 Description of the other objects ......................................................... 151

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