Festo CMMP Series User Manual

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8 Festo P.BE-CMMP-CO-SW-EN 0708NH
8. Operating modes ................................................................................................ 154
8.1 Setting the operating mode ............................................................................... 154
8.1.1 Overview ............................................................................................ 154
8.1.2 Description of the Objects ................................................................. 154
8.2 Operating Mode Reference Travel (Homing Mode) ............................................ 156
8.2.1 Overview ............................................................................................ 156
8.2.2 Description of the Objects ................................................................. 157
8.2.3 Reference Travel Processes ............................................................... 162
8.2.4 Control of Reference Travel ................................................................ 167
8.3 Positioning Operating Mode (Profile Position Mode) ......................................... 168
8.3.1 Overview ............................................................................................ 168
8.3.2 Description of the Objects ................................................................. 169
8.3.3 Functional description ....................................................................... 172
8.4 Interpolated position mode ............................................................................... 174
8.4.1 Overview ............................................................................................ 174
8.4.2 Description of the Objects ................................................................. 175
8.4.3 Functional description ....................................................................... 182
8.5 RPM Regulation Operating Mode (Profile Velocity Mode) .................................. 184
8.5.1 Overview ............................................................................................ 184
8.5.2 Description of the Objects ................................................................. 186
8.6 Velocity ramps ................................................................................................... 192
8.7 Torque Regulation Operating Mode (Profile Torque Mode) ............................... 195
8.7.1 Overview ............................................................................................ 195
8.7.2 Description of the Objects ................................................................. 196
9. Index ................................................................................................................... 201

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