Festo CMMT-ST-SW, Original Instructions Manual

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Parameters Index.Subindex Name Data type
814 0x2153.0F Actual active current value FLOAT32
819 0x2153.14 Control parameter equalisation for active and
reactive current regulators BOOL
824 0x2153.15 Reactive current control error FLOAT32
825 0x2153.16 Active current control error FLOAT32
1206 0x217F.07 Length motor cable FLOAT32
1208 0x217F.09 Cable cross section FLOAT32
52679 0x2151.0C Voltage limiting filter time constant FLOAT32
52680 0x2151.0D Voltage limiting Ud active BOOL
52681 0x2151.0E Voltage limiting Uq active BOOL
Tab. 356 Objects
6.1.5 Control parameter sets
Aside from the active control parameter set, 3 additional control parameter sets are available for the
parameterisation of the cascade controller. A control parameter set contains all control parameters for
position and velocity controllers and current regulators, the total inertia for the torque pilot control
and the filter time constant for the actual velocity value filter. When a control parameter set is
changed, the total inertia and the velocity filter is also changed.
The individual control parameter sets can be activated via the set table or via the device profile. The
switchover duration into another control parameter set can be influenced by the transition time. There
is a linear interpolation of all values during the switchover.
Parameters and diagnostic messages
ID Px. Parameters Description
Specifies the status of the activated control parameter set in the
control parameter set switchover.
Access read/−
Update effective immediately
44 Controller parameter
set switchover status
Unit −
Specifies the amplification gain in the parameter sets for the P-
element in the position controller.
Access read/write
Update effective immediately
226 Amplification gain
position controller
Unit −
Control
356 Festo — CMMT-ST-SW — 2019-02