Festo CMMT-ST-SW, Original Instructions Manual

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3.3.3.6 Parameters of encoders with the BiSS C protocol.................................................. 164
3.3.3.7 CiA 402.................................................................................................................. 166
3.3.3.8 Parameters of the actual value management......................................................... 166
3.3.3.9 CiA 402.................................................................................................................. 167
3.3.3.10 Parameters of the direction of rotation manager................................................... 168
3.3.3.11 CiA 402.................................................................................................................. 169
3.3.3.12 Parameters of the commutation-angle detection................................................... 169
3.3.3.13 CiA 402.................................................................................................................. 172
3.3.3.14 Replacement of motors without an electronic data sheet....................................... 172
3.3.4 Gear unit................................................................................................................ 173
3.3.4.1 Function................................................................................................................. 173
3.3.4.2 CiA 402.................................................................................................................. 177
3.3.5 Digital inputs and outputs..................................................................................... 179
3.3.5.1 Function................................................................................................................. 179
3.3.5.2 CiA 402.................................................................................................................. 183
3.4 Protective functions.......................................................................................................184
3.4.1 I²t monitoring of the power output stage............................................................... 184
3.4.1.1 CiA 402.................................................................................................................. 187
3.4.2 I²t monitoring of motor.......................................................................................... 188
3.4.2.1 CiA 402.................................................................................................................. 190
3.4.3 Temperature monitoring of the servo drive............................................................ 190
3.4.3.1 CiA 402.................................................................................................................. 192
3.4.4 System monitoring................................................................................................. 193
3.4.5 Mains and DC link monitoring................................................................................ 193
3.4.5.1 Mains voltage monitoring...................................................................................... 193
3.4.5.2 Monitoring of the DC link voltage........................................................................... 194
3.4.5.3 Return energy feed................................................................................................ 197
4 Motion control.............................................................................................................. 200
4.1 Operating modes...........................................................................................................200
4.1.1 Finite state machine............................................................................................... 200
4.1.2 Operating modes for performing motion commands.............................................. 203
4.1.2.1 Dynamic operating mode switch............................................................................ 204
4.1.2.2 CiA402................................................................................................................... 205
4.1.3 Positioning mode(PP)............................................................................................ 206
4.1.3.1 Function................................................................................................................. 206
4.1.3.2 CiA 402.................................................................................................................. 209
4.1.4 Velocity mode (PV)................................................................................................. 213
4.1.4.1 Function................................................................................................................. 213
4.1.4.2 CiA 402.................................................................................................................. 216
4.1.5 Force/torque mode (PT) with or without holding brake.......................................... 220
6 Festo — CMMT-ST-SW — 2019-02