Festo CMMT-ST-SW, Original Instructions Manual

Page: 610 / 616

Index.
Subindex Name Data type Access PDO map-
ping Parameter
0x2220.01
... 06 MAC address UINT8 ro − P0.12007.0.0 ... 5
0x2220.07
... 0C MAC address UINT8 ro − P0.12007.1.0 ... 5
0x2221.01
... 03 Filter frequency notch filter FLOAT32 rw − P1.40.0.0 ... 2
0x2222.01
... 03 Band width of notch filter FLOAT32 rw − P1.49.0.0 ... 2
0x2223.01
... 03 Notch filter output active
current FLOAT32 ro − P1.50.0.0 ... 2
0x2224.01
... 03 Activation of notch filter BOOL rw − P1.51.0.0 ... 2
0x2225.01
... 10 Support point velocity
[rad/s] FLOAT32 rw − P1.976.0.0 ... 15
0x2226.01
... 10 Support point torque [Nm] FLOAT32 rw − P1.977.0.0 ... 15
0x2227.01
... 03 Amplification gain position
controller FLOAT32 rw − P1.226.0.0 ... 2
0x2228.01
... 03 Velocity controller amplific-
ation gain FLOAT32 rw − P1.2210.0.0 ... 2
0x2229.01
... 03 Velocity controller integra-
tion constant FLOAT32 rw − P1.2211.0.0 ... 2
0x222A.01
... 03 Amplification gain current
regulator (active current) FLOAT32 rw − P1.2223.0.0 ... 2
0x222B.01
... 03 Integration constant cur-
rent regulator (active cur-
rent) FLOAT32 rw − P1.2224.0.0 ... 2
0x222C.01
... 03 Amplification gain current
regulator (reactive current) FLOAT32 rw − P1.2225.0.0 ... 2
0x222D.01
... 03 Integration constant cur-
rent regulator (reactive cur-
rent) FLOAT32 rw − P1.2226.0.0 ... 2
0x222E.01
... 03 Total inertia FLOAT32 rw − P1.2227.0.0 ... 2
EtherCAT
610 Festo — CMMT-ST-SW — 2019-02