Parameters and diagnostic messages
ID Px.
Parameters
Description
Selection of CSx mode for the position default. The setting is
accepted when the interpolation mode is activated by the device
profile.
Access
read/write
Update
effective immediately
11412
Interpolation mode
CSP
Unit
−
Tab. 204 Parameters
Diagnostic messages
ID Dx.
Name
Description
08 | 12 | 00250
(135004410)
Invalid mode of operation
An invalid mode of operation was requested
Tab. 205 Diagnostic messages
4.1.6.2
CiA 402
The following graphs show an overview of the objects involved in the cyclic synchronised positioning
mode and their interaction with the closed-loop controller.
Torque actual value
(0x6077)
Motor
Torque
control
+
Geber
Velocity
control
Position
control
+
+
+
Target position
(0x607A)
Velocity offset
(0x60B1)
Torque offset
(0x60B2)
Velocity actual value
(0x606C)
Position actual
value (0x6064)
Fig. 52 Overview of the cyclic synchronised positioning operation (CSP)
Motion control
229
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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