CMMS-AS/CMMD-AS/CMMS-ST
4 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.6 Network Management (NMT Service) 36..........................................
3.6.1 Boot-up (Boot-up Protocol) 39.........................................
3.6.2 Start Remote Node 40................................................
3.6.3 Stop Remote Node 40................................................
3.6.4 Enter Pre-Operational 40..............................................
3.6.5 Reset Node 41......................................................
3.6.6 Reset Communication 41.............................................
3.6.7 Heartbeat (Error Control Protocol) 41....................................
3.6.8 Nodeguarding (Error Control Protocol) 42................................
3.7 Table of Identifiers 45........................................................
3.8 Internal sequence of CANopen processing 45......................................
4 Setting parameters 46.......................................................
4.1 Loading and saving parameter sets 46...........................................
4.2 Conversion factors (Factor Group) 49............................................
4.3 Output stage parameter 60....................................................
4.4 Current Regulator and Motor Adjustment 62......................................
4.5 Velocity control 66...........................................................
4.6 Position controller (Position Control Function) 68..................................
4.7 Setpoint value limitation 76....................................................
4.8 Digital inputs and outputs 77..................................................
4.9 Limit switches 79............................................................
4.10 Sampling of positions 80......................................................
4.11 Device Information 82........................................................
4.12 Error management 85........................................................
4.13 Compatibility settings 86......................................................
5 Device Control 88............................................................
5.1 Status diagram (State Machine) 88..............................................
5.1.1 Overview 88........................................................
5.1.2 Status diagram of the motor controller (state machine) 89...................
5.1.3 Controlword (Controlword) 94.........................................
5.1.4 Read-out of the motor controller status 97...............................
5.1.5 Status words (statuswords) 99.........................................
