Festo Контроллер двигателя CMMD-AS - Manual (Page 47)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 47
3.6.2 CAN bus
The CAN bus is permanently integrated into the motor controller and can be parametrised
and activated/deactivated via the DIP switches on the front side. With the DIP switches,
the node address and baud rate can be set visibly from the outside.
The second axis gets the address of the first axis +1
Node number
Slave
= node number
Master
+1
In addition, a termination resistor can be connected and the CAN bus switched on or off.
The motor controller supports baud rates up to 1Mbit/s.
If the communication protocol FHPP is used, the operating modes mentioned in chapter 0
are available.
Alternatively, if the CANopen protocol in accordance with DS301 with application profile
DSP402 is activated, the following operating modes can be used:
Positioning mode (CiA: (profile position mode)
Homing mode (CiA: homing mode)
Interpolating position mode (CiA: interpolated position mode)
Speed control (CiA: profile velocity mode)
Force mode (CiA: torque profile mode).
Communication can take place optionally over SDOs (service data objects) and/or PDOs
(process data objects). Two PDOs are available for each sending direction
(transmit/receive).
Path control with linear interpolation
With the "interpolated position mode", a path control can be implemented in a multi-axis
application of the controller. For this, position setpoints are specified by a higher-order
control system in a fixed time slot pattern. If the time slot pattern of the position setpoints
is greater than the internal position controller cycle time of the motor controller, the
controller automatically interpolates the data values between two prescribed position
setpoints. The motor controller also calculates a corresponding speed pilot control.