2 can bus, Communication, Path control with linear interpolation – Festo Контроллеры двигателя CMMS-ST User Manual
Page 46: Can bus
3. Product description
46
Festo.P.BE-CMMS-ST-G2-HW-EN
1008NH
With record selection, the position records stored in the controller are used.
In direct operation,
• the positioning mode,
• speed control or
• force control
can be used.
These can be dynamically switched over in direct operation as needed.
Additional information can be found in the FHPP manual P.BE CMM FHPP SW DE.
3.4.2 CAN bus
Communication
The CAN bus is permanently integrated in the controller and can be parameterised 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. In addition, a termination
resistor can be connected and the CAN bus switched on or off. The controller supports
baud rates up to 1 Mbit/s.
If the communication protocol FHPP is used, the above-mentioned operating modes are
available.
Alternatively, if the CANopen protocol in accordance with CiA DS 301 with application
profile CiA DSP 402 is activated, then
• the positioning mode (CiA: profile position mode),
• homing mode (CiA: homing mode),
• interpolated position mode (CiA: interpolated position mode)
• speed control (CiA: profile velocity mode) and
• force mode (CiA: torque profile mode)
can be used.
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 contour 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 controller, the
controller automatically interpolates the data values between two prescribed position
setpoints. The controller also calculates a corresponding speed pilot control.