Moog ACV with CANopen bus interface
7 Servo valve functions
Pressure controller
B99224-DV018-D-211, Rev. A, October 2018
178
7.5.14 Integrator preload value
To ensure a bumpless transfer between spool position control and pressure control, the pressure integrator
can be set to a defined preload value (#Preload#).
The source of the integrator preload value is configurable with the parameter <IntegratorPreloadParameter>
(0x586A).
If the <IntegratorPreloadMode> (0x586B) is 1, the preload value will become effective every time when
switching from spool position control to pressure control.
To turn off the integrator preload function set <IntegratorPreloadMode> (0x586B) to 0 (off).
Setting the <IntegratorPreloadMode> to 2, the preload value will become effective only once.
Attention: The <IntegratorPreloadMode> will return to either 1 or 0, depending on the former value
1
. This
function is comparable to a push-button.
Chapter "7.5.13 Integrator element (I)", page 175
Figure 85: Integrator preload value
7.5.14.1 Object 0x586B: Integrator preload mode
This parameter is to select the integrator preload mode.
Value description
1
Former value means the value of the <IntegratorPreloadMode> before setting
the value to 2 (usually to default value 1).
<IntegratorPreloadMode>
(0x586B)
#Preload#
<IntegratorPreloadGain>
(0x5869)
<IntegratrPreloadParameter>
(0x586A)
None
0x58600110
0x58600210
0x...
<IntegratorPreloadValue_0>
(0x5860)
<IntegratorPreloadValue_1>
(0x5860)
<...>
(0x...)
true
false
Spool position controller
active
0
1
2
ValvePressureControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x586B
0
IntegratorPreloadMode
UINT8
rw
Y
0…2
0
<IntegratorPreloadMode>
Behavior of preload output
0
The Preload function is off. The pressure integrator element is only set to zero
during initialization of the controller.
1
Spool position controller is active:
The pressure integrator element is set to the #Preload# value.
Pressure controller is active:
The preload function does not influence the pressure integrator element.
2
The pressure integrator element is set to the #Preload# value.The #Preload#
value will become effective only once (one time overwrite).
Table 82: Possible values of parameter <IntegratorPreloadMode> (0x586B)
