Moog ACV with CANopen bus interface
6 Signal routing and scaling
Encoder input
B99224-DV018-D-211, Rev. A, October 2018
96
6.6.3 Object 0x5619: Sensor supply enable
The valve can deliver the power supply for the encoder. It is possible to switch the supply voltage off, to 5 V or
to 24 V to match the needs of the encoder hardware. The accuracy of the 24 V depends on the valve’s power
supply, the 5 V is regulated inside the servo valve.
Value description
6.6.4 Incremental Encoder
The incremental encoder only can measure a relative change in the position and the speed of the axis. To get
the absolute position the encoder needs a reference run after power on.
The valve allows an automatically reference run. To start this reference run, switch the
<DeviceMode> (0x6042) to 4 (reference mode) and set bit 9 (axis install mode positive direction) or bit 10
(axis install mode negative direction) of the <ControlWord> (0x6040).
In the first step of the reference run, axis will move with the <ReferencingVelocity> (0x5614) to end of stroke.
When the "end of stroke position" is reached, the pressure in the cylinder is rising. So the valve will wait until
<PrsActualValue> (0x6381) reaches the <ReferencingForce> (0x561A) to finish the first step.
In the second step of the reference run, the axis is moving slowly back from the "end of stroke position". If
<ZPulseTrigger> (0x5617) = 1, the valve is waiting for the Z pulse. If the Z pulse appears or the axis moved
the distance <ReferencingStop> (0x561B), the reference run is finished and the <EncoderValue> (0x5613) is
set to 0.
A manual search for the reference position is also possible if the <DeviceMode> (0x6042) is switched to 1 or
2 (setpoint input via bus or locally). If the flag <ZPulseEnable> (0x5610) is set, the valve is waiting for the next
Z pulse. When the Z pulse appears, the predefined position <ZPulseSet> (0x5612) is copied to the
<EncoderValue> (0x5613) and <ZPulseEnable> (0x5610) is reset to indicate the successful referencing.
Chapter "5.1.2 Object 0x6040: Control word", page 44
Chapter "7.7 Axis position setpoint conditioning / demand value generator", page 191
6.6.4.1 Object 0x5614: Referencing velocity
In the first step of the reference run, the axis will move with this velocity to end of stroke.
Drive_ActualValueConditioning
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x5619
0
SensorSupplyEnable
UINT8
rw
Y
0, 5, 24
0
<SensorSupplyEnable>
Description
0
0 V, supply disabled.
5
5 V
24
24 V
Table 50: Possible values of parameter <SensorSupplyEnable> (0x5619)
Drive_ActualValueConditioning
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5614
0
ReferencingVelocity
INT32
rw
Y
1000…INT32
1000
