Moog ACV with CANopen bus interface
6 Signal routing and scaling
Encoder input
B99224-DV018-D-211, Rev. A, October 2018
97
6.6.4.2 Object 0x561A: Referencing force
In the first step of the reference run, axis will move 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.
Chapter "7.5.1 Object 0x6381: Actual value", page 168
6.6.4.3 Object 0x561B: Referencing stop
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 has
moved the distance <ReferencingStop> (0x561B), the reference run is finished.
6.6.4.4 Object 0x5617: Z pulse trigger
In the second step of the reference run, the parameter <ZPulseTrigger> (0x5617) will enable the Z pulse to
trigger the reference position of the encoder. If <ZPulseTrigger> (0x5617) = 0, the Z pulse is ignored and will
not be dedected.
6.6.4.5 Object 0x5611: Z pulse detected
This flag will be set when the Z pulse will appear in the second step of the reference run. It will be reset on
start of the reference run while the <DeviceMode> (0x6042) is switched to 4 (reference mode).
6.6.4.6 Object 0x5618: Z pulse clear
This parameter is implemented for compatibility reasons to old software. It will clear the internal Z pulse latch
which is done automatically in the actual software.
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x561A
0
ReferencingForce
INT16
rw
Y
INT16
0
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x561B
0
ReferencingStop
FLOAT32
rw
Y
FLOAT32
0.0
Drive_ActualValueConditioning
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5617
0
ZPulseTrigger
UINT8
rw
N
0…1
0
Drive_ActualValueConditioning
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5611
0
ZPulseDetected
UINT8
rw
N
0…1
0
Drive_ActualValueConditioning
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5618
0
ZPulseClear
UINT8
rw
N
0…1
0
