Moog ACV with CANopen bus interface
7 Servo valve functions
Control modes
B99224-DV018-D-211, Rev. A, October 2018
132
7.1.9 Axis position control
The axis position control mode is selected by setting the parameter <ControlMode> (0x6043) to 9 (axis posi-
tion control closed loop).
Figure 51: Axis position control
Axis position
controller
<P
os
C
ont
ro
lle
rO
u
tp
ut
>
(0x5
50
F)
Transducer
interface
Any signed
16 bit / 32 bit
param. from the
object dictionary
<ActualValue1...8>
(0x6210...0x6217)
Only
o
n
e s
ign
a
l w
ill
be routed
de
pe
n
ding
on
th
e
<
C
ontr
olM
ode>
(0
x6043)
Axis velocity
controller
<
V
e
lC
o
nt
ro
lle
rO
ut
put
>
(0
x5
51
9)
Transducer
interface
Encoder input
<ActualValue1...8>
(0x6210...0x6217)
Flow
controller
<
Flw
C
ontrolle
rO
utp
ut>
(0
x5
20F)
Transducer
interface
Analog inputs
<ActualValue1...8>
(0x6210...0x6217)
<
E
nc
od
erInp
ut>
(0
x5613)
s
u
T
P
B
A
<ActualValue1...8>
(0x6210...0x6217)
<P
rsDe
m
and
Value>
(0
x6
3
90)
<
S
plDem
an
dValue>
(0x6
31
0
)
<De
m
an
d
V
aluePilot
>
(0x
33
0
0)
Flow
/
press
ure
(p)
swi
tchov
er
s
u
Actual value
transducer
interface
Pressure
demand value
generator
#P
res
sureSe
tpoint
#
Spool position
demand value
generator
Pressure
controller
<
P
rs
Cont
rol
ler
Outpu
t>
(0x
24
1
8)
Pressure
demand sign
Spool position
controller
Analog inputs
v
u
p
u
p
u
p
u
u
p
u
p
p
u
Axis position
demand value
generator
#
A
xisP
osition
S
et
po
int
#
<V
elocit
yDem
an
dVa
lue>
(0x56
15
)
<
Flo
w
D
em
an
dV
alue>
(0
x5213)
<
P
os
D
em
and
V
al
ue
>
(0
x6
610)
Axis velocity
demand value
generator
Flow
demand value
generator
#A
xi
sV
el
oci
tySet
po
in
t#
#F
lo
w
S
et
po
in
t#
The signal #AxisPositionSetpoint# is an internal signal only. It links the signal from the axis posi-
tion setpoint value path to the axis position demand value generator.
