Moog ACV with CANopen bus interface
7 Servo valve functions
Control modes
B99224-DV018-D-211, Rev. A, October 2018
133
7.1.10 Axis velocity control
The axis velocity control mode is selected by setting the parameter <ControlMode> (0x6043) to 7 (axis veloc-
ity control closed loop).
Figure 52: Axis velocity control
Axis position
controller
<
P
os
C
ont
ro
lle
rO
ut
pu
t>
(0
x5
50
F
)
Transducer
interface
Any signed
16 bit / 32 bit
param. from the
object dictionary
<ActualValue1...8>
(0x6210...0x6217)
Onl
y one si
gn
a
l w
ill
be rout
ed de
pendi
ng
on
th
e
<
C
on
trol
Mode
> (0
x60
43)
Axis velocity
controller
<
V
e
lC
ont
ro
ller
Out
put
>
(0
x5
519)
Transducer
interface
Encoder input
<ActualValue1...8>
(0x6210...0x6217)
Flow
controller
<F
lw
Co
ntro
ller
Out
put
>
(0
x5
20F)
Transducer
interface
Analog inputs
<ActualValue1...8>
(0x6210...0x6217)
<E
nc
oderI
np
ut
>
(0
x56
13)
T
P
B
A
<ActualValue1...8>
(0x6210...0x6217)
<P
rsD
e
m
and
V
al
ue
>
(0x63
90)
<S
pl
DemandV
a
lu
e>
(0x
631
0)
<D
emand
V
al
ueP
ilot
>
(0x
3300)
Flow
/
pr
e
ss
ure
(
p)
Sw
itc
ho
ve
r
s
u
Actual value
transducer
interface
Pressure
demand value
generator
#P
res
sur
eS
e
tp
oi
nt
#
Spool position
demand value
generator
Pressure
controller
<
P
rs
C
on
tro
ller
Out
pu
t>
(0
x241
8)
Pressure
demand sign
Spool position
controller
Analog inputs
p
u
p
u
p
u
u
p
u
p
p
u
s
u
v
u
Axis position
demand value
generator
#
A
xi
sP
os
iti
on
S
et
poi
nt
#
<V
el
oci
ty
D
emandV
a
lu
e>
(0
x56
15)
<
F
lo
w
D
emandV
a
lu
e>
(0
x52
13)
<
P
os
D
emand
V
al
ue
>
(0
x6
610)
Axis velocity
demand value
generator
Flow
demand value
generator
#A
xi
sV
el
oci
tyS
et
po
in
t#
#F
lo
w
S
et
po
in
t#
The signal #AxisVelocitySetpoint# is an internal signal only. It links the signal from the axis veloc-
ity setpoint value path to the axis velocity demand value generator.
