Moog ACV with CANopen bus interface
7 Servo valve functions
Axis position setpoint conditioning / demand value generator
B99224-DV018-D-211, Rev. A, October 2018
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7.7.4 Axis position trajectory generator
The trajectory generator is active, if the <TrajectoryType> (0x5700) = 1 or 2. Then the trajectory generator al-
lows a smooth <PosDemandValue> (0x6610) if the <PosSetpoint> (0x6600) jumps to another position.
Figure 98: Axis position trajectory generator
The trajectory generator is switched off, if the <TrajectoryType> (0x5700) = 0.
In this case the <PosDemandValue> (0x6610) is equal to the <PosSetpoint> (0x6600).
The <PosVelDemandValue> (0x561E) is the derivation of the <PosDemandValue> (0x6610).
The <PosAccDemandValue> (0x5616) is the derivation of the <PosVelDemandValue> (0x561E).
Figure 99: Axis position derivation
<MaximumAcceleration>
(0x5702)
<MaximumVelocity>
(0x5703)
<MaximumAcceleration>
(0x5702)
<MaximumVelocity>
(0x5703)
<PosAccDemandValue>
(0x5616)
<PosVelDemandValue>
(0x561E)
<PosDemandValue>
(0x6610)
<PosSetpoint>
(0x6600)
t
t
t
t
<PosAccDemandValue>
(0x5616)
<PosSetpoint>
(0x6600)
<PosVelDemandValue>
(0x561E)
<PosDemandValue>
(0x6610)
