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
194
7.7.4.1 Object 0x5700: Trajectory type
If <TractoryType> = 0 then the trajectory generator is switched off.
If <TractoryType> = 1 then the trajectory generator is enabled while the device state machine is in the
'ACTIVE' state.
If <TractoryType> = 2 then the trajectory generator is enabled while the device state machine is in the 'HOLD'
or 'ACTIVE' state.
7.7.4.2 Object 0x5703: Maximum velocity
This parameter limits the maximal velocity of the axis.
7.7.4.3 Object 0x5702: Maximum acceleration
This parameter limits the maximal acceleration of the axis.
7.7.5 Axis position demand value filter
This first order lag element (PT1) is used to filter the axis position demand value.
Figure 100: Axis position demand value filter
7.7.5.1 Object 0x582A: Demand value filter time constant
This parameter sets the time constant in seconds of the first order lag element (PT1).
DrivePositionControl_DemandValueGenerator
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x5700
0
TractoryType
INT8
rw
Y
0…2
0
DrivePositionControl_DemandValueGenerator
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5703
0
MaximumVelocity
INT32
rw
Y
0…2147483647
100000
DrivePositionControl_DemandValueGenerator
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5702
0
MaximumAcceleration
INT32
rw
Y
0…2147483647
100000
<PosDemandFilterTimeConstant>
(0x582A)
<PosD
e
m
a
mdVa
lue>
(0x6610)
<F
ilterOutp
ut
>
(0
x582B)
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x582A
0
PosDemandFilterTimeConstant
FLOAT32
rw
Y
0…+inf
0.0
