Moog ACV with CANopen bus interface
7 Servo valve functions
Axis position controller
B99224-DV018-D-211, Rev. A, October 2018
196
7.8.1 Object 0x6601: Actual value
The actual position of the position controller has to be mapped to the parameter
<PosActualValue1> (0x6601). It is possible to synchronize the hydraulic axis with up to 3 other axis.
The actual positions of these 3 axis are expected on the parameters <PosActualValue2...4> (0x6601). The
mapping of the actual positions to the interface outputs is done with the transducer interface numbers
<PosActualValueReference1...4> (0x6602).
7.8.2 Object 0x582B: Demand filter output
This parameter holds the output value of the demand filter element.
7.8.3 Object 0x6650: Control deviation
This parameter holds the deviation between the axis position demand filter value and the axis position actual
value.
7.8.4 Object 0x552A: Kp output
This parameter holds the output of the proportional element of the axis position controller.
7.8.5 Object 0x552A: Kp T1 output
This parameter holds the output of the proportional first order lag element of the axis position controller.
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x6601
1
PosActualValue1
INT32
ro
-
INT32
None
0x6601
2
PosActualValue2
INT32
ro
-
INT32
None
0x6601
3
PosActualValue3
INT32
ro
-
INT32
None
0x6601
4
PosActualValue4
INT32
ro
-
INT32
None
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x582B
0
PosDemandFilterOutput
FLOAT32
ro
-
FLOAT32
None
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x6650
1
PosControlDeviation
INT32
ro
-
INT32
None
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x552A
1
KpOutput
FLOAT32
ro
-
FLOAT32
None
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x552A
2
KpT1Output
FLOAT32
ro
-
FLOAT32
None
