Moog ACV with CANopen bus interface
7 Servo valve functions
Axis position controller
B99224-DV018-D-211, Rev. A, October 2018
199
7.8.14 Axis position transducer selection
The transducer interfaces are reading and scaling the axis positions, the
<PosActualValueReference1…4> (6602) is used to select the corresponding interfaces. The actual axis posi-
tion of the controlled axis is expected on <PosActualValue1> (6601). The positions of the synchronised axis
are expected on <PosActualValue2…4> (6601).
Figure 102: Axis position transducer selection
7.8.14.1 Object 0x6602: Actual value reference
This object allows to map four transducer interface inputs to the actual axis position inputs for the axis control-
ler.
Actual value path
transducer interface
Interface 1
Interface 2
Interface 3...7
Interface 8
<ActualValue4>
(0x6217)
<ActualValue3>
(0x6212...0x6216)
<ActualValue2>
(0x6211)
<ActualValue1>
(0x6210)
<PosActualValueReference1>
(0x6602)
1
2
3...7
8
0
<
P
os
Ac
tu
al
Val
u
e1
>
(0
x6
601
)
1
2
3...7
8
0
<
P
osA
ct
ua
lV
al
ue
2>
(0
x66
01)
1
2
3...7
8
0
<
P
osA
ct
ua
lV
alue
3>
(0
x660
1)
1
2
3...7
8
0
<
P
osA
ct
ua
lV
a
lu
e4
>
(0
x6
60
1)
<PosActualValueReference2>
(0x6602)
<PosActualValueReference3>
(0x6602)
<PosActualValueReference4>
(0x6602)
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value
range
Default
0x6602
1
PosActualValueReference1
UINT8
rw
Y
0…8
1
0x6602
2
PosActualValueReference2
UINT8
rw
Y
0…8
0
0x6602
3
PosActualValueReference3
UINT8
rw
Y
0…8
0
0x6602
4
PosActualValueReference4
UINT8
rw
Y
0…8
0
