Moog ACV with CANopen bus interface
7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018
209
7.10 Axis velocity controller
Figure 118: Axis velocity controller
7.10.1 Axis velocity demand value filter
The velocity demand value is filtered with a first order lag element (PT1).
Figure 119: Axis velocity demand value filter
7.10.1.1 Object 0x5533: Demand value filter time constant
This parameter sets the time constant in seconds of the first order lag element (PT1).
7.10.1.2 Object 0x553B: Demand value filter output
This parameter holds the output of the demand filter element.
Axis velocity
transducer selection
Proportional element
Feedback axis
velocity value filter
<V
el
D
e
m
a
nd
Fi
lte
rO
u
tp
u
t>
(0
x5
5
3B
)
-
Axis velocity
demand value filter
<
V
el
Dema
mdV
a
lu
e>
(0
x5
6
1
5)
<Ac
tu
a
lV
al
ue
1.
..8
>
(0
x6
2
1
0..
.0
x6
2
17
)
Integral element
Axis velocity
feedforward
proportional element
<
V
e
lAc
tu
al
Va
lu
e>
(0
x6
50
1
)
<V
el
C
o
nt
ro
lD
e
via
tio
n
>
(0
x6
55
0
)
<V
el
Fee
d
F
o
rw
ar
dO
ut
pu
t>
(0
x5
5
4
6)
<K
iO
ut
pu
t>
(0
x5
53C
)
<K
pO
ut
pu
t>
(0
x5
5
3
7)
<
A
ccF
ee
dB
ack
O
ut
pu
t>
(0
x5
539
)
Directional
depending gain
Signal limitation
#C
ont
ro
lle
rO
u
tp
ut
1#
#C
ont
ro
lle
rO
u
tp
ut
2#
<
V
el
Co
n
tr
ol
le
rO
u
tp
u
t>
(0
x5
5
19
)
-
-
Feedback axis
velocity derivative
element
<V
el
Fe
edB
a
ck
Fi
lte
rO
utp
u
t>
(0
x5
5
4
9)
Sample frequency
<VelDemandFilterTimeConstant>
(0x5533)
<
V
el
Demam
d
Val
ue>
(0x5615
)
<VelDe
mand
F
ilt
er
O
u
tp
ut
>
(0x553B)
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x5533
1
VelDemandFilterTimeConstant
FLOAT32
rw
Y
0.0…+inf
0.0
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x553B
1
VelDemandFilterOutput
FLOAT32
ro
-
FLOAT32
None
