Moog ACV with CANopen bus interface
7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018
212
7.10.2.7 Object 0x6501: Axis velocity actual value
The velocity controller needs the actual velocity <VelActualValue> (0x6501) of the hydraulic axis.
This actual velocity can be read in via the transducer interface from the encoder (if the encoder supports the
velocity signal) or the velocity can be calculated as the derivation of the actual position signal
<PosActualValue1> (0x6601). The parameter <VelActualPathMode> (0x5545) will switch between the two
variants.
Chapter "7.10.2 Axis velocity actual value", page 210
7.10.3 Axis velocity feed forward proportional element
To realize a feed forward control, the axis velocity demand value will be multiplied with this gain and added to
the other control elements.
Figure 122: Axis velocity feed forward proportional element
7.10.3.1 Object 0x5547: Velocity feed forward proportional gain
This parameter contains the velocity feed forward gain.
7.10.3.2 Object 0x5546: Velocity feed forward output
This parameter holds the output of the axis velocity feed forward proportional element.
7.10.3.3 Object 0x6550: Control deviation
This parameter holds the deviation between the axis velocity demand filter value and the axis velocity actual
value.
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x6501
0
VelActualValue
INT32
ro
-
INT32
None
<ProportionalGainKv>
(0x5547)
<Ve
lD
e
mandF
ilt
er
O
u
tp
ut
>
(0x5
53B)
<
V
el
F
ee
dFor
w
ar
dOu
tpu
t>
(0
x554
6)
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x5547
1
ProportionalGainKv
FLOAT32
rw
Y
FLOAT32
0.0
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x5546
1
VelFeedForwardOutput
FLOAT32
ro
-
FLOAT32
None
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence Value range
Default
0x6550
0
VelDemandFilterOutput
INT32
ro
-
INT32
None
