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Moog ACV with CANopen bus interface

2 Access over CANopen

CANopen communication protocols

B99224-DV018-D-211, Rev. A, October 2018

28

2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping

With the parameter <TPdo_NumberOfMappedApplicParaInPdo> (0x1A00) the number of real-time applica-
tion parameters to be transmitted can be set. To map the application parameter itself, its index, sub-index and
length must be combined to a 32 bit value and written to one of the eight possible positions (corresponding to
the subindexes 1…8) within the PDO object.

Value description

This pointer contains a combination of index, sub-index and length of the parameter to be used.

The example value is 0x63410010, which refers to the <StatusWord> (0x6041), sub-index 0x00 with a length
of 16 bit (16=0x10).

CANopen

Index

Sub-
index

Parameter name

Data
type

Access

Persis-
tence

Value
range

Default

0x1A00 0

TPdo1_NumberOfMappedApplicParaInPdo

UINT8

rw

Y

0…8

1

0x1A00 1

TPdo1_ApplicPara1

UINT32

rw

Y

UINT32

0x60410010

0x1A00 2

TPdo1_ApplicPara2

UINT32

rw

Y

UINT32

0

0x1A00 3

TPdo1_ApplicPara3

UINT32

rw

Y

UINT32

0

0x1A00 4

TPdo1_ApplicPara4

UINT32

rw

Y

UINT32

0

0x1A00 5

TPdo1_ApplicPara5

UINT32

rw

Y

UINT32

0

0x1A00 6

TPdo1_ApplicPara6

UINT32

rw

Y

UINT32

0

0x1A00 7

TPdo1_ApplicPara7

UINT32

rw

Y

UINT32

0

0x1A00 8

TPdo1_ApplicPara8

UINT32

rw

Y

UINT32

0

Parameter

Description

<TPdo1_NumberOfMappedApplicParaInPdo>

Numbers of mapped application parameters

<TPdo1_ApplicPara1>

1

st

application parameter

<TPdo1_ApplicPara2>

2

nd

application parameter

<TPdo1_ApplicPara3>

3

rd

application parameter

<TPdo1_ApplicPara4>

4

th

application parameter

<TPdo1_ApplicPara5>

5

th

application parameter

<TPdo1_ApplicPara6>

6

th

application parameter

<TPdo1_ApplicPara7>

7

th

application parameter

<TPdo1_ApplicPara8>

8

th

application parameter

Table 20: Object 0x1600: 1st TxPDO mapping

<TPdo1_ApplicPara1>…<TPdo1_ApplicPara8>

Byte

3

2

1

0

Description

Index MSB

Index LSB

Sub-index

Parameter bit length

0x08 or 0x10 or 0x20

Example

0x60

0x41

0x00

0x10

Table 21: Possible values of parameter <TPdo1_ApplicPara1>…<TPdo1_ApplicPara8>

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Summary of Contents for ACV Series

Page 1: ...OFFERING FLEXIBLE INTEGRATION AND ADVANCED MAINTENANCE FEATURES INCLUDING DIAGNOSTICS MONITORING OF CHARACTERISTICS AND ABILITY TO DEFINE DYNAMIC BEHAVIORS USER MANUAL FOR AXIS CONTROLVALVES WITH CANO...

Page 2: ...s may be reproduced in any form print photocopies microfilm or by any other means or edited duplicated or distrib uted with electronic systems without our prior written consent Offenders will be held...

Page 3: ...2 Parameter and their attributes 10 2 4 3 Units and prefix parameter 12 2 5 CANopen object dictionary OD 12 2 6 CAN data link layer 13 2 7 CAN bit rate and Node ID configuration 13 2 7 1 CAN bit rate...

Page 4: ...200 SDO client server parameter 32 2 9 Network management state machine NMT state machine 32 2 9 1 Network management NMT protocol COB ID 0x000 0x700 34 2 9 2 Start remote node command COB ID 0 CS 1 3...

Page 5: ...ons depending on the enable signal 51 5 2 2 4 2 Fault confirmation with the enable signal 51 5 2 2 5 Error output pin 52 5 2 3 Object 0x6041 Status word 52 5 2 4 Object 0x1002 Manufacturer Status Regi...

Page 6: ...3 9 Transducer interface definition 74 6 3 9 1 Object 0x6200 Max interface number 75 6 3 9 2 Object 0x6201 Interface number 75 6 3 9 3 Object 0x6202 Type 76 6 3 9 4 Object 0x6203 Sign 76 6 3 9 5 Objec...

Page 7: ...ernal pressure transducer input 89 6 4 6 1 Object 0x3404 Actual value 90 6 5 Analog outputs 91 6 5 1 Analog output 0 92 6 5 1 1 Object 0x3244 Scaling 92 6 5 1 2 Object 0x3245 Actual value 92 6 5 1 3 O...

Page 8: ...O configuration 114 6 9 4 3 Object 0x5802 3rd TxPDO configuration 114 6 9 4 4 Object 0x5803 4th TxPDO configuration 114 6 9 4 5 Transmit process data object TxPDO mapping 115 6 9 4 6 Object 0x5A00 1st...

Page 9: ...t 0x6323 Offset 139 7 2 5 Ramp 140 7 2 5 1 Object 0x6330 Type 140 7 2 5 2 One quadrant ramp ramp type 1 141 7 2 5 2 1 Object 0x6331 Acceleration time 141 7 2 5 3 Two quadrant ramp ramp type 2 142 7 2...

Page 10: ...7 7 3 8 1 Object 0x215C Main stage customer overall gain 157 7 3 8 2 0x2170 Main stage controller proportional part output 158 7 3 8 3 0x2171 Main stage controller integral part output 158 7 3 8 4 0x2...

Page 11: ...13 3 Object 0x2307 N Integrator control range 176 7 5 13 4 Object 0x231D Integrator gain status 176 7 5 13 5 Object 0x5857 N Integrator gain switch threshold 177 7 5 13 6 Object 0x231A N Integrator u...

Page 12: ...ct 0x5614 Manual maximum speed 195 7 8 Axis position controller 195 7 8 1 Object 0x6601 Actual value 196 7 8 2 Object 0x582B Demand filter output 196 7 8 3 Object 0x6650 Control deviation 196 7 8 4 Ob...

Page 13: ...bject 0x6521 Upper limit 207 7 9 2 2 Object 0x6520 Lower limit 207 7 9 3 Ramp 208 7 9 3 1 Object 0x5553 Velocity demand ramp 208 7 10 Axis velocity controller 209 7 10 1 Axis velocity demand value fil...

Page 14: ...w alpha 222 7 12 7 2 Object 0x5210 Actual value filter time constant 223 7 12 8 Flow demand value scaling 223 7 12 8 1 Object 0x521B Demand value scaling 223 7 12 9 Flow actual value selection 223 7 1...

Page 15: ...5 4 Object 0x3308 Spring Position Maximum 242 7 15 6 Pilot single stage actual spool position monitoring 242 7 15 7 Main dual stage actual spool position monitoring 243 7 15 8 Analog input cable break...

Page 16: ...ct 0x318D Trigger position 258 7 17 5 Data memory 259 7 17 5 1 Object 0x3186 Memory 260 7 17 5 2 Object 0x3187 Sample start offset 260 7 17 5 3 Object 0x3183 Number of samples 260 7 18 Function genera...

Page 17: ...0 8 4 1 1 Not implemented fault 280 8 4 1 2 0x02 Error during startup 280 8 4 1 3 0x03 Error DSP program download 280 8 4 1 4 0x04 Error DSP realtime data transmission 280 8 4 1 5 0x05 Power supply vo...

Page 18: ...AN RPDO1 RPDO4 data 290 8 4 1 40 0x52 0x55 Local CAN TPDO1 4 time out 290 8 4 1 41 0x56 0x59 Local CAN TPDO1 4 data 290 8 4 1 42 0x5B CAN general fault 291 8 4 1 43 0x5E 0x61 CAN RPDO1 4 time out 291...

Page 19: ...values of parameter TPdo1_CobIdUsedByPdo 0x1800 sub index 1 25 Table 19 Possible values of parameter TPdo1_TransmissionType 0x1400 sub index 2 25 Table 20 Object 0x1600 1st TxPDO mapping 28 Table 21...

Page 20: ...5400 107 Table 56 Possible values of parameter LocalRPdo1_CobIdUsedByPdo 0x5400 107 Table 57 Possible values of parameter LocalRPdo1_TransmissionType 0x5400 107 Table 58 Parameters of 1st RxPDO mappin...

Page 21: ...92 Possible values of parameter Type 0x63D1 235 Table 93 Possible values of parameter Type 0x6651 237 Table 94 Possible values of parameter Type 0x6651 239 Table 95 Cable break monitoring features 243...

Page 22: ...meter PreDefinedErrorField 0x1003 276 Table 117 SDO Abort Codes 279 Table 118 Behavior of saveable and volatile parameters 295 Table 119 Possible values of parameter 0x1010 296 Table 120 Possible valu...

Page 23: ...127 0x7F 35 Figure 15 Device structure 37 Figure 16 Device controller structure 38 Figure 17 Name plate of the device with identification object address 40 Figure 18 Local mode 43 Figure 19 Device sta...

Page 24: ...osed loop 130 Figure 50 p Q control closed loop 131 Figure 51 Axis position control 132 Figure 52 Axis velocity control 133 Figure 53 Flow control 134 Figure 54 p flow control 135 Figure 55 Spool posi...

Page 25: ...ool position control and pressure control 189 Figure 96 State machine used to switch between spool position control and pressure control 190 Figure 97 Axis position setpoint conditioning demand value...

Page 26: ...e 133 Alpha correction 222 Figure 134 Flow demand value scaling 223 Figure 135 Flow actual value selection 223 Figure 136 Feedback axis velocity proportional element 225 Figure 137 Bernoulli compensat...

Page 27: ...en bus interface List of figures B99224 DV018 D 211 Rev A October 2018 xxv Figure 155 Trapezoid signal type 4 262 Figure 156 Sine signal type 5 262 Figure 157 Trigger signal 265 Figure 158 Fault react...

Page 28: ...incomplete information to Moog 1 1 1 Reservation of changes and validity The information contained in this manual is valid at the time of this version s release See footer for version number and rele...

Page 29: ...tions might lead to death serious personal injury disablement CAUTION Identifies safety instructions that are intended to warn of slight personal injury Failure to observe these safety instructions mi...

Page 30: ...rk with the servo valve Qualified users are properly trained experts with the re quired knowledge and experience In particular these experts must have the authorization to bring into oper ation system...

Page 31: ...ics and CAN Bus Interface CA45707 002 Betriebsanleitung Servoventile Serie D636 D638 Direktbet tigte Servoventile CA61892 001 User Manual Direct Drive Servovalves with integrated Digital Electronics a...

Page 32: ...3 S Wacker Drive Suite 8400 Chicago IL 60606 6338 USA http www iec org CiA CAN in Automation Kontumazgarten 3 DE 90429 N rnberg http www can cia org VDMA Verband Deutscher Maschinen und Anlagenbau e V...

Page 33: ...urrent DCV Moog Digital Control Valve DSM Device State Machine DSP Digital Signal Processor EDS Electronics Datasheet containing a description of the CANopen object dictionary EEPROM Electrically eras...

Page 34: ...nsmit Process Data Object remote TxSDO Transmit Service Data Object URL Uniform Resource Locator Internet address VDMA Verband Deutscher Maschinen und Anlagenbau e V wo Write only Xn Physical connecto...

Page 35: ...are built on top of this basic profile 2 2 Device profiles The German Engineering Federation VDMA together with the manufacturers of hydraulic devices have de veloped the profile for fluid power techn...

Page 36: ...ents a standardized application layer and communication profile as defined in CiA 301 The CiA 305 specifies the layer setting services LSS These protocols are used to inquire or to change the set ting...

Page 37: ...explained in the next chapter 2 4 2 Parameter and their attributes A parameter is an abstract representation of a particular parameter value within a CANopen object dictionary in a device Parameters a...

Page 38: ...If the persistence is set to Y the saved value stays in memory even after the device is turned off Parameters not marked as per sistent N lose their settings after the device is turned off The paramet...

Page 39: ...veral index ranges The classi fication of the object dictionary is defined in the CiA 301 Name of unit International symbol Notation index hex none dimensionless or iR 0x00 meter m 0x01 second s 0x03...

Page 40: ...ANopen bit rates and maximum cable lengths can be configured See also document CA63420 001 User Manual Electrical Interfaces 0x6000 0x67FF Standardized profile area 1st logical device CiA 408 0x6800 0...

Page 41: ...of the device or can be inquired by using SDO or the boot up message The LSS service itself stores the new settings permanently in the servo valve It is not necessary to initiate a manual Store comma...

Page 42: ...d To activate the new bit rate either a power up or a NMT reset communication has to be initiated NMT protocol CiA 203 Chapter 2 9 6 Reset communication command COB ID 0 CS 130 page 35 Value descripti...

Page 43: ...CiA 301 Chapter 2 9 1 Network man agement NMT protocol COB ID 0x000 0x700 page 34 NMT 0x000 Node ID Network Management NMT protocol CiA 301 SYNC 0x080 Synchronization Broadcast protocol 0x1005 CiA 301...

Page 44: ...page 266 2 8 2 1 Object 0x1014 EMCY protocol COB ID configuration This object defines the COB ID of the emergency object itself Value description CANopen Index Sub index Parameter name Data type Acce...

Page 45: ...ct TxPDO Chapter 2 8 3 4 TxPDO protocol configuration COB ID 0x180 0x280 0x380 0x480 page 24 Figure 6 Process data object PDO mapping 2 8 3 1 RxPDO protocol configuration COB ID 0x200 0x300 0x400 0x50...

Page 46: ...is used to recognize the expiration of the RxPDO If the time elapsed and the PDO was not received within that period a fault reaction can be initiated If this parameter is set to 0 the receive timeou...

Page 47: ...cription Table 12 page 19 CANopen Index Sub index Parameter name Data type Access Persis tence Value range Default 0x1402 1 RPdo3_CobIdUsedByPdo UINT32 rw Y 1 0x000007FF 0x80000000 0x0400 127 0x1402 2...

Page 48: ...Spool position setpoint value SplSetpoint 0x6300 sub index 0x01 Chapter 6 2 3 Spool position setpoint value path page 59 Pressure setpoint value PrsSetpoint 0x6380 sub index 0x01 Chapter 6 2 4 Pressur...

Page 49: ...x60400010 0x1600 2 RPdo1_ApplicPara2 UINT32 rw Y UINT32 0 0x1600 3 RPdo1_ApplicPara3 UINT32 rw Y UINT32 0 0x1600 4 RPdo1_ApplicPara4 UINT32 rw Y UINT32 0 0x1600 5 RPdo1_ApplicPara5 UINT32 rw Y UINT32...

Page 50: ...0 8 2 0x1601 1 RPdo2_ApplicPara1 UINT32 rw Y UINT32 0x60400010 0x1601 2 RPdo2_ApplicPara2 UINT32 rw Y UINT32 0x63000110 0x1601 3 RPdo2_ApplicPara3 UINT32 rw Y UINT32 0 0x1601 4 RPdo2_ApplicPara4 UINT...

Page 51: ...s are available The transmission of the PDOs can be triggered by following events Event timer elapsed Synchronization SYNC telegram received Every event forces a PDO transmission More than one event t...

Page 52: ...event If the event time elapsed a trigger to transmit a TxPDO is initiated and the event timer will be restarted Table 17 Object 0x1800 1st TxPDO configuration TPdo1_CobIdUsedByPdo Bit 31 30 29 11 10...

Page 53: ...Pdo UINT32 rw Y 1 0x000007FF 0x80000000 0x0280 127 0x1801 2 TPdo2_TransmissionType UINT8 rw Y UINT8 255 0x1801 3 TPdo2_InhibitTime UINT16 rw Y UINT16 0 0x1801 5 TPdo2_EventTimer UINT16 rw Y UINT16 0 C...

Page 54: ...machine DSM page 46 Spool position actual value SplActualValue 0x6301 sub index 0x01 Chapter 7 3 Spool position controller page 153 Pressure actual value PrsActualValue 0x6381 sub index 0x01 Chapter...

Page 55: ...1 TPdo1_ApplicPara1 UINT32 rw Y UINT32 0x60410010 0x1A00 2 TPdo1_ApplicPara2 UINT32 rw Y UINT32 0 0x1A00 3 TPdo1_ApplicPara3 UINT32 rw Y UINT32 0 0x1A00 4 TPdo1_ApplicPara4 UINT32 rw Y UINT32 0 0x1A00...

Page 56: ...Y 0 8 2 0x1A01 1 TPdo2_ApplicPara1 UINT32 rw Y UINT32 0x60410010 0x1A01 2 TPdo2_ApplicPara2 UINT32 rw Y UINT32 0x63010110 0x1A01 3 TPdo2_ApplicPara3 UINT32 rw Y UINT32 0 0x1A01 4 TPdo2_ApplicPara4 UI...

Page 57: ...rameter TPdoTrigger 0x3011 value must be set to the number of the PDO channel to be sent CANopen Index Sub index Parameter name Data type Access Persis tence Value range Default 0x1A03 0 TPdo4_NumberO...

Page 58: ...ication parameters They are transmitted non real time with low priority Example for a typical write service data object request from client PLC to server valve Protocol SDO download initiate Figure 9...

Page 59: ...slave structure It requires one device in the network which fulfills the function of the NMT master the other nodes are NMT slaves The network management provides the follow ing functions Device contr...

Page 60: ...nagement state machine NMT state machine B99224 DV018 D 211 Rev A October 2018 33 Figure 12 CANopen network state machine CSM Initialization Reset Application Reset Communication Init Pre Operational...

Page 61: ...ram eter All NMT commands use the COB ID 0 The different NMT commands are distinguished by a command specifier CS located in the first data byte of the message NMT state transitions are caused by Rece...

Page 62: ...2 9 4 Enter Pre Operational command COB ID 0 CS 128 This command requests the selected slave node s to enter the state Pre Operational 2 9 5 Reset node command COB ID 0 CS 129 This command requests t...

Page 63: ...rs with its actual NMT state and a toggle bit This toggle bit alternates in each cycle The monitoring time until fault reaction 110 CAN life guard error or heartbeat error is triggered is calculated a...

Page 64: ...e DeviceMode 0x6042 and the device state machine state Servo valve functions Demand value generator Event handler Control modes Monitoring Signal routing and scaling Setpoint value path Actual value t...

Page 65: ...internal non volatile memory of the device 3 1 7 Object dictionary The object dictionary holds all servo valve parameters These parameters can be read or written using the field bus or the local CAN i...

Page 66: ...current hardware version of the servo valve electronics 4 1 4 Object 0x100A Manufacturer software version This parameter indicates the current software version of the servo valve Device Index Sub ind...

Page 67: ...ex Parameter name Data type Access Persistence Value range Default 0x1018 1 VendorId UINT32 ro UINT32 40 0x1018 2 ProductCode UINT32 ro UINT32 0 0x1018 3 RevisionNumber UINT32 ro UINT32 0 0x1018 4 Ser...

Page 68: ...0x6056 Parameter set code The user can use this parameter to set a user defined parameter configuration identification number Device Index Sub index Parameter name Data type Access Per sistence Value...

Page 69: ...efault 0x605F 0 Capability UINT32 ro UINT32 0x3F3F0000 Capability Description Mod Servo valve or pump application Drive application Reserved Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 0 MS...

Page 70: ...ed as input signal ControlWord for the device state machine DSM Setting the Local 0x604F parameter to 0 the ControlWord 0x6040 is used as input signal ControlWord Value description The actual setting...

Page 71: ...0x6042 4 reference mode then the hydraulic axis can be moved with bit 9 of the ControlWord 0x6040 in positive direction The velocity of the movement is defined in the parameter ManualMaxSpeed 0x5614...

Page 72: ...spool position ramp and the pressure ramp output are frozen Spool position demand value generator Chapter 7 2 5 Ramp page 140 Pressure demand value generator Chapter 7 4 5 Ramp page 162 5 1 3 Object...

Page 73: ...Word 0x6041 bits 0 3 of the status word indicate the de vice condition Figure 19 Device state machine NOT READY ControlWord MHD 000 StatusWord RMHD 0000 INIT ControlWord MHD 000 StatusWord RMHD 1000 D...

Page 74: ...e 0x6043 is active Chapter 7 1 Control modes page 127 The setpoint values from the bus or from the analog input according to the chosen DeviceMode 0x6042 are not effective Chapter 6 2 1 Object 0x6042...

Page 75: ...2 5 3 Object 0x6614 Hold setpoint page 64 Chapter 6 2 6 3 Object 0x5527 Hold setpoint page 68 Chapter 6 2 7 3 Object 0x5314 Hold setpoint page 71 FAULT_REACTION This state is assumed when the device...

Page 76: ...gnal Chapter 5 2 2 4 Enable behavior page 50 TR5 Deactivate ACTIVE x x x x x 0 x X TR6 Deactivate HOLD x x x x x 0 0 X TR7 Deactivate DISABLED x x x x x 0 0 0 TR10 Reset FAULT_DISABLED x x x x 0 0 0 1...

Page 77: ...t pin Chapter 5 2 2 5 Error output pin page 52 TR11 Reset FAULT_HOLD Behavior of error output pin Chapter 5 2 2 5 Error output pin page 52 TR14 Reset FAULT_INIT Behavior of error output pin Chapter 5...

Page 78: ...nding on the se lected control mode a specific hold position is controlled Chapter 5 2 1 DSM states page 47 Chapter 6 2 3 Spool position setpoint value path page 59 Chapter 6 2 4 Pressure setpoint val...

Page 79: ...the current device status Value description Bits 0 1 2 3 DISABLED HOLD ACTIVE READY These bits indicate the state of the device state machine DSM Chapter 5 2 Device state machine DSM page 46 Bit 4 Ind...

Page 80: ...160 Bit 11 Control deviation This bit indicates a control deviation detected by one of the control monitoring functions e g the control devi ation has been outside the tolerance band for longer than...

Page 81: ...status LED displays the state of the device state machine DSM Chapter 5 2 Device state machine DSM page 46 Device Index Subindex Name Data type Access Persis tence Value range Default 0x200F 0 PowerOn...

Page 82: ...etwork management NMT state machine Chapter 2 9 Network management state machine NMT state machine page 32 Network status LED NS NMT state machine ESM Description Off Stopped No power supply or not co...

Page 83: ...ressure setpoint value from analog signal Spool position setpoint value from analog signal Field bus or Local CAN p Any signed 16 bit 32 bit param from the object dictionary Axis position demand value...

Page 84: ...the analog input 1 AnaInpActualValue1 0x320C The axis position setpoint axis velocity setpoint and the flow setpoint values from local source are not referenced to a special hardware input Which setpo...

Page 85: ...is position setpoint conditioning demand value generator page 191 Value description 6 2 2 Object 0x4042 Device mode default The DeviceModeDefault 0x4042 defines the active device mode after power up o...

Page 86: ...0x6042 Device mode page 58 Chapter 2 4 3 Units and prefix parameter page 12 1 Setpoint input via the bus 2 Setpoint input locally AnaInpActualValue0 0x3204 Analog input 0 Spool position setpoint value...

Page 87: ...pl hold setpoint This parameter defines the spool position hold setpoint value for the ControlMode 0x6043 Chapter 7 1 1 Object 0x6043 Control mode page 128 The SplHoldSetpoint 0x6314 acts as setpoint...

Page 88: ...3 Object 0x6041 Status word page 52 Chapter 6 2 1 Object 0x6042 Device mode page 58 Chapter 2 4 3 Units and prefix parameter page 12 1 Setpoint input via the bus 2 Setpoint input locally AnaInpActualV...

Page 89: ...fines the pressure hold setpoint value It is effective for the following ControlMode 0x6043 Chapter 7 1 1 Object 0x6043 Control mode page 128 The PrsHoldSetpoint 0x6394 acts as setpoint value in case...

Page 90: ...arameter page 12 PosSetpoint 0x6600 PosSetpoint 0x6600 AxesPositionSetpoint StatusWord 0x6041 ACTIVE HOLD or FAULT HOLD INIT or DISABLED or FAULT DISABLED PosSetpointParameter 0x3330 0x66000120 0x 0x...

Page 91: ...tpoint This parameter defines the axis position hold setpoint value This parameter is in effect only for the ControlMode 0x6043 8 axis position control Chapter 7 1 1 Object 0x6043 Control mode page 12...

Page 92: ...ject 0x5509 Minimum interface This parameter together with the parameter PosMinimumReference 0x4230 results in the first point of the linear scaling function 16 to 32 bit scaling input PosMinimumInter...

Page 93: ...sed on the axis position signal The trajectory generator is effective if the device state machine state StatusWord 0x6041 is in the state ACTIVE Chapter 7 7 4 Axis position trajectory generator page 1...

Page 94: ...to 1 setpoint input via bus Chapter 5 2 3 Object 0x6041 Status word page 52 Chapter 6 2 1 Object 0x6042 Device mode page 58 Chapter 2 4 3 Units and prefix parameter page 12 VelSetpoint velset 0x6500 V...

Page 95: ...parameter defines the axis velocity hold setpoint value This parameter is in effect only for the ControlMode 0x6043 6 axis velocity control Chapter 7 1 1 Object 0x6043 Control mode page 128 The VelHo...

Page 96: ...3 Object 0x5525 Minimum interface This parameter together with the parameter VelMinimumReference 0x5523 results in the first point of the linear scaling 16 to 32 bit scaling input VelMinimumReference...

Page 97: ...is set to 1 setpoint input via bus Chapter 5 2 3 Object 0x6041 Status word page 52 Chapter 6 2 1 Object 0x6042 Device mode page 58 Chapter 2 4 3 Units and prefix parameter page 12 DriveVelocityContro...

Page 98: ...g ControlMode 0x6043 Chapter 7 1 1 Object 0x6043 Control mode page 128 The FlwHoldSetpoint 0x5314 acts as setpoint value in case of StatusWord 0x6041 equals HOLD or FAULT_HOLD Chapter 5 2 3 Object 0x6...

Page 99: ...622B GeneralInputMin Signal 0x622C GeneralInputMax Signal 0x622D InterfaceNumber 0x6201 1 2 3 7 8 All parameters in this box are only effective for the choosen transducer interface number InterfaceNum...

Page 100: ...ber 0x6202 Type 0x6203 Sign 0x6204 Actual value 0x4032 Transducer port 0x6220 Minimum pressure 0x6221 Maximum pressure 0x6222 Pressure area 0x6223 Pressure offset 0x6224 Minimum transducer signal 0x62...

Page 101: ...TransducerPort 0x4032 The type of the actual value conditioning is configured by the parameter Type 0x6202 All parameters configuring the interface only apply to the interface selected by the paramet...

Page 102: ...range Default 0x6200 0 MaxInterfaceNumber UINT8 ro UINT8 8 Drive_ActualValueConditioning Index Sub index Parameter name Data type Access Per sistence Value range Default 0x6201 0 InterfaceNumber UINT8...

Page 103: ...l input scaling page 82 64 position incremental Incremental encoder with A B channels Chapter 6 3 11 Position digital encoder actual value scaling page 80 65 position SSI binary SSI possition encoder...

Page 104: ...meter as described in the examples below If an incremental encoder or an SSS encoder is selected Type 0x6202 64 65 66 then the TransducerPort 0x4032 is fixed to 0x56130020 which is the index of the en...

Page 105: ...er 0x6201 Chapter 6 3 9 3 Object 0x6202 Type page 76 Figure 30 Pressure actual value scaling 6 3 10 1 Object 0x6220 Minimum pressure This parameter defines the minimum transducer signal when pressure...

Page 106: ...10 6 Object 0x6223 Pressure offset This parameter defines a pressure offset which is added to the two point scaling function defined by the four parameters before Drive_ActualValueConditioning Index...

Page 107: ...e 31 Position digital encoder actual value scaling 6 3 11 1 Object 0x6240 Position resolution This parameter defines the transducer siganl when the position is maximal 6 3 11 2 Object 0x6241 Position...

Page 108: ...ual value scaling 6 3 12 1 Object 0x6233 Minimum reference This parameter defines the transducer signal when position is minimal 6 3 12 2 Object 0x6234 Maximum reference This parameter defines the tra...

Page 109: ...eral input This is done by writing the value 5 to the parameter Type 0x6202 This parameter setting is effective for the interface selected by InterfaceNumber 0x6201 Chapter 6 3 9 3 Object 0x6202 Type...

Page 110: ...thout offset Example GeneralInputSignalMaximum 0x622D input voltage for 100 6 3 13 5 Object 0x622B General input offset This parameter defines the offset which is added to the two point scaling functi...

Page 111: ...3 Example 2 Change sign of the transducer signal 1 Select the transducer interface which is intended to change the sign Therefore set the InterfaceNumber 0x6201 2 Change the sign of the transducer int...

Page 112: ...result 0x00030010 in the parameter TransducerPort 0x4032 3 Check transducer interfaces Sign 0x6203 and change value 1 or 1 if needed 4 Set transducer interface Type 0x6202 to 2 pressure transducer 5...

Page 113: ...nt input via bus In this case the analog inputs 0 and 1 can be used as additional inputs for external transducers Chapter 6 2 3 Spool position setpoint value path page 59 An external transducer on ana...

Page 114: ...aInpType0 INT8 rw Y INT8 1 InputType Value range of ActualValue Value range of electrical signal Potential free Grounded 0 or 100 100 1 9 not available 16384 16384 10 V 100 2 10 not available 0 16384...

Page 115: ...INT16 ro INT16 None AnalogInput2 Index Sub index Parameter name Data type Access Persis tence Value range Default 0x3210 0 AnaInpType2 INT8 rw Y INT8 2 InputType Value range of ActualValue Value rang...

Page 116: ...g input 4 6 4 6 Internal pressure transducer input The internal pressure transducer input is located in the servo valve port A This transducer can also be used as input for the controller Chapter 6 3...

Page 117: ...B99224 DV018 D 211 Rev A October 2018 90 6 4 6 1 Object 0x3404 Actual value Actual value of the internal pressure transducer input PressureTransducer Index Sub index Parameter name Data type Access Pe...

Page 118: ...designation number 10 in the order code Figure 35 Analog outputs Document CA63420 001 User Manual Electrical Interfaces Each output can be scaled by the customer The scaling is done according to the f...

Page 119: ...gth of 16 bit 16 0x10 AnalogOutput0 Index Sub index Parameter name Data type Access Per sistence Value range Default 0x3244 1 AnaOutScaNumerator0 INT16 rw Y INT16 16384 0x3244 2 AnaOutScaDenominator0...

Page 120: ...5 range Output signal range 0 16384 16384 4 20 mA 2 10 V depending on hardware version 1 0 16384 4 20 mA 2 10 V depending on hardware version Table 47 Possible values of parameter AnaOutType0 0x3243 A...

Page 121: ...x3263 Type Value description AnalogOutput1 Index Sub index Parameter name Data type Access Per sistence Value range Default 0x3260 0 AnaOutMappingParameter1 UINT32 rw Y UINT32 0x63810110 Parameter Byt...

Page 122: ...s used to initialize the encoder hardware Chapter 6 3 9 3 Object 0x6202 Type page 76 Chapter 6 3 9 6 Object 0x4032 Transducer port page 77 6 6 1 Object 0x5613 Encoder value This raw value is the outpu...

Page 123: ...tep of the reference run the axis is moving slowly back from the end of stroke position If ZPulseTrigger 0x5617 1 the valve is waiting for the Z pulse If the Z pulse appears or the axis moved the dist...

Page 124: ...gnored and will not be dedected 6 6 4 5 Object 0x5611 Z pulse detected This flag will be set when the Z pulse will appear in the second step of the reference run It will be reset on start of the refer...

Page 125: ...ze 0x6243 and BitRate 0x561F 6 6 5 1 Object 0x5620 Master slave Only the SSI master interface is supported Value description 6 6 5 2 Object 0x6243 Bit size This parameter sets the number of bits which...

Page 126: ...transmission cycles the SSI Error fault reaction 44 will be thrown 6 7 Digital inputs The servo valve has one digital input Figure 38 Digital inputs Document CA63420 001 User Manual Electrical Interfa...

Page 127: ...al output 0 is usually available on pin 8 The digital output 1 is usually available on pin 11 Figure 39 Digital outputs in the default configuration Document CA63420 001 User Manual Electrical Interfa...

Page 128: ...rvo valve s digital output acts according to the Device Profile Fluid Power This means it is controlled by the device state machine fault indication In this case the digital output is used to indicate...

Page 129: ...eters With these parameters a gateway between the field bus and the local CANs SDO channel is realized Chapter 6 9 6 Local CAN service data object SDO gateway page 119 Network management NMT protocol...

Page 130: ...ers Field bus PDO communication Field bus Local CAN PDO exchange parameters Local CAN gateway SDO exchange parameter Local CAN configuration parameters External CAN device CAN interface Local CAN SDO...

Page 131: ...his can be used when a PDO should be transmitted on re quest only To trigger one of the four TxPDOs the parameter LocalCANTPdoTrigger 0x5B03 value must be set to the PDO number which is to be sent 6 9...

Page 132: ...configuration 0815 INTEGER32_1 0x290D Local CAN RxPDO Mapping 0x5600 0x5603 0815 PositionValue 0x6004 External CAN Device TxPDO Mapping 0815 INTEGER32_2 0x290D Local CAN RxPDO Mapping 0x5A00 0x5A03 0...

Page 133: ...CAN device uses the CAN IDs according to the CiA 301 the CAN object identifier COB IDs LocalCANPRdo1 4_CobIdUsedByPdo 0x5400 0x5403 parameters can be configured with the COB IDs in the following tabl...

Page 134: ...he timeout in milliseconds for the receive PDO timeout monitoring If this parameter is set to 0 the receive timeout monitoring is turned off Table 55 Parameters of 1st RxPDO configuration object 0x540...

Page 135: ...ect 0x5400 1st RxPDO configuration page 107 LocalCAN Index Sub index Parameter name Data type Access Persis tence Value range Default 0x5402 1 LocalRPdo3_CobIdUsedByPdo UINT32 rw Y 1 0x000007FF 0x8000...

Page 136: ...n setpoint value SplSetpoint 0x6300 Chapter 6 2 3 Spool position setpoint value path page 59 Pressure setpoint value PrsSetpoint 0x6380 Chapter 6 2 4 Pressure setpoint value path page 61 Figure 42 Rec...

Page 137: ...ApplicPara4 UINT32 rw Y UINT32 0 0x5600 5 LocalRPdo1_ApplicPara5 UINT32 rw Y UINT32 0 0x5600 6 LocalRPdo1_ApplicPara6 UINT32 rw Y UINT32 0 0x5600 7 LocalRPdo1_ApplicPara7 UINT32 rw Y UINT32 0 0x5600 8...

Page 138: ...2_ApplicPara3 UINT32 rw Y UINT32 0 0x5601 4 LocalRPdo2_ApplicPara4 UINT32 rw Y UINT32 0 0x5601 5 LocalRPdo2_ApplicPara5 UINT32 rw Y UINT32 0 0x5601 6 LocalRPdo2_ApplicPara6 UINT32 rw Y UINT32 0 0x5601...

Page 139: ...er 6 9 6 3 Object 0x5B12 Remote node identifier page 121 LocalCAN Index Sub index Parameter name Data type Access Per sis tence Value range Default 0x5603 0 LocalRPdo4_NumberOfMappedApplicParaInPdo UI...

Page 140: ...is pa rameter is set to 0 no PDOs are sent Table 61 Parameters of 1st TxPDO configuration object 0x5800 LocalTPdo1_CobIdUsedByPdo Bit 31 30 29 11 10 0 Description 0 PDO will be processed received 1 PD...

Page 141: ...x Sub index Parameter name Data type Access Per sis tence Value range Default 0x5801 1 LocalTPdo2_CobIdUsedByPdo UINT32 rw Y 1 0x000007FF 0x80000000 0x0280 127 0x5801 2 LocalTPdo2_TransmissionType UIN...

Page 142: ...Spool position actual value SplActualValue 0x6301 Chapter 7 3 Spool position controller page 153 Pressure actual value PrsActualValue 0x6381 Chapter 7 5 11 Actual value filter page 174 Figure 43 Trans...

Page 143: ...0x5A00 4 LocalTPdo1_ApplicPara4 UINT32 rw Y UINT32 0 0x5A00 5 LocalTPdo1_ApplicPara5 UINT32 rw Y UINT32 0 0x5A00 6 LocalTPdo1_ApplicPara6 UINT32 rw Y UINT32 0 0x5A00 7 LocalTPdo1_ApplicPara7 UINT32 rw...

Page 144: ...o2_ApplicPara3 UINT32 rw Y UINT32 0 0x5A01 4 LocalTPdo2_ApplicPara4 UINT32 rw Y UINT32 0 0x5A01 5 LocalTPdo2_ApplicPara5 UINT32 rw Y UINT32 0 0x5A01 6 LocalTPdo2_ApplicPara6 UINT32 rw Y UINT32 0 0x5A0...

Page 145: ...arch in his object dictionary for this parameter using the index and subindex Then the server will answer with a corresponding SDO tx acknowledge message which includes the actual parameter value in c...

Page 146: ...on a timeout of 500 ms is set Figure 44 Local CAN service data object SDO gateway CAN ID COB ID Protocol Reference 0x580 0x580 LocalCANRemoteNodeId 0x5B12 Transmit service data object TxSDO CiA 301 0x...

Page 147: ...ternal CAN device to be written In case of a SDO upload it defines the source parameter within the external CAN device to be transmit ted Value description This pointer contains a combination of index...

Page 148: ...servo valve and the external CAN device Therefore use one of the PDO transmit channels to emulate a sync message telegram For example the following settings set up the fourth transmit PDO channel to...

Page 149: ...Unsigned one byte integer 6 10 5 Object 0x0006 Unsigned two byte integer DataType Index Sub index Parameter name Data type Access Persis tence Value range Default 0x0002 0 DummyDataS08 INT8 rw N INT8...

Page 150: ...0x0009 0 DummyDataVisibleString String rw N 64 byte None Eventhandler Index Sub index Parameter name Data type Access Persis tence Value range Default 0x290B 1 Integer08_1 INT8 rw N INT8 None 0x290B...

Page 151: ...INT32 None Eventhandler Index Sub index Parameter name Data type Access Persis tence Value range Default 0x290E 1 Unsigned08_1 UINT8 rw N UINT8 None 0x290E 2 Unsigned08_2 UINT8 rw N UINT8 None 0x290E...

Page 152: ...name Data type Access Persis tence Value range Default 0x2910 1 Unsigned32_1 UINT32 rw N UINT32 None 0x2910 2 Unsigned32_2 UINT32 rw N UINT32 None 0x2910 3 Unsigned32_3 UINT32 rw N UINT32 None 0x2910...

Page 153: ...osition actual value Pressure actual value Digital output 0 Enable acknowledge Pressure setpoint value from analog signal Spool position setpoint value from analog signal Field bus or Local CAN p Any...

Page 154: ...g control modes The control mode of the servo valve is set with the parameter ControlMode 0x6043 ControlMode Meaning 1 Spool position control open loop Used for tests Chapter 7 1 3 Spool position cont...

Page 155: ...ity 0x605F parameter Chapter 4 2 9 Object 0x605F Capability page 42 Device Index Sub index Parameter name Data type Access Per sistence Value range Default 0x6043 0 ControlMode INT8 rw N 1 14 ControlM...

Page 156: ...re actual value path Pressure demand value generator PressureSetpoint Spool position demand value generator SpoolPositionSetpoint Pressure controller ControllerOutput 0x2418 Pressure demand sign Spool...

Page 157: ...control closed loop T P B A ActualValue1 4 0x6110 0x6113 PrsDemandValue 0x6390 SplDemandValue 0x6310 DemandValuePilot 0x3300 Spool position Q pressure p switchover s u Pressure actual value path Press...

Page 158: ...internal signal only It links the signal from the pressure set point value path to the pressure demand value generator Chapter 6 2 4 Pressure setpoint value path page 61 T P B A ActualValue1 8 PrsDem...

Page 159: ...x6217 EncoderInput 0x5613 s u T P B A ActualValue1 8 0x6210 0x6217 PrsDemandValue 0x6390 SplDemandValue 0x6310 DemandValuePilot 0x3300 Flow pressure p switchover s u Actual value transducer interface...

Page 160: ...6210 0x6217 EncoderInput 0x5613 T P B A ActualValue1 8 0x6210 0x6217 PrsDemandValue 0x6390 SplDemandValue 0x6310 DemandValuePilot 0x3300 Flow pressure p Switchover s u Actual value transducer interfac...

Page 161: ...x6217 EncoderInput 0x5613 T P B A ActualValue1 8 0x6210 0x6217 PrsDemandValue 0x6390 SplDemandValue 0x6310 DemandValuePilot 0x3300 Flow pressure p Switchover s u Actual value transducer interface Pres...

Page 162: ...210 0x6217 EncoderInput 0x5613 T P B A ActualValue1 8 0x6210 0x6217 PrsDemandValue 0x6390 SplDemandValue 0x6310 DemandValuePilot 0x3300 Flow pressure p Switchover s u Actual value transducer interface...

Page 163: ...Index Sub index Parameter name Data type Access Per sistence Value range Default 0x3030 1 BasicSampleFrequency UINT16 ro 10000 10000 Spool position demand value generator Limit function Scaling Ramp D...

Page 164: ...ion input signal The limit is defined by setting the upper and lower limit Bit 10 of the status word indicates whether the input signal is being limited or not Chapter 5 2 3 Object 0x6041 Status word...

Page 165: ...t addition of an offset according to the following figure Figure 57 Scaling function ValvePositionControl_DemandValueGenerator_Limit Index Sub index Parameter name Data type Access Per sistence Value...

Page 166: ...0x6323 Offset This parameter is the offset of the linear output function Chapter 2 4 3 Units and prefix parameter page 12 ValvePositionControl_DemandValueGenerator_Scaling Index Sub index Parameter n...

Page 167: ...330 Type This parameter defines the slope rate of the ramp dependent on the direction of movement Value description StatusWord 0x6041 bit Description 9 This bit is set if the following conditions are...

Page 168: ...parameter defines the output signal s maximum rate of change The acceleration time corresponds to the time the signal needs for a change from 0 to 100 as shown in Figure 59 page 141 The acceleration...

Page 169: ...r 7 2 5 2 1 Object 0x6331 Acceleration time page 141 7 2 5 3 2 Object 0x6334 Deceleration time This parameter defines the output signal s maximum rate of change The deceleration time corresponds to th...

Page 170: ...output signal s maximum rate of change on the positive side The acceleration time corresponds to the time that the signal needs for a change from 0 to 100 The acceleration time can be specified with...

Page 171: ...negative This parameter defines the output signal s maximum rate of change on the negative side The deceleration time corresponds to the time that the signal needs for a change from 100 to 0 The decel...

Page 172: ...e modified if the load favours one direction This compensation need only be approximate but it helps ensure that the closed loop response in both extend and retract directions is symmetrical Figure 62...

Page 173: ...acti vated The default value 0x00010001 corresponds to the factor 1 0 Value description ValvePositionControl_DemandValueGenerator Index Sub index Parameter name Data type Access Per sistence Value ran...

Page 174: ...k up table can be modified for special applications Figure 63 Characteristic compensation 7 2 7 1 Object 0x6346 Type This parameter switches the characteristic compensation function on or off Value de...

Page 175: ...8 2 16256 16256 CharacteristicCompensation_LookUpTable 0x4348 3 127 CharacteristicCompensation_LookUpTable 0x4348 128 128 128 CharacteristicCompensation_LookUpTable 0x4349 1 0 0 CharacteristicCompensa...

Page 176: ...d compensation function is selected or the function is switched off The step height for the positive and negative direction of movement is set with the parameters DeadbandCom pensation_ASide 0x6343 an...

Page 177: ...ndValueGenerator Index Sub index Parameter name Data type Access Per sistence Value range Default 0x6342 0 DeadbandCompensation_Type INT8 rw Y 0 2 0 DeadbandCompensation_Type Description 0 Dead band c...

Page 178: ...ype 0x6342 set to 1 dead band jump function Figure 65 Dead band compensation type 1 7 2 8 6 Continuous function dead band compensation type 2 If the input signals keep within the range of the threshol...

Page 179: ...s function Figure 66 Dead band compensation type 2 7 2 9 Zero correction The zero correction enables shifting of the input signal up and down by any desired offset The Offset 0x6324 is added to the in...

Page 180: ...trol loop Dual stage means two nested spool position control loops 7 3 1 Single stage servo valve Control structure of a single stage servo valve For a single stage servo valve there is only one spool...

Page 181: ...Pilot spool position controller T P B A X Y s u s u Main stage spool position actual value path ActualValuePilot 0x3301 Pilot spool position actual value path ExternalLVDTActualValue 0x3235 SplActualV...

Page 182: ...pool position ActualValuePilot 0x3301 This offset may help for example in case of a temperature drift or another drift 7 3 5 Spool position pilot spool position controller For a single stage servo val...

Page 183: ...x241F Customer Overall Gain This gain is accessible for the customer It will be multiplied to the output of the pilot spool position controller Gain over all of this controller 7 3 6 Main stage spool...

Page 184: ...e only used for dual stage servo valves The main stage spool position control deviation and the main stage spool position controller output can be accessed by correspond ing output parameters Chapter...

Page 185: ...enerator Figure 71 Pressure demand value generator MainStageProportionalPart Index Sub index Parameter name Data type Access Per sistence Value range Default 0x2170 0 MainStageProportionalPart INT32 r...

Page 186: ...hat a 100 pres sure input signal is equal to 16384 increments and a 100 input signal is equal to 16384 increments This parameter depends on the controller hardware It can be used by the field bus mast...

Page 187: ...re limit input LowerLimit 0x63A1 StatusWord 0x6041 Bit 10 Limit value reached UpperLimit 0x63A0 UpperLimit 0x63A0 LowerLimit 0x63A1 output input output The UpperLimit 0x63A0 must be greater than the L...

Page 188: ...0x63A2 Factor This parameter is a slope factor by which the input is multiplied It is defined by two signed integer values the numerator upper 16 bits of the parameter and the denominator lower 16 bi...

Page 189: ...ct 0x604F Local page 43 Chapter 5 1 2 Object 0x6040 Control word page 44 Chapter 5 1 3 Object 0x4040 Local control word page 45 Figure 74 Ramp function ValvePressureControl_DemandValueGenerator_Scalin...

Page 190: ...he input signal s rate of change to the defined AccelerationTime 0x63B1 This ramp type is active if the parameter Type 0x63B0 is set to 1 Figure 75 Ramp type 1 ValvePressureControl_DemandValueGenerato...

Page 191: ...nt ramp ramp type 2 This function limits the input signal s rate of change to the defined AccelerationTime 0x63B1 and DeccelerationTime 0x63B4 This ramp type is active if the parameter Type 0x63B0 is...

Page 192: ...4 5 4 Four quadrant ramp ramp type 3 This function limits the input signal s rate of change to an acceleration time and a deceleration time each sep arated for the positive and negative sides This ram...

Page 193: ...itive This parameter defines the output signal s maximum rate of change on the positive side The deceleration time corresponds to the time that the signal needs for a change from 100 to 0 The decelera...

Page 194: ...re 78 Pressure demand signal sign 7 4 6 1 Object 0x586D Pressure demand sign mode With this parameter the pressure demand value sign can be parameterized to be dependent on the sign of the spool posit...

Page 195: ...roller Chapter 2 4 3 Units and prefix parameter page 12 Actual value filter Pressure transducer selection Derivative element Integral element Proportional first order lag element Feedback derivative e...

Page 196: ...feedback output This parameter holds the output of the second differential element of the pressure controller ValvePressureControl Index Sub index Parameter name Data type Access Persistence Value ran...

Page 197: ...ureControl Index Sub index Parameter name Data type Access Per sistence Value range Default 0x2418 0 ControllerOutput INT16 ro INT16 None Index Object name 0x2303 Ramp slope 0x230D Active transducer i...

Page 198: ...pressure controller ob jects within the set use the parameter with the sub index 3 as active parameter 7 5 9 Demand pressure ramp function The one quadrant ramp function limits the rate the demand pr...

Page 199: ...e pressure in the servo valve port A and one from the transducer interface ActiveTransducerInterfaceAreaB 0x230F N for the pressure in the servo valve port B For a differential cylinder the resultant...

Page 200: ...meter The piston diameter is necessary to calculate the force of the cylinder The units used must be consistent with the units of the parameters CylinderRodDiameterA 0x585D and CylinderRodDiameterB 0x...

Page 201: ...ues 1 3 Figure 82 Actual value filter 7 5 11 1 Object 0x23F2 Actual pressure filter cutoff frequency This parameter specifies the cutoff frequency of the Butterworth filter in Hz The value 0 0 disable...

Page 202: ...defined preload Preload value before switching to the pressure control Chapter 7 5 14 Integrator preload value page 178 Figure 84 Integrator element I ProportionalGain 0x2304 N ProportionalGainTimeCo...

Page 203: ...ratorFactor which is zero by default 7 5 13 4 Object 0x231D Integrator gain status This parameter shows the state of the switch whether the IntegratorFactor 0x2306 is multiplied value 2 or not value 1...

Page 204: ...parameter contains the upper limit of the integrator output 7 5 13 7 Object 0x231B N Integrator lower output limit This parameter contains the lower limit of the integrator output 7 5 13 8 Object 0x58...

Page 205: ...0x586B Integrator preload mode This parameter is to select the integrator preload mode Value description 1 Former value means the value of the IntegratorPreloadMode before setting the value to 2 usual...

Page 206: ...n be mapped using the parameter IntegratorPreloadParameter 0x586A to the integrator preload input Value description ValvePressureControl Index Sub index Parameter name Data type Access Per sistence Va...

Page 207: ...erentiator in seconds 7 5 15 3 Object 0x2324 N Spool Position Feed Forward Gain The gain controls the influence of the spool position to the derivative element PD f x DifferentiatorT1 0x2309 N SpoolPo...

Page 208: ...ntiator in seconds 7 5 16 3 Object 0x5858N Spool Position Feed Forward Gain_2 This gain controls the influence of the spool position to the feedback derivative element PD f x DifferentiatorT1_2 0x5864...

Page 209: ...0x585D Cylinder rod diameter A page 173 Chapter 7 5 10 5 Object 0x585E Cylinder rod diameter B page 174 Figure 88 Alpha correction 7 5 18 Signal limitation 1 Signal limitation after the alpha correct...

Page 210: ...in This parameter contains the feed forward gain 7 5 19 2 Object 0x5870 N Feed forward offset This parameter contains the feed forward offset ValvePressureControl Index Sub index Parameter name Data t...

Page 211: ...6 0x10 7 5 20 Signal limitation 2 This block limits the controller output Figure 91 Signal limitation 2 7 5 20 1 Object 0x5865 N Upper controller output limit This parameter contains the upper limit o...

Page 212: ...85 7 5 20 2 Object 0x5866 N Lower controller output limit This parameter contains the lower limit of the limitation ValvePressureControl Index Sub index Parameter name Data type Access Per sistence Va...

Page 213: ...for a stable system behavior is to use the worst case pres sure setpoint value for controller tuning The worst case pressure setpoint value is the highest required value The SysPressureReference 0x231...

Page 214: ...s set to 5 p Q control servo valve The output of this switch is routed to the spool position controller Three strategies are implemented to influence the swi tchover criteria Chapter 7 1 1 Object 0x60...

Page 215: ...ode 0 is possible and the parameter DemandValvePilot 0x3300 is used instead of SplDemandValue 0x6310 Figure 94 State machine used to switch between spool position control and pressure control ValvePre...

Page 216: ...in both directions the following state ma chine is used to switch between spool position control and pressure control Figure 95 State machine used to switch between spool position control and pressur...

Page 217: ...tion control and pressure control Figure 96 State machine used to switch between spool position control and pressure control Spool position control Pressure control Pressure control spldem cmpprsout a...

Page 218: ...demand value generator AxisPositionSetpoint PosDemandValue 0x6610 PosVelDemandValue 0x561E PosAccDemandValue 0x5616 0 0 TrajectoryType 0x5700 Axis position trajectory generator Axis position trajector...

Page 219: ...16 Acceleration demand value The axis acceleration demand value is generated from the AxisPositionSetpoint by means of the functions in the demand value generator and forwarded to the axis position co...

Page 220: ...erator The trajectory generator is switched off if the TrajectoryType 0x5700 0 In this case the PosDemandValue 0x6610 is equal to the PosSetpoint 0x6600 The PosVelDemandValue 0x561E is the derivation...

Page 221: ...er 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 ord...

Page 222: ...ition controller DrivePositionControl_DemandValueGenerator Index Sub index Parameter name Data type Access Per sis tence Value range Default 0x5614 0 ManualMaxSpeed INT32 rw Y 1000 2147483647 1000 Axi...

Page 223: ...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 con...

Page 224: ...7 8 10 Object 0x5530 Velocity feedback output This parameter holds the output of the axis velocity feedback proportional element of the axis position control ler DrivePositionControl Index Sub index P...

Page 225: ...icSampleFrequency 0x3030 divided by the PosSampleFrequencyDivider 0x553F Chapter 7 1 13 1 Object 0x3030 Basic sample frequency page 136 7 8 13 1 Object 0x553F Sample frequency divider This parameter h...

Page 226: ...rface 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 0x621...

Page 227: ...order lag element The proportional part output is generated by the proportional gain parameter ProportionalGainKp 0x5501 plus the first order lag element with the gain ProportionalGainKpT1 0x5501 and...

Page 228: ...alOuterGain 0x5504 x Input DrivePositionControl Index Sub index Parameter name Data type Access Per sistence Value range Default 0x5501 1 ProportionalGainKp FLOAT32 rw Y FLOAT32 0 0 0x5501 2 Proportio...

Page 229: ...entiator gain This parameter contains the gain of the first differentiator DrivePositionControl Index Sub index Parameter name Data type Access Per sis tence Value range Default 0x5511 1 IntegralInner...

Page 230: ...r contains the velocity feed forward gain 7 8 20 Axis acceleration feed forward proportional element To realize a feed forward control for the acceleration the axis acceleration demand value will be m...

Page 231: ...st order lag filter PT1 7 8 21 2 Object 0x550B State feedback axis velocity proportional gain The first derivation of the axis position value multiplied with this gain will be added to the other parts...

Page 232: ...nal depending gain 7 8 22 1 Object 0x550D Directional depending positive proportional gain This gain is used while the input signal is positive 7 8 22 2 Object 0x550E Directional depending negative pr...

Page 233: ...of the functions in the demand value generator and forwarded to the axis velocity controller Chapter 2 4 3 Units and prefix parameter page 12 PositionControllerOutput 0x550F ControllerOutput2 Velocity...

Page 234: ...t 0x6521 UpperLimit 0x6521 LowerLimit 0x6520 output input output The UpperLimit 0x6520 must be greater than the LowerLimit 0x6521 If LowerLimit 0x6521 will be set greater than the UpperLimit 0x6520 th...

Page 235: ...The ramp function is disabled output input if this parameter is zero Figure 117 Velocity demand ramp 7 9 3 1 Object 0x5553 Velocity demand ramp This parameter defines the demand signal s maximum rate...

Page 236: ...615 ActualValue1 8 0x6210 0x6217 Integral element Axis velocity feedforward proportional element VelActualValue 0x6501 VelControlDeviation 0x6550 VelFeedForwardOutput 0x5546 KiOutput 0x553C KpOutput 0...

Page 237: ...he actual velocity input 7 10 2 2 Object 0x5548 Actual value filter time constant This parameter sets the time constant in seconds of the first order lag element PT1 7 10 2 3 Object 0x5552 Actual valu...

Page 238: ...l gain The actual velocity or the derived actual position is multiplied with this gain to get the VelActualValue 0x6501 xi xi 3 xi 2 xi 1 xi 20 xi n output input n VelActualDerivativeLength 0x5550 Dri...

Page 239: ...ect 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 axi...

Page 240: ...r 7 10 5 Integral element The integral element is composed of an input depending gain the integrator and a limiter Figure 124 Integral element ProportionalGainKp 0x5514 VelControlDeviation 0x6550 KpOu...

Page 241: ...tegral element Zero range Input less than IntegralInnerRange 0x5517 Output Zero Inner range Input between IntegralInnerRange 0x5517 and IntegralOuterRange 0x5516 Outer range Input greater than Integra...

Page 242: ...he axis velocity actual value 7 10 6 3 Feedback axis velocity derivative element Calculation of the axis acceleration actual value by derivation of the axis velocity actual value Chapter 7 10 2 4 Obje...

Page 243: ...7 2 Object 0x5535 Directional depending negative proportional gain This gain is used while the input signal is positive DriveVelocityControl Index Sub index Parameter name Data type Access Per sis te...

Page 244: ...1 13 1 Object 0x3030 Basic sample frequency page 136 7 10 9 1 Object 0x5540 Sample frequency divider This parameter holds the sample frequency divider 7 11 Flow setpoint conditioning demand value gene...

Page 245: ...he flow position controller Flow actual value selection FlowDemandValue FlowActualValue Flow demand value scaling VelDemamdValue 0x5615 Feedback axis velocity proportional element Bernoulli compensati...

Page 246: ...on variants of the existing pressure sensors Figure 131 Flow control mode Edge for y 0 Edge for y 0 Pressure sensor at cylinder connector A Pressure sensor at cylinder connector B Flow control mode Fl...

Page 247: ...rol mode The flow control mode selects the pressure sensor configuration Value description ValveFlowControl Index Sub index Parameter name Data type Access Per sis tence Value range Default 0x5205 0 F...

Page 248: ...ve transducer interface area A page 173 Chapter 7 5 10 2 Object 0x230F N Active transducer interface area B page 173 Chapter 7 5 11 1 Object 0x23F2 Actual pressure filter cutoff frequency page 174 Cha...

Page 249: ...N Cylinder piston diameter page 173 Chapter 7 5 10 4 Object 0x585D Cylinder rod diameter A page 173 Chapter 7 5 10 5 Object 0x585E Cylinder rod diameter B page 174 Figure 133 Alpha correction 7 12 7...

Page 250: ...tion Figure 135 Flow actual value selection 7 12 9 1 Object 0x5223 Actual value This parameter sets the demand value scaling ValveFlowControl Index Sub index Parameter name Data type Access Per sis te...

Page 251: ...f the parameter to be used It may only refer to parameters with a bit length of 0x10 The default value is 0x52230110 which refers to the FlwActualValue 0x5223 sub index 0x01 with a length of 16 bit 16...

Page 252: ...ulli compensator compensates the influence of the load on the hydraulic cylinder Figure 137 Bernoulli compensator FlwFeedbackGain 0x5224 FlwActualValue KpOutput ValveFlowControl Index Sub index Parame...

Page 253: ...ssure displays the reference pressure of the transducer interface It is necessary to normalize the pressure difference P B and A T ValveFlowControl Index Sub index Parameter name Data type Access Per...

Page 254: ...0x521F the nominal pressure is necessary the pressure used to measure the nominal flow FlwNominalFlowASide 0x5215 FlwNominalSupplyPressure 0x5203 FlwAlpha 0x5219 2 FlwNominalSupplyPressure 0x5203 1 1...

Page 255: ...of the pressure controller is bigger than the output of the flow controller absolute values The demand signal to the pilot valve will change continuous filtered with PT1 elements Figure 139 Flow pres...

Page 256: ...sitive PressureDemandValue PressureControllerOutput FlowControllerOutput Or Or negative PressureDemandValue PressureControllerOutput FlowControllerOutput Or Or sign of the FlowControllerOutput has cha...

Page 257: ...ess than VelocityLimitWindow 0x570D Bit 3 0x0008 Velocity stopped Active while the actual velocity ActualValue 0x6501 is less than VelocityLimitWindow 0x570D Bit 4 0x0010 Force reached Active while th...

Page 258: ...ty actual value window is used to set bit 1 and bit 3 in the AxisStatusWord 0x561D Bit 1 is active while the absolute position difference DemandValue 0x6610 ActualValue1 0x6601 is less than PositionWi...

Page 259: ...isStatusWord 0x561D Bit 6 is active while the actual pressure prsActualvalue 0x6381 is greater than the MaximumPressureWindow 0x5711 7 15 Monitoring The control deviation monitoring is only active if...

Page 260: ...tion UpperThreshold 0x6354 StatusWord 0x6041 Bit 11 Control deviation t SplControlDeviation 0x6350 UpperThreshold 0x6354 LowerThreshold 0x6355 DelayTime 0x6352 StatusWord 0x6041 Bit 11 1 StatusWord 0x...

Page 261: ...ameter page 12 7 15 1 4 Object 0x6355 Lower threshold This parameter defines the lower threshold of the control deviation s tolerance band Chapter 2 4 3 Units and prefix parameter page 12 ValvePositio...

Page 262: ...ion t PrsControlDeviation 0x63D0 UpperThreshold 0x63D4 LowerThreshold 0x63D5 DelayTime 0x63D2 StatusWord 0x6041 Bit 11 1 StatusWord 0x6041 Bit 11 0 UpperThreshold 0x63D4 StatusWord 0x6041 Bit 11 Contr...

Page 263: ...ameter page 12 7 15 2 4 Object 0x63D5 Lower threshold This parameter defines the lower threshold of the control deviation s tolerance band Chapter 2 4 3 Units and prefix parameter page 12 ValvePressur...

Page 264: ...sControlDeviation 0x6650 UpperThreshold 0x6654 LowerThreshold 0x6655 DelayTime 0x6652 StatusWord 0x6041 Bit 11 1 StatusWord 0x6041 Bit 11 0 UpperThreshold 0x6654 StatusWord 0x6041 Bit 11 Control devia...

Page 265: ...per threshold of the control deviation s tolerance band Chapter 2 4 3 Units and prefix parameter page 12 7 15 3 4 Object 0x6655 Lower threshold This parameter defines the lower threshold of the contro...

Page 266: ...sControlDeviation 0x6550 UpperThreshold 0x6554 LowerThreshold 0x6555 DelayTime 0x6552 StatusWord 0x6041 Bit 11 1 StatusWord 0x6041 Bit 11 0 UpperThreshold 0x6554 StatusWord 0x6041 Bit 11 Control devia...

Page 267: ...per threshold of the control deviation s tolerance band Chapter 2 4 3 Units and prefix parameter page 12 7 15 4 4 Object 0x6555 Lower threshold This parameter defines the lower threshold of the contro...

Page 268: ...page 101 Figure 145 Failsafe monitoring Electrical signal Failsafe spool position monitoring behavior depending on the DSM state StatusWord 0x6041 WARNING Moving machine parts The word failsafe does n...

Page 269: ...SpringPositionMinimum 0x3307 and SpringPositionMaximum 0x3308 7 15 6 Pilot single stage actual spool position monitoring In case of a cable break the fault code 0x11 Pilot single stage LVDT cable brea...

Page 270: ...0 V 10 10 V Analog input 0 No No Yes fault code 31 No Analog input 1 No No Yes fault code 32 No Analog input 2 Yes fault code 28 No Yes if AnaInMonitorCurrent2 0x3217 is set to 0 fault code 33 Yes if...

Page 271: ...the analog input 4 is enabled If the 0 10 mA or the 10 mA analog input type is used no sensor wire cable break monitoring is available In this case only the sensor power supply monitoring for the anal...

Page 272: ...contains the delay time in ms before generating the fault code 7 15 9 Sensor power supply monitoring For the analog inputs 2 4 a sensor power supply cable break monitoring exists A sensor load current...

Page 273: ...ide its nominal range Nominal range 17 V PowerSupplyVoltage 32 5 V Fault description Hardware_DiagnosticData Index Sub index Parameter name Data type Access Persistence Value range Default 0x2803 0 Cp...

Page 274: ...x280D contains the time in minutes the servo valve is in the device state machine DSM states HOLD FAULT HOLD or ACTIVE Hardware_DiagnosticData Index Sub index Parameter name Data type Access Persisten...

Page 275: ...milar to that of the programming language C All event calculations are processed every main task cycle of the firmware which is processed at least every 2 ms 7 16 1 Event expressions The event express...

Page 276: ...ondition ifstatement elsestatement Assignment operator Expressions can be concatenated using a semicolon Symbol Description Shift right Shift left Symbol Description Smaller smaller or equal Greater g...

Page 277: ...t expression 6 This parameter contains the expression string of the sixth event handler Symbol Description Open bracket Close bracket Eventhandler Index Sub index Parameter name Data type Access Persi...

Page 278: ...dex Parameter name Data type Access Persistence Value range Default 0x2907 0 EventExpression_7 STRING rw Y None Eventhandler Index Sub index Parameter name Data type Access Persistence Value range Def...

Page 279: ...Expression 2 EventExpression_2 0x2902 posset 1000 ctlmod 9 evtena 0 1 evtena 1 0 Expressions can disable themselves and activate other expressions Expression 1 activates pressure control Expression 2...

Page 280: ...WAIT The trigger condition is always true If the Control 0x3180 is set to 1 en able data logger the state changes to SAMPLE If the Control 0x3180 is set to 1 enable data logger the channels are con ti...

Page 281: ...ogger ring buffer is full TR4 Triggered by setting Control 0x3180 to 1 enable data logger TR5 One of the following parameters has changed Divider 0x3182 EnableChannel1 4 0x3184 ChannelParameter1 4 0x3...

Page 282: ...ency can be set to a smaller sample frequency with the parameter Divider 0x3182 The measuring time is increased by the factor Divider 0x3182 DataLogger Index Sub index Parameter name Data type Access...

Page 283: ...description This pointer contains a combination of index sub index and length of the parameter to be used It may only refer to parameters with a bit length of 0x10 The default value is 0x63100110 whic...

Page 284: ...ype UINT8 rw Y 0 2 1 TriggerType Description 0 FREE the trigger condition is always true 1 NORMAL if the trigger condition matches the data logger returns to wait state completed 2 SINGLE if the trigg...

Page 285: ...alue description DataLogger Index Sub index Parameter name Data type Access Persistence Value range Default 0x318B 0 TriggerSlope UINT8 rw Y 1 3 1 TriggerSlope Description 1 Rising trigger on a rising...

Page 286: ...ded The available memory is 2048 bytes The possible number of samples is 2048 bytes 7 bytes per sample so 292 samples can be saved in the memory 292 samples multiplied with 7 bytes per sample are equa...

Page 287: ...eStartOffset 0x3187 contains the byte position where the recorded data start It indicates the position of the first sample point 7 17 5 3 Object 0x3183 Number of samples The parameter NumberOfSamples...

Page 288: ...signal can be used e g to trigger the data logger Chapter 7 18 3 2 Object 0x3102 Square output Trigger signal page 265 7 18 1 Function generator output signal shapes The function generator output sign...

Page 289: ...100 3 Saw f FunctionGenFrequency 0x3103 Factor Hz M FunctionGenMagnitude 0x3104 FunctionGenOutput 0x3101 M The output signal can be inverted by setting the parameter FunctionGenSign 0x3107 to 1 Chapte...

Page 290: ...ndent on the frequency prefix parameter FunctionGenFrequencyPrefix 0x3108 The Frequency unit is Hertz Hz or 1 s FunctionGenerator Index Sub index Parameter name Data type Access Persistence Value rang...

Page 291: ...ping the output signal to one of the following servo valve setpoint inputs Spool position setpoint value SplSetpointParameter 0x3320 Chapter 6 2 3 2 Object 0x3320 Setpoint parameter page 60 Pressure s...

Page 292: ...ator output signal but is fixed to a rectangular shape and with a magnitude of 32767 increments with no offset Value description Figure 157 Trigger signal FunctionGenerator Index Sub index Parameter n...

Page 293: ...If a fault reaction is configured for the thrown fault code at least an emergency message is sent and the Error Register 0x1001 parameter will be set according to the error group of the fault code The...

Page 294: ...RetainFaultStatus 0x2834 Set ErrorRegister 0x1001 Save the last eight fault and error codes in StandardErrorField 0x1003 NumberOfErrors 0x1003 Save last eight error strings FaultReactionDescription 0...

Page 295: ...ture too low 20 C 1 12 14 0 3 2 14 0x0E Electronics temperature too high 85 C 1 13 15 0 3 1 15 0x0F Electronics temperature exceeded 105 C 1 14 16 0 3 2 16 0x10 Current sensor circuit failure not impl...

Page 296: ...occurred 2 18 52 0 3 2 52 0x34 Interrupt time exceeded 2 19 53 0 3 2 53 0x35 Task time exceeded 2 20 54 0 3 2 54 0x36 Parameter initialization error 2 21 55 0 3 2 55 0x37 Node identifier data memory c...

Page 297: ...RPD02 time out 3 30 96 0 3 0 96 0x60 CAN RPD03 time out 3 31 97 0 3 0 97 0x61 CAN RPD04 time out 4 0 98 0 3 0 98 0x62 CAN RPD01 data 4 1 99 0 3 0 99 0x63 CAN RPD02 data 4 2 100 0 3 0 100 0x64 CAN RPD0...

Page 298: ...122 unused unused 122 0x7A Reserved 4 25 123 unused unused 123 0x7B Reserved 4 26 124 unused unused 124 0x7C Reserved 4 27 125 unused unused 125 0x7D Reserved 4 28 126 unused unused 126 0x7E Reserved...

Page 299: ...monitored fault is detected the device enters the FAULT_HOLD state and an emergency message will be sent onto the field bus The hold setpoint of the device is in effect and ad justed The device must b...

Page 300: ...1 Node identifier data 56 6312 User data 57 6313 Restore data 58 6314 Factory data 59 6315 Calibration data 60 6316 Diagnosis data 54 6320 Parameter error 119 7002 I2C_general_fault 90 113 118 8100 Fi...

Page 301: ...l TPD03 time out 85 8258 Local TPD04 time out 78 8261 Local RPD01 data 79 8262 Local RPD02 data 80 8263 Local RPD03 data 81 8264 Local RPD04data 86 8265 Local TPD01 data 87 8266 Local TPD02 data 88 82...

Page 302: ...e bits are cleared automatically when the error has gone FaultReaction Index Sub index Parameter name Data type Access Persistence Value range Default 0x2834 1 FaultRetainStatus fault code 1 31 UINT32...

Page 303: ...object contains the last eight error codes fault codes and the number of recorded errors Value description Example The parameter StandardErrorField 0x1003 sub index 1 holds the decimal value 3167536 c...

Page 304: ...FaultHistoryNumber 0x2833 selects the fault description shown in the parameter FaultReactionDescription 0x2832 8 1 9 Emergency message Every time a configured error occurs on the servo valve it sends...

Page 305: ...state machine to the corresponding fault state Chapter 8 1 3 Fault reaction type page 271 In order to get out of the fault state the fault must be acknowledged This can be achieved by Sending the Con...

Page 306: ...t 0x06010001 Attempt to read a write only object 0x06010002 Attempt to write a read only object 0x06020000 Object does not exist in the object dictionary 0x06040041 Object cannot be mapped PDO 0x06040...

Page 307: ...ault reaction may be configured but won t have any impact on the valve The fault never will be thrown Error Code 0x02 Error Name Error during startup Description Internal error during startup Severity...

Page 308: ...r is too low Severity of error Major Action Send valve back to factory service Error Code 0x08 Error Name Internal supply voltage too high Description Internal power supply for the processor is too hi...

Page 309: ...Code 0x11 Error Name Pilot single stage LVDT cable break Description Cable break on the internal LVDT detected Severity of error Major Action Send valve back to factory for service In order to make a...

Page 310: ...ode 0x1E Error Name Analog input 4 supply cable break short circuit Description Supply voltage of analog input 4 X7 is monitored Severity of error Minor Action Check cable and cable connection Check i...

Page 311: ...nnel b will always be active Error Code 0x2B Error Name Encoder channel z cable break Description Cable break is detected on encoder channel z SSI data line Severity of error Minor Action Check cable...

Page 312: ...0x33 Error Name Software reset watchdog occurred Description Severity of error Major Action Error Code 0x34 Error Name Interrupt time exceeded Description The internal interrupt task time has exceede...

Page 313: ...to factory for service Do not store your application in state HOLD or ACTIVE Error Code 0x36 Error Name Parameter initialization error Description Internal error during initialization of RAM paramete...

Page 314: ...error during initialization of diagnose parameter settings occurred Severity of error Minor Action Restart the valve If the error still occurs after restarting the valve send the valve back to factory...

Page 315: ...locity monitoring must be switched on Chapter 7 15 4 Axis velocity control deviation monitoring page 239 Error Code 0x41 Error Name Pressure control monitoring Description A pressure control monitorin...

Page 316: ...lot operated valve with external pilot pressure Check external pilot pressure level Check external pilot pressure availability In order to make a customer configured fault reaction working the positio...

Page 317: ...e and cable connection Check Local CAN communication interface settings Error Code 0x52 0x55 Error Name Local CAN TPDO1 4 time out Description A timeout on Local CAN Transmit PDO 1 4 occurred Chapter...

Page 318: ...rting the valve send the valve back to factory for service Error Code 0x5E 0x61 Error Name CAN RPDO1 4 time out Description A timeout on CAN Receive PDO 1 4 occurred Chapter 2 8 3 Process data object...

Page 319: ...ode Guarding protocol timed out This happens when the guarding request has not been received by the device within the configured GuardTime and lifeTimeFactor Chapter 2 9 8 Node guarding COB ID 0x700 R...

Page 320: ...ssion type Error Code 0x71 Error Name EtherCAT communication fault Description An internal error related to EtherCAT has occurred e g internal EEPROM error in ternal EtherCAT logic could not be access...

Page 321: ...erCAT Transmit PDO was detected Severity of error Application specific Action Check cable and cable connection Check EtherCAT communication interface settings Error Code 0x76 Error Name PROFIBUS gener...

Page 322: ...settings page 297 The following table describes the behavior of the savable and volatile parameters when performing a store pa rameters servo valve bootup or restore parameters operation Parameters a...

Page 323: ...llParameters UINT32 rw N UINT32 None 0x1010 2 SaveCommunicationParameters UINT32 rw N UINT32 None 0x1010 3 SaveApplicationParameters UINT32 rw N UINT32 None 0x1010 4 SaveManufacturerDefinedParameters...

Page 324: ...UINT32 rw N UINT32 None 0x1011 2 RestoreCommunicationDefaultParameters UINT32 rw N UINT32 None 0x1011 3 RestoreApplicationDefaultParameters UINT32 rw N UINT32 None 0x1011 4 RestoreManufacturerDefined...

Page 325: ...rw N UINT16 0x0007 0 Y dumu32 CiA 301 DataType DummyDataU32 DummyDataU32 UINT32 rw N UINT32 0x0008 0 Y dumf32 CiA 301 DataType DummyDataF32 DummyDataF32 FLOAT32 rw N FLOAT32 0x0009 0 N dumchr CiA 301...

Page 326: ...StoreParameters SaveApplicationParameters UINT32 rw N UINT32 1 0x1010 4 N stopar 3 CiA 301 Device StoreParameters SaveManufacturerDefinedParameters UINT32 rw N UINT32 1 0x1011 1 N rstpar 0 CiA 301 De...

Page 327: ...CAN RPdo_CobIdUsedByPdo RPdo1_CobIdUsedByPdo UINT32 rw Y 1 0x800007FF NodeID 0x100B 0x0200 0x1400 2 N pdrtrn 0 CiA 301 CAN RPdo_TransmissionType RPdo1_TransmissionType UINT8 rw Y UINT8 255 0x1400 5 N...

Page 328: ...icPara1 UINT32 rw Y UINT32 0x60400010 0x1603 0 N pdrmapnum CiA 301 CAN RPdo_Mapping RPdo_Mapping UINT8 rw Y 0 8 3 0x1603 1 8 N pdrmap 24 31 CiA 301 CAN RPdo_Mapping RPdo4_ApplicPara1 UINT32 rw Y UINT3...

Page 329: ...pdttim 3 CiA 301 CAN TPdo_EventTimer TPdo4_EventTimer UINT16 rw Y UINT16 0x1A00 0 N pdtmapnum CiA 301 CAN TPdo_Mapping TPdo_Mapping UINT8 rw Y 0 8 1 0x1A00 1 8 N pdtmap 0 7 CiA 301 CAN TPdo_Mapping TP...

Page 330: ...trol RampSlope RampSlope UINT16 rw Y UINT16 0x2304 1 16 Y cmpprspgn 0 15 Moog DCV ValvePressureControl ProportionalGain ProportionalGain FLOAT32 rw Y 0 00 inf 0x2305 1 16 Y cmpprsign 0 15 Moog DCV Val...

Page 331: ...tputLimit 0x231A n 16384 0x231C 1 Y prsref Moog DCV ValvePressureControl_DemandValueGenerator PrsReferenceValue PrsReferenceValue INT16 rw N 0 32767 400 0x231C 2 N prsrefuni Moog DCV ValvePressureCont...

Page 332: ...requency ActualPressureFilterCutoffFrequency FLOAT32 rw Y 0 00 3333 33 0x23F3 0 N prsfltord Moog DCV ValvePressureControl ActualPressureFilterOrder ActualPressureFilterOrder UINT8 rw Y 0 3 1 0x2416 0...

Page 333: ...bTemperature PcbTemperature INT16 ro INT16 0x2809 0 N pcbtmpmaxcus Moog DCV Hardware_DiagnosticData PcbMaxTemperatureCustomer PcbMaxTemperatureCustomer INT16 rw Y INT16 0x280D 1 N oprtim 0 Moog DCV Ha...

Page 334: ...enthandler EventExpression_2 EventExpression_2 CHAR 192 rw Y 0x2903 0 N ev2exp Moog DCV Eventhandler EventExpression_3 EventExpression_3 CHAR 192 rw Y 0x2904 0 N ev3exp Moog DCV Eventhandler EventExpr...

Page 335: ...missionType TPdo3_ManufacturerTransmissionType UINT8 rw Y UINT8 0x3010 4 N pdttrnman 3 Moog DCV CAN TPdo_ManufacturerTransmissionType TPdo4_ManufacturerTransmissionType UINT8 rw Y UINT8 0x3011 0 N pdt...

Page 336: ...Status Status UINT8 ro 0 3 0x3182 0 N dlgdiv Moog DCV DataLogger Divider Divider UINT16 rw Y 1 65535 1 0x3183 0 N dlgsmp Moog DCV DataLogger NumberOfSamples NumberOfSamples INT32 ro 2147483648 2048 0...

Page 337: ...ro UINT32 0x3200 0 N an0typ Moog DCV AnalogInput0 AnaInpType0 AnaInpType0 INT8 rw Y 0 12 1 0x3204 0 Y an0val Moog DCV AnalogInput0 AnaInpActualValue0 AnaInpActualValue0 INT16 ro INT16 0x3208 0 N an1ty...

Page 338: ...0 UINT8 rw Y 0 1 0 0x3244 1 N da0ref 0 Moog DCV AnalogOutput0 AnaOutScaCustomer0 AnaOutScaNumerator0 INT16 rw Y INT16 16384 0x3244 2 N da0ref 1 Moog DCV AnalogOutput0 AnaOutScaCustomer0 AnaOutScaDenom...

Page 339: ...imum INT16 ro INT16 0x3310 0 N prspar Moog DCV ValvePressureControl PrsSetpointParameter PrsSetpointParameter UINT32 rw Y UINT32 0x63800110 0x3320 0 N splpar Moog DCV ValvePositionControl SplSetpointP...

Page 340: ...isticCompensation_ LookUpTable CharacteristicCompensation_LookUpTable DOMAIN rw Y 0x4348 1 128 N splchrtbl 0 127 Moog DCV ValvePositionControl_DemandValueGenerator CharacteristicCompensation_ LookUpTa...

Page 341: ...00 0x5216 0 N vlvqbn Moog DCV ValveFlowControl RatedValveFlowBSide RatedValveFlowBSide FLOAT32 rw Y 0 01 inf 1 00 0x5217 0 N cmpprsitfpt Moog DCV ValveFlowControl PressureControllerTransducerInterface...

Page 342: ...UINT8 0 0x5314 3 N flwprf Moog DCV ValveFlowControl FlowHoldSetPoint Prefix INT8 ro INT8 0 0x5400 1 N locpdrcob 0 Moog DCV LocalCAN RPdo LocalCANRPdo1_CobIdUsedByPdo UINT32 rw Y 1 0x800007FF NodeID 0...

Page 343: ...FLOAT32 0x5505 1 Y posicrout Moog DCV DrivePositionControl Integrator_OuterControlRange Integrator_OuterControlRange FLOAT32 rw Y 0 00 2147483648 00 0x5506 1 Y posffv Moog DCV DrivePositionControl Ve...

Page 344: ...0 00 2147483648 00 0x5518 1 Y velignlim Moog DCV DriveVelocityControl_Integrator IntegratorLimit IntegratorLimit FLOAT32 rw Y 0 00 inf 16384 00 0x5519 1 Y velctlout Moog DCV DriveVelocityControl Velo...

Page 345: ...yStateFeedbackOutput VelocityStateFeedbackOutput FLOAT32 ro FLOAT32 0x5531 1 Y posfbaout Moog DCV DrivePositionControl AccelerationStateFeedbackOutput AccelerationStateFeedbackOutput FLOAT32 ro FLOAT3...

Page 346: ...accval Moog DCV DriveVelocityControl AccelerationSignal AccelerationSignal FLOAT32 ro FLOAT32 0x5552 1 N velposfltout Moog DCV DriveVelocityControl PositionSignalFilterOutput PositionSignalFilterOutpu...

Page 347: ...efix INT8 ro INT8 0 0x5616 1 Y posaccdem Moog DCV DrivePositionControl AccelerationDemandvalue AccelerationDemandvalue INT32 ro INT32 0x5617 0 Y zplstrg Moog DCV DrivePositionControl ZPulseTrigger ZPu...

Page 348: ...ory ConfigWarning_2 UINT8 ro UINT8 0x570C 1 Y poslimwin 0 Moog DCV DrivePositionControl DrivePositionControl PositionWindow_0 INT32 rw Y 0 2147483647 0x570C 2 Y poslimwin 1 Moog DCV DrivePositionContr...

Page 349: ...mer LocalCANTPdo3_EventTimer UINT16 rw Y UINT16 0x5803 1 N locpdtcob 3 Moog DCV LocalCAN LocalCANTPdo_CobIdUsedByPdo LocalCANTPdo4_CobIdUsedByPdo UINT32 rw Y 1 0x800007FF NodeID 0x100B 0x0480 0x5803 2...

Page 350: ...cmpprsdgn_2 0 15 Moog DCV ValvePressureControl DifferentiatorGain_2 DifferentiatorGain_2 FLOAT32 rw Y FLOAT32 0x5864 1 16 Y cmpprsdtm_2 0 15 Moog DCV ValvePressureControl DifferentiatorT1_2 Different...

Page 351: ...alCAN TPdoMapping_NumberOfMappedApplicParaInPdo TPdoMapping_NumberOfMappedApplicParaInPdo UINT8 rw Y 0 8 0 0x5A02 1 8 N locpdtmap 16 23 Moog DCV LocalCAN TPdo_Mapping LocalTPdo3_ApplicPara1 UINT32 rw...

Page 352: ...5E41 2 N digouttyp 1 Moog DCV ValveDigitalOutput DigitalOutputConfiguration DigitalOutputConfiguration1 UINT8 ro 0 4 0 0x5E42 1 Y digout 0 Moog DCV ValveDigitalOutput DigitalOutputSetpoint DigitalOutp...

Page 353: ...336 1061093376 0x6200 0 N drvtrdmax CiA 408 Drive_ActualValueConditioning MaxInterfaceNo MaxInterfaceNo UINT8 ro UINT8 8 0x6201 0 N drvtrdnum CiA 408 Drive_ActualValueConditioning InterfaceNo Interfac...

Page 354: ...ning MaximumSignal MaximumSignal INT32 rw N 32768 32767 16384 0x6228 1 N drvtrdgenmin CiA 408 _Drive_ActualValueConditioning GeneralInputMinimum GeneralInputMinimum INT32 rw N INT32 0x6229 1 N drvtrdg...

Page 355: ...UINT8 0 0x6300 3 N splprf CiA 408 ValvePositionControl SplSetpoint Prefix INT8 ro INT8 0 0x6301 1 Y splval CiA 408 ValvePositionControl SplActualValue SplActualValue INT16 ro INT16 0x6301 2 N spluni C...

Page 356: ..._Limit LowerLimit Prefix INT8 ro INT8 0 0x6322 0 Y spldemfct CiA 408 ValvePositionControl_DemandValueGenerator_Scaling Factor Factor UINT32 rw Y UINT32 0x10001 0x6323 1 Y spldemofs CiA 408 ValvePositi...

Page 357: ...ionControl_DemandValueGenerator_Ramp DecelerationTime DecelerationTime_Prefix INT8 rw Y 4 0 3 0x6335 1 Y splrmpdclpos CiA 408 ValvePositionControl_DemandValueGenerator_Ramp DecelerationTimePositive De...

Page 358: ...nsation_Thresh old Unit UINT8 ro UINT8 0 0x6345 3 N splprf CiA 408 ValvePositionControl_DemandValueGenerator DeadbandCompensation_Thresh old Prefix INT8 ro INT8 0 0x6346 0 Y splchrtyp CiA 408 ValvePos...

Page 359: ...reControl PrsActualValue Unit UINT8 ro UINT8 0 0x6381 3 N prsprf CiA 408 ValvePressureControl PrsActualValue Prefix INT8 ro INT8 0 0x6390 1 Y prsdem CiA 408 ValvePressureControl_DemandValueGenerator P...

Page 360: ...emandValueGenerator_Scaling Offset Unit UINT8 ro UINT8 0 0x63A3 3 N prsprf CiA 408 ValvePressureControl_DemandValueGenerator_Scaling Offset Prefix INT8 ro INT8 0 0x63B0 0 Y prsrmptyp CiA 408 ValvePres...

Page 361: ...rmpdclneg CiA 408 ValvePressureControl_DemandValueGenerator_Ramp DecelerationTimeNegative DecelerationTimeNegative UINT16 rw Y UINT16 0x63B6 2 N timuni CiA 408 ValvePressureControl_DemandValueGenerato...

Page 362: ...ocityControl VelocityUpperDemandLimit VelocityUpperDemandLimit INT32 rw Y INT32 16384 0x6521 1 Y vellimlow CiA 408 DriveVelocityControl VelocityLowerDemandLimit VelocityLowerDemandLimit INT32 rw Y INT...

Page 363: ...DemandValue Position_Unit UINT8 ro UINT8 0 0x6610 3 N posprf CiA 408 DrivePositionControl_DemandValueGenerator DemandValue Position_Prefix INT8 ro INT8 0 0x6614 1 Y possethld CiA 408 DrivePositionCon...

Page 364: ...g com Brazil 55 11 3572 0400 info brazil moog com Italy 39 0332 421 111 info italy moog com Spain 34 902 133 240 info spain moog com Canada 1 716 652 2000 info canada moog com Japan 81 46 355 3767 inf...

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