Moog ACV with CANopen bus interface
3 Device structure
Device controller structure
B99224-DV018-D-211, Rev. A, October 2018
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3.1.4 Servo valve functions
All signals in the servo valve are processed by the internal 'servo valve' function block. The demand value
generator prepares the setpoint value before it is used as input to the controller. Depending on the valve, the
controller can control spool position, or pressure or a combination of both or the position, or velocity or the
force of an axis. The pressure controller can be tuned by the end-user to optimize the specific closed loop re-
sponse. The control error (the difference between setpoint and feedback signals) can be monitored.
3.1.5 Diagnostics
The diagnostic module detects faults and initiates a response according to how the module parameters have
been configured by the user. For example, this can result in an error message being sent to the master or a
change of state in the device state machine.
3.1.6 Storing / restoring parameters
Save and load several servo valve parameters to the 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 interface and the Moog Valve and Pump Configuration Software.
3.2 Device controller structure
The following figure shows the device structure with focus on the signal flow. Depending on the
<ControlMode> (0x6043) only a subset of the device structure may be used.
Figure 16: Device controller structure
p
u
p
u
p
u
Actual value
transducer
interface
Pressure
demand value
generator
Pressure
setpoint value
path
Spool position
demand value
generator
Spool position
setpoint value
path
Analog inputs
Spool position
setpoint value
Dema
nd spool
po
si
tion
v
al
ue
T
P
B
A
s
u
Spool position
actual value
Controller
Monitoring
Pressure
setpoint value
Axis position
trajectory
generator
Axis position
setpoint value
path
Axis velocity
setpoint value
Velocity
setpoint value
path
Flow
setpoint value
path
Axis position
setpoint value
Flow
setpoint value
SSI / Incremental
Encoder
s
u
