Moog ACV with CANopen bus interface
5 Device control
Local mode
B99224-DV018-D-211, Rev. A, October 2018
44
5.1.2 Object 0x6040: Control word
The functionality of the <LocalControlWord> (0x4040) and the <ControlWord> needs to be distinguished. If
the parameter <Local> (0x604F) is set, the DSM input #ControlWord# comes from the local parameter <Lo-
calControlWord> (0x4040) otherwise it comes from <ControlWord> (0x6040). This bit-coded parameter con-
trols the DSM states.
Value description
Bits 0, 1, 2, 3: 'DISABLED', 'HOLD', 'ACTIVE', 'RESET FAULTS'
The lower four bits within the control word represent the device state machine's (DSM) control command.
Chapter "5.2.2.1 DSM state transitions caused by the control word", page 49
Bit 8: Enable pressure controller
This bit activates the pressure controller in the p/Q control mode (<ControlMode> (0x6043) is set to 5).
Chapter "7.1 Control modes", page 127
Bit 9: Axis install mode positive direction
If the servo valve is in <DeviceMode> (0x6042) = 3 (Install mode) or <DeviceMode> (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). If an incremental en-
coder is used to measure the axis position, then <DeviceMode> (0x6042) = 4 (reference mode) is used to run
the homing position to calibrate the incremental encoder.
Chapter "6.6.4 Incremental Encoder", page 96
Chapter "7.7 Axis position setpoint conditioning / demand value generator", page 191
Device
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value
range
Default
0x6040
0
ControlWord
UINT16
rw
N
UINT16
None
<ControlWord>
Bit
Description
<Control Mode> (0x6043) is set
to 1…4, 7…14
<Control Mode> (0x6043) is set
to 5
Specification
0
Bit Disabled (D)
CiA 408
1
Bit Hold (H)
2
Bit Active (M)
3
Bit Reset Faults (R)
4…7
Reserved
8
<ControlMode> (0x6043) specific
Reserved
Enable pressure controller
CiA 408
9
Axis install mode positive
direction
MOOG DCV
10
Axis install mode negative
direction
MOOG DCV
11…14
Reserved
15
Ramp stop
Moog DCV
Table 30: Possible values of parameter <ControlWord> (0x6040)
0: Disables the pressure controller
1: Enables the pressure controller
