Moog ACV with CANopen bus interface
5 Device control
Device state machine (DSM)
B99224-DV018-D-211, Rev. A, October 2018
50
5.2.2.2 DSM state transitions caused by the enable signal
The following events will lead automatically to state changes.
The enable behavior is depending on the servo valve hardware configuration.
5.2.2.3 DSM state transitions caused by internal events
The following table shows the internal events which automatically lead to a state change.
5.2.2.4 Enable behavior
The enable signal comes from the connector X1. The enable signal influences the device state machine and
can be used to acknowledge faults.
Chapter "6.7.1 Digital input 0 (enable signal)", page 100
Transition (TR) Description
Comments/Conditions
TR2
Activate 'DISABLED'
Depending on ControlWord RMHD
≥
x001
TR3
Activate 'HOLD'
Depending on ControlWord RMHD
≥
x011
TR4
Activate 'ACTIVE'
Depending on ControlWord RMHD
≥
x111
TR5
Deactivate 'ACTIVE'
TR6
Deactivate 'HOLD'
TR7
Deactivate 'DISABLED'
TR9
Transition from 'FAULT_REACTION' to 'FAULT_HOLD'
Depending on the enable behavior
TR10
Reset 'FAULT_DISABLED'
Behavior of error output 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 "5.2.2.5 Error output pin", page 52
TR15
'FAULT_HOLD' to 'FAULT_DISABLED'
Depending on the enable behavior
Transition (TR) Description
Comments/Conditions
TR0
Power up
TR1
Device init successful.
Initialization of device parameters with stored values.
Behavior of error output pin:
Chapter "5.2.2.5 Error output pin", page 52
TR8
A fault was detected.
On entering 'FAULT_REACTION' state an emergency
message is sent out.
If state is 'DISABLED' or 'FAULT_DISABLED', state tran-
sitions to 'FAULT_HOLD' will be redirected to
'FAULT DISABLED'.
Behavior of error output pin:
Chapter "5.2.2.5 Error output pin", page 52
TR9
Transition from 'FAULT_REACTION' to 'FAULT_HOLD'
(fault reaction successful).
Depending on enable signal and the enable behavior.
Chapter "5.2.2.4 Enable behavior", page 50
TR12
Transition from 'FAULT_REACTION' to
'FAULT_DISABLED' (fault reaction successful).
Depending on enable signal and the enable behavior.
Chapter "5.2.2.4 Enable behavior", page 50
TR13
Transition from 'FAULT_REACTION' to 'FAULT_INIT'
(fault reaction successful).
Depending on enable signal and the enable behavior.
