Moog ACV with CANopen bus interface
5 Device control
Device state machine (DSM)
B99224-DV018-D-211, Rev. A, October 2018
52
5.2.2.5 Error output pin
The error output (digital output 1) is used to indicate fault states (negative logic) according to the Device
Profile Fluid Power.
• Digital output 1 is set to 1 on power on (TR1) of the servo valve.
• When a fault is detected (TR8) the digital output 1 is set to 0 to indicate a fault (negative logic).
• When a fault state is left (TR10, TR11) the digital output 1 is set to 1.
To enable this behavior on the digital output 1, the parameter <DigitalOutputType1> (0x2420) must be set
to 2.
Chapter "6.8.2 Object 0x5E41: Digital output configuration", page 101
5.2.3 Object 0x6041: Status word
The bit-coded <StatusWord> (0x6041) indicates 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: Indicates that bit <Local> (0x604F) is set
The <LocalControlWord> (0x4040) is the active control word.
Chapter "5.1 Local mode", page 43
Device
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value
range
Default
0x6041
0
StatusWord
UINT16
ro
-
UINT16
None
<StatusWord>
Bit
<StatusWord> bit
<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 Ready (R)
4
Indicates that bit <Local>
(0x604F) is set
CiA 408
5…7
Reserved
8
<ControlMode> (0x6043)
specific
Reserved
Pressure controller effective
CiA 408
9
Ramp running
CiA 408
10
Limit touched (c)
CiA 408
11
Control deviation
CiA 408
12…14
Reserved
15
Ramp frozen
Moog DCV
Table 31: Possible values of parameter <StatusWord> (0x6041)
