Moog ACV with CANopen bus interface
6 Signal routing and scaling
Setpoint value path
B99224-DV018-D-211, Rev. A, October 2018
58
6.2.1 Object 0x6042: Device mode
The device mode is used to switch the setpoint value source from local input (e.g., an analog input) to setpoint
value input via bus.
The <DeviceMode> (0x6042) = 3 (install mode) and = 4 (reference mode) has no direct influence to the posi-
tion setpoint path. These two device modes are enabling the trajectory generator for manual movement of the
hydraulic axis. The axis can be moved in positive or negative direction with bit 9 and 10 of the
<ControlWord> (0x6040). The <DeviceMode> (0x6042) = 4 (reference mode) is used to enable the referenc-
ing run for an incremental encoder.
Chapter "5.1.2 Object 0x6040: Control word", page 44
Chapter "6.6.4 Incremental Encoder", page 96
Chapter "7.7 Axis 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 of the servo valve. This is
achieved by automatically copying the parameter <DeviceModeDefault> (0x4042) to the parameter
<DeviceMode> (0x6042) during the startup procedure of the servo valve
Device
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value
range
Default
0x6042
0
DeviceMode
INT8
rw
N
1…4
<DeviceMode-
Default> (0x4042)
<DeviceMode>
Type of analog input
0
Reserved
1
Setpoint input via the bus
2
Setpoint input locally
3
Install mode
4
Reference mode
All other
Reserved
Table 32: Possible values of parameter <DeviceMode> (0x6042)
The effective <DeviceMode> (0x6042) after power up is defined by the parameter
<DeviceModeDefault> (0x4042).
Chapter "6.2.2 Object 0x4042: Device mode default", page 58
Device
Index
Sub-index
Name
Data type
Access
Persis-
tence
Value
range
Default
0x4042
0x00
DeviceModeDefault
INT8
rw
Y
1…2
1
