Moog ACV with CANopen bus interface
6 Signal routing and scaling
Setpoint value path
B99224-DV018-D-211, Rev. A, October 2018
59
6.2.3 Spool position setpoint value path
Figure 22: Spool position setpoint value path
6.2.3.1 Object 0x6300: Setpoint
This parameter contains the spool position setpoint value which is received from the field bus. Depending on
the <DeviceMode> (0x6042), this parameter is in effect for the following three control modes stored in the pa-
rameter <ControlMode> (0x6043):
The setpoint value <SplSetpoint> (0x6300) takes only effect if the <StatusWord> (0x6041) is 0111
b
('AC-
TIVE') and the <DeviceMode> (0x6042) is set to 1 (setpoint input via bus).
Chapter "5.2.3 Object 0x6041: Status word", page 52
Chapter "6.2.1 Object 0x6042: Device mode", page 58
Chapter "2.4.3 Units and prefix parameter", page 12
1 (Setpoint input via the bus)
2 (Setpoint input locally)
<
AnaInpActualValue0
>
(0x3204)
Analog input 0
Spool position
setpoint value from
analog signal
<SplSetpoint>
(0x6300)
<SplHoldSetpoint>
(0x6314)
#SpoolPositionSetpoint#
<DeviceMode>
(0x6042)
<StatusWord>
(0x6041)
’ACTIVE’
’HOLD’ or
’FAULT HOLD’
’INIT’ or ’DISABLED’ or
’FAULT DISABLED’
<SplSetpointParameter>
(0x3320)
0x32040010
0x...
0x...
<...>
(0x...)
<...>
(0x...)
Object 0x1600:
RxPDO mapping
Spool position
setpoint value from
field bus
1
Spool position control open loop
2
Spool position control closed loop
5
p/Q control
7
Axis velocity control
9
Axis position control
13 Flow control
14 p/flow control
ValvePositionControl
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value
range
Default
0x6300
1
SplSetpoint
INT16
rw
N
INT16
None
0x6300
2
Unit
UINT8
ro
-
UINT8
0
0x6300
3
Prefix
INT8
ro
-
INT8
0
