Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 ix
7.5 Pressure controller.................................................................................................................. 168
7.5.1 Object 0x6381: Actual value....................................................................................... 168
7.5.2 Object 0x63D0: Control deviation............................................................................... 169
7.5.3 Object 0x2311: Kp T1 output...................................................................................... 169
7.5.4 Object 0x2310: Ki output ............................................................................................ 169
7.5.5 Object 0x2312: Kd output........................................................................................... 169
7.5.6 Object 0x5862: Kd feedback output ........................................................................... 169
7.5.7 Object 0x2418: Controller output................................................................................ 170
7.5.8 Active parameter set number ..................................................................................... 170
7.5.8.1 Object 0x2350: Active parameter set number ....................................... 171
7.5.9 Demand pressure ramp function ................................................................................ 171
7.5.9.1 Object 0x2303[N]: Ramp slope ............................................................. 172
7.5.10 Pressure transducer selection.................................................................................... 172
7.5.10.1 Object 0x230D[N]: Active transducer interface area A.......................... 173
7.5.10.2 Object 0x230F[N]: Active transducer interface area B .......................... 173
7.5.10.3 Object 0x585F[N]: Cylinder piston diameter.......................................... 173
7.5.10.4 Object 0x585D: Cylinder rod diameter A............................................... 173
7.5.10.5 Object 0x585E: Cylinder rod diameter B ............................................... 174
7.5.11 Actual value filter ........................................................................................................ 174
7.5.11.1 Object 0x23F2: Actual pressure filter cutoff frequency.......................... 174
7.5.11.2 Object 0x23F3: Actual pressure filter order........................................... 174
7.5.12 Proportional first order lag element (PT1) .................................................................. 175
7.5.12.1 Object 0x2304[N]: Proportional Gain..................................................... 175
7.5.12.2 Object 0x230E[N]: Proportional gain time constant............................... 175
7.5.13 Integrator element (I).................................................................................................. 175
7.5.13.1 Object 0x2305[N]: Integrator gain ......................................................... 176
7.5.13.2 Object 0x2306[N]: Integrator factor ....................................................... 176
7.5.13.3 Object 0x2307[N]: Integrator control range ........................................... 176
7.5.13.4 Object 0x231D: Integrator gain status................................................... 176
7.5.13.5 Object 0x5857[N]: Integrator gain switch threshold............................... 177
7.5.13.6 Object 0x231A[N]: Integrator upper output limit .................................... 177
7.5.13.7 Object 0x231B[N]: Integrator lower output limit..................................... 177
7.5.13.8 Object 0x5861[N]: Integrator proportional part P gain........................... 177
7.5.14 Integrator preload value ............................................................................................. 178
7.5.14.1 Object 0x586B: Integrator preload mode .............................................. 178
7.5.14.2 Object 0x5869: Integrator preload gain ................................................. 179
7.5.14.3 Object 0x586A: Integrator preload parameter ....................................... 179
7.5.14.4 Object 0x5860: Integrator preload values ............................................. 179
7.5.15 Derivative element (PD) ............................................................................................. 180
7.5.15.1 Object 0x2308[N]: Differentiator gain .................................................... 180
7.5.15.2 Object 0x2309[N]: Differentiator T1....................................................... 180
7.5.15.3 Object 0x2324[N]: Spool Position Feed Forward Gain.......................... 180
7.5.16 Feedback derivative element (PD) ............................................................................. 181
7.5.16.1 Object 0x5863[N]: Differentiator gain 2 ................................................. 181
7.5.16.2 Object 0x5864[N]: Differentiator T1 2.................................................... 181
7.5.16.3 Object 0x5858N]: Spool Position Feed Forward Gain_2....................... 181
7.5.17 Alpha correction ......................................................................................................... 182
7.5.18 Signal limitation 1 .......................................................................................................182
7.5.18.1 Object 0x230A[N]: Upper output limit .................................................... 182
7.5.18.2 Object 0x230B[N]: Lower output limit .................................................... 183
7.5.19 Feed forward ..............................................................................................................183
7.5.19.1 Object 0x5867[N]: Feed forward gain.................................................... 183
7.5.19.2 Object 0x5870[N]: Feed forward offset.................................................. 183
7.5.19.3 Object 0x5868[N]: Feed forward parameter .......................................... 184
7.5.20 Signal limitation 2 .......................................................................................................184
7.5.20.1 Object 0x5865[N]: Upper controller output limit..................................... 184
7.5.20.2 Object 0x5866[N]: Lower controller output limit..................................... 185
7.5.21 Automatic parameterization of the pressure controller............................................... 186
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