Moog ACV Series - Object 0 X5611: Z Pulse Detected; Object 0 X5617: Z Pulse Trigger; Object 0 X5618: Z Pulse Clear; Object 0 X561 A: Referencing Force

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Moog ACV with CANopen bus interface 6 Signal routing and scaling

Encoder input

B99224-DV018-D-211, Rev. A, October 2018 97

6.6.4.2 Object 0x561A: Referencing force

In the first step of the reference run, axis will move to end of stroke. When the "end of stroke position" is

reached, the pressure in the cylinder is rising. So the valve will wait until <PrsActualValue> (0x6381) reaches

the <ReferencingForce> (0x561A) to finish the first step.

 Chapter "7.5.1 Object 0x6381: Actual value", page 168

6.6.4.3 Object 0x561B: Referencing stop

In the second step of the reference run, the axis is moving slowly back from the "end of stroke position". If

<ZPulseTrigger> (0x5617) = 1, the valve is waiting for the Z pulse. If the Z pulse appears or the axis has

moved the distance <ReferencingStop> (0x561B), the reference run is finished.

6.6.4.4 Object 0x5617: Z pulse trigger

In the second step of the reference run, the parameter <ZPulseTrigger> (0x5617) will enable the Z pulse to

trigger the reference position of the encoder. If <ZPulseTrigger> (0x5617) = 0, the Z pulse is ignored and will

not be dedected.

6.6.4.5 Object 0x5611: Z pulse detected

This flag will be set when the Z pulse will appear in the second step of the reference run. It will be reset on

start of the reference run while the <DeviceMode> (0x6042) is switched to 4 (reference mode).

6.6.4.6 Object 0x5618: Z pulse clear

This parameter is implemented for compatibility reasons to old software. It will clear the internal Z pulse latch

which is done automatically in the actual software.

DrivePositionControl