Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xi
7.8.18 Derivative element...................................................................................................... 202
7.8.18.1 Object 0x5502: Differentiator gain......................................................... 202
7.8.18.2 Object 0x5503: Differentiator T1 ........................................................... 203
7.8.19 Axis velocity feed forward proportional element......................................................... 203
7.8.19.1 Object 0x5506: Velocity feed forward proportional gain........................ 203
7.8.20 Axis acceleration feed forward proportional element ................................................. 203
7.8.20.1 Object 0x5507: Acceleration feed forward proportional gain................. 204
7.8.21 State feedback axis velocity and acceleration derivative elements............................ 204
7.8.21.1 Object 0x550C: Actual value filter time constant................................... 204
7.8.21.2 Object 0x550B: State feedback axis velocity proportional gain............. 204
7.8.21.3 Object 0x550A: State feedback axis acceleration proportional gain ..... 205
7.8.22 Directional depending gain......................................................................................... 205
7.8.22.1 Object 0x550D: Directional depending positive proportional gain......... 205
7.8.22.2 Object 0x550E: Directional depending negative proportional gain........ 205
7.8.23 Signal limitation .......................................................................................................... 206
7.9 Axis velocity setpoint conditioning / demand value generator .......................................... 206
7.9.1 Object 0x5615: Demand value................................................................................... 206
7.9.2 Limit function .............................................................................................................. 207
7.9.2.1 Object 0x6521: Upper limit .................................................................... 207
7.9.2.2 Object 0x6520: Lower limit .................................................................... 207
7.9.3 Ramp.......................................................................................................................... 208
7.9.3.1 Object 0x5553: Velocity demand ramp ................................................. 208
7.10 Axis velocity controller ........................................................................................................... 209
7.10.1 Axis velocity demand value filter ................................................................................ 209
7.10.1.1 Object 0x5533: Demand value filter time constant................................ 209
7.10.1.2 Object 0x553B: Demand value filter output........................................... 209
7.10.2 Axis velocity actual value ........................................................................................... 210
7.10.2.1 Object 0x5542: Actual value reference ................................................. 210
7.10.2.2 Object 0x5548: Actual value filter time constant ................................... 210
7.10.2.3 Object 0x5552: Actual value filter output............................................... 210
7.10.2.4 Object 0x5550: Actual derivative length ................................................ 211
7.10.2.5 Object 0x5545: Actual value path mode................................................ 211
7.10.2.6 Object 0x5544: Actual value proportional gain...................................... 211
7.10.2.7 Object 0x6501: Axis velocity actual value ............................................. 212
7.10.3 Axis velocity feed forward proportional element......................................................... 212
7.10.3.1 Object 0x5547: Velocity feed forward proportional gain........................ 212
7.10.3.2 Object 0x5546: Velocity feed forward output......................................... 212
7.10.3.3 Object 0x6550: Control deviation .......................................................... 212
7.10.4 Proportional element .................................................................................................. 213
7.10.4.1 Object 0x5514: Proportional gain .......................................................... 213
7.10.4.2 Object 0x5537: Kp output...................................................................... 213
7.10.5 Integral element..........................................................................................................213
7.10.5.1 Object 0x5522: Integral gain ................................................................. 214
7.10.5.2 Object 0x5517: Integral inner range ...................................................... 214
7.10.5.3 Object 0x5516: Integral outer range...................................................... 214
7.10.5.4 Object 0x5518: Integral limit.................................................................. 214
7.10.5.5 Object 0x553C: Ki output ...................................................................... 215
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