Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xii
7.10.6 Acceleration feedback ................................................................................................ 215
7.10.6.1 Feedback axis velocity value filter......................................................... 215
7.10.6.2 Object 0x5549: Velocity feedback filter output ...................................... 215
7.10.6.3 Feedback axis velocity derivative element ............................................ 215
7.10.6.4 Object 0x5329: Feedback axis velocity derivative gain......................... 216
7.10.6.5 Object 0x5539: Acceleration feedback output....................................... 216
7.10.7 Directional depending gain......................................................................................... 216
7.10.7.1 Object 0x5534: Directional depending positive proportional gain ......... 216
7.10.7.2 Object 0x5535: Directional depending negative proportional gain ........ 216
7.10.8 Signal limitation .......................................................................................................... 217
7.10.8.1 Object 0x5519: Controller output........................................................... 217
7.10.9 Sample frequency ...................................................................................................... 217
7.10.9.1 Object 0x5540: Sample frequency divider............................................. 217
7.11 Flow setpoint conditioning / demand value generator ........................................................ 217
7.12 Flow control ............................................................................................................................. 218
7.12.1 Object 0x5213: Deviation value.................................................................................. 218
7.12.2 Object 0x5200: Bernoulli output ................................................................................. 218
7.12.3 Object 0x520F: Controller output ............................................................................... 218
7.12.4 Sample frequency ...................................................................................................... 219
7.12.5 Flow control mode ...................................................................................................... 219
7.12.5.1 Object 0x5205: Flow control mode........................................................ 220
7.12.6 Flow transducer selection........................................................................................... 221
7.12.6.1 Object 0x2330: Active transducer interface system .............................. 222
7.12.6.2 Object 0x5217: Active transducer interface tank................................... 222
7.12.7 Alpha correction ......................................................................................................... 222
7.12.7.1 Object 0x5219: Flow alpha.................................................................... 222
7.12.7.2 Object 0x5210: Actual value filter time constant ................................... 223
7.12.8 Flow demand value scaling........................................................................................ 223
7.12.8.1 Object 0x521B: Demand value scaling ................................................. 223
7.12.9 Flow actual value selection ........................................................................................ 223
7.12.9.1 Object 0x5223: Actual value.................................................................. 223
7.12.9.2 Object 0x5220: Actual value high pass filter frequency......................... 224
7.12.9.3 Object 0x5221: Actual value proportional gain...................................... 224
7.12.9.4 Object 0x5222: Actual value parameter ................................................ 224
7.12.10 Feedback axis velocity proportional element ............................................................. 225
7.12.10.1 Object 0x5224: Feedback axis velocity proportional gain ..................... 225
7.12.11 Bernoulli compensation .............................................................................................. 225
7.12.11.1 Object 0x5215: Nominal flow A side...................................................... 226
7.12.11.2 Object 0x5216: Nominal flow B side...................................................... 226
7.12.11.3 Object 0x521A: Flow beta ..................................................................... 226
7.12.11.4 Object 0x5203: Nominal supply pressure.............................................. 226
7.12.11.5 Object 0x521D: Nominal sensor pressure............................................. 226
7.12.11.6 Object 0x521F: Maximal flow A side ..................................................... 227
7.12.11.7 Object 0x521E: Nominal pressure A side.............................................. 227
7.13 Flow / pressure (P) switchover............................................................................................... 228
7.13.1 Object 0x520E: Flow valve direction .......................................................................... 228
7.13.2 Continuous signal switching ....................................................................................... 229
7.13.2.1 Object 0x5204: Switching time constant ............................................... 229
7.14 Axis status ............................................................................................................................... 230
7.14.1 Object 0x561D: Axis status word ............................................................................... 230
7.14.2 Object 0x561C: Axis status and device status word .................................................. 231
7.14.3 Object 0x570C: Axis position deviation window ......................................................... 231
7.14.4 Object 0x570D: Axis velocity actual value window..................................................... 231
7.14.5 Object 0x570E: Axis velocity deviation window.......................................................... 232
7.14.6 Object 0x5710: Pressure deviation window ............................................................... 232
7.14.7 Object 0x5711: Pressure actual value limit ................................................................ 232
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