Moog ACV Series - Figure 96: State Machine Used to Switch between Spool Position Control and Pressure Control; Force Exceeded in both Directions (Switching Mode 2)

Moog ACV with CANopen bus interface 7 Servo valve functions
Spool position (Q) / pressure (P) switchover
B99224-DV018-D-211, Rev. A, October 2018 190
7.6.4 Force exceeded in both directions (switching mode 2)
If the <pQSwitchingMode> (0x586C) is set to 2 (force exceeded in both directions), the following state ma-
chine is used to switch between spool position control and pressure control.
Figure 96: State machine used to switch between spool position control and pressure control
Spool position
control
Pressure control
Pressure
control
(spldem>=cmpprsout) and (prsval>prsdem) and
(prsdem>=0.0) and (spldem>0.0)
(spldem<cmpprsout) or
(spldem<0.0) or
(prsdem<0.0)
(spldem>cmpprsout) or
(spldem>0.0) or
(prsdem>0.0)
(spldem<=cmpprsout) and (prsval<prsdem) and
(prsdem<=0.0) and (spldem<0.0)
Value Parameter
spldem <SplDemandValue> (0x6310)
prsdem <PrsDemandValue> (0x6390)
prsval <PrsActualValue> (0x6381)
cmpprsout <ControllerOutput> (0x2418)