Moog ACV Series - Page 23

Moog ACV with CANopen bus interface List of figures
B99224-DV018-D-211, Rev. A, October 2018 xxi
List of figures
Figure 1: Structure of a warning notice........................................................................................................ 3
Figure 2: Servo valve position and stage names......................................................................................... 6
Figure 3: CANopen slave reference model.................................................................................................. 9
Figure 4: CAN protocol .............................................................................................................................. 13
Figure 5: Name plate of the device with identification object address ....................................................... 14
Figure 6: Process data object (PDO) mapping .......................................................................................... 18
Figure 7: Receive process data object (RxPDO) mapping ........................................................................ 21
Figure 8: Transmit process data object (TxPDO) mapping ....................................................................... 27
Figure 9: Write service data object request ............................................................................................... 31
Figure 10: Read service data object request ............................................................................................... 31
Figure 11: Typical SDO abort message....................................................................................................... 32
Figure 12: CANopen network state machine (CSM)....................................................................................33
Figure 13: Structure for a start remote node frame ..................................................................................... 35
Figure 14: Example for a start remote node frame with Node-ID 127 (0x7F).............................................. 35
Figure 15: Device structure.......................................................................................................................... 37
Figure 16: Device controller structure.......................................................................................................... 38
Figure 17: Name plate of the device with identification object address ....................................................... 40
Figure 18: Local mode ................................................................................................................................. 43
Figure 19: Device state machine ................................................................................................................. 46
Figure 20: Status display LEDs ................................................................................................................... 54
Figure 21: Signal routing.............................................................................................................................. 56
Figure 22: Spool position setpoint value path.............................................................................................. 59
Figure 23: Pressure setpoint value path ...................................................................................................... 61
Figure 24: Axis position setpoint value path ................................................................................................ 63
Figure 25: Axis position setpoint value path - 16 to 32 bit scaling ............................................................... 65
Figure 26: Axis velocity setpoint value path................................................................................................. 67
Figure 27: Axis velocity setpoint value path - 16 to 32 bit scaling ...............................................................69
Figure 28: Flow setpoint value path............................................................................................................. 70
Figure 29: Drive actual value path ............................................................................................................... 72
Figure 30: Pressure actual value scaling..................................................................................................... 78
Figure 31: Position digital encoder actual value scaling .............................................................................. 80
Figure 32: Position analog encoder actual value scaling............................................................................. 81
Figure 33: General input scaling.................................................................................................................. 82
Figure 34: Analog inputs.............................................................................................................................. 86
Figure 35: Analog outputs............................................................................................................................ 91
Figure 36: Analog output scaling ................................................................................................................. 91
Figure 37: Encoder input ............................................................................................................................. 95