Moog ACV Series - Axis Velocity Controller; Axis Velocity Demand Value Filter; Figure 118: Axis Velocity Controller; Figure 119: Axis Velocity Demand Value Filter

Moog ACV with CANopen bus interface 7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018 209
7.10 Axis velocity controller
Figure 118: Axis velocity controller
7.10.1 Axis velocity demand value filter
The velocity demand value is filtered with a first order lag element (PT1).
Figure 119: Axis velocity demand value filter
7.10.1.1 Object 0x5533: Demand value filter time constant
This parameter sets the time constant in seconds of the first order lag element (PT1).
7.10.1.2 Object 0x553B: Demand value filter output
This parameter holds the output of the demand filter element.
Axis velocity
transducer selection
Proportional element
Feedback axis
velocity value filter
<VelDemandFilterOutput>
(0x553B)
-
Axis velocity
demand value filter
<VelDemamdValue>
(0x5615)
<ActualValue1...8>
(0x6210...0x6217)
Integral element
Axis velocity
feedforward
proportional element
<VelActualValue>
(0x6501)
<VelControlDeviation>
(0x6550)
<VelFeedForwardOutput>
(0x5546)
<KiOutput>
(0x553C)
<KpOutput>
(0x5537)
<AccFeedBackOutput>
(0x5539)
Directional
depending gain
Signal limitation
#ControllerOutput1# #ControllerOutput2#
<VelControllerOutput>
(0x5519)
--
Feedback axis
velocity derivative
element
<VelFeedBackFilterOutput>
(0x5549)
Sample frequency
 Chapter 7.8.16
 Chapter 7.8.17
 Chapter 7.10.6.1
 Chapter 7.10.6.1
 Chapter 7.8.19
 Chapter 7.10.1
 Chapter 7.10.2
 Chapter 7.10.6.1
 Chapter 7.10.8
<VelDemandFilterTimeConstant>
(0x5533)
<VelDemamdValue>
(0x5615)
<VelDemandFilterOutput>
(0x553B)
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x5533 1 VelDemandFilterTimeConstant FLOAT32 rw Y 0.0…+inf 0.0
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x553B 1 VelDemandFilterOutput FLOAT32 ro - FLOAT32 None