Moog ACV Series - Page 24

Moog ACV with CANopen bus interface List of figures
B99224-DV018-D-211, Rev. A, October 2018 xxii
Figure 38: Digital inputs ............................................................................................................................... 99
Figure 39: Digital outputs in the default configuration................................................................................ 100
Figure 40: Structure of local CAN bus ....................................................................................................... 103
Figure 41: Local CAN process data object (PDO) configuration ............................................................... 105
Figure 42: Receive process data object (RxPDO) mapping ...................................................................... 109
Figure 43: Transmit process data object (TxPDO) mapping ..................................................................... 115
Figure 44: Local CAN service data object (SDO) gateway........................................................................ 119
Figure 45: Servo valve controller and command signal conditioning......................................................... 126
Figure 46: Spool position control open loop for single stage valves .......................................................... 129
Figure 47: Spool position control open loop for dual stage valves ............................................................ 129
Figure 48: Spool position control closed loop for single stage and dual stage valves............................... 130
Figure 49: Pressure control closed loop .................................................................................................... 130
Figure 50: p/Q control closed loop............................................................................................................. 131
Figure 51: Axis position control.................................................................................................................. 132
Figure 52: Axis velocity control .................................................................................................................. 133
Figure 53: Flow control .............................................................................................................................. 134
Figure 54: p/flow control ............................................................................................................................ 135
Figure 55: Spool position demand value generator ................................................................................... 136
Figure 56: Limit function ............................................................................................................................ 137
Figure 57: Scaling function ........................................................................................................................ 138
Figure 58: Ramp function .......................................................................................................................... 140
Figure 59: Ramp type 1 ............................................................................................................................. 141
Figure 60: Ramp type 2 ............................................................................................................................. 142
Figure 61: Ramp type 3 ............................................................................................................................. 143
Figure 62: Directional depending gain ....................................................................................................... 145
Figure 63: Characteristic compensation .................................................................................................... 147
Figure 64: Dead band compensation......................................................................................................... 149
Figure 65: Dead band compensation type 1.............................................................................................. 151
Figure 66: Dead band compensation type 2.............................................................................................. 152
Figure 67: Zero correction ......................................................................................................................... 152
Figure 68: Single stage servo valve........................................................................................................... 153
Figure 69: Dual stage servo valve for open loop control ...........................................................................154
Figure 70: Dual stage servo valve for closed loop control .........................................................................154
Figure 71: Pressure demand value generator ........................................................................................... 158
Figure 72: Limit function ............................................................................................................................ 160
Figure 73: Scaling function ........................................................................................................................ 161
Figure 74: Ramp function .......................................................................................................................... 162
Figure 75: Ramp type 1 ............................................................................................................................. 163
Figure 76: Ramp type 2 ............................................................................................................................. 164