Moog ACV Series - Figure 123: Proportional Element; Figure 124: Integral Element; Integral Element; Object 0 X5514: Proportional Gain

Moog ACV with CANopen bus interface 7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018 213
7.10.4 Proportional element
The proportional part output is generated by the proportional gain parameter <ProportionalGainKp> (0x5514).
The input signal is the axis position control deviation.
Figure 123: Proportional element
7.10.4.1 Object 0x5514: Proportional gain
7.10.4.2 Object 0x5537: Kp output
This parameter holds the output of the proportional element of the axis velocity controller.
7.10.5 Integral element
The integral element is composed of an input depending gain, the integrator and a limiter.
Figure 124: Integral element
<ProportionalGainKp>
(0x5514)
<VelControlDeviation>
(0x6550)
<KpOutput>
(0x5537)
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x5514 1 ProportionalGainKp FLOAT32 rw Y FLOAT32 0.0
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x5537 1 KpOutput FLOAT32 ro - FLOAT32 None
<KiOutputt>
(0x553C)
<IntegratorLimit>
(0x5518)
<IntegratorLimit>
(0x5518)
<VelControlDeviation>
(0x6550)
<IntegratorInnerRange>
(0x5517)
<IntegratorInnerGain>
(0x5522)
<IntegratorOuterRange>
(0x5516)
<IntegratorOuterGain>
(0x5522)