Moog ACV Series - Directional Depending Gain; Figure 127: Directional Depending Gain; Object 0 X5329: Feedback Axis Velocity Derivative Gain; Object 0 X5534: Directional Depending Positive Proportional Gain

Moog ACV with CANopen bus interface 7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018 216
7.10.6.4 Object 0x5329: Feedback axis velocity derivative gain
Gain for the acceleration feedback.
7.10.6.5 Object 0x5539: Acceleration feedback output
Output of the acceleration feedback to the controller.
7.10.7 Directional depending gain
To compensate a not symmetrical movement between moving in and out a directional depending gain is im-
plemented.
Figure 127: Directional depending gain
7.10.7.1 Object 0x5534: Directional depending positive proportional gain
This gain is used while the input signal is positive.
7.10.7.2 Object 0x5535: Directional depending negative proportional gain
This gain is used while the input signal is positive.
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x5329 1 ProportionalFeedBackGainKa FLOAT32 rw Y FLOAT32 0.0
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x5539 1 AccFeedBackOutput FLOAT32 ro - FLOAT32 None
#ControllerOutput1#
<ProportionalNegGain>
(0x5535)
<ProportionalPosGain>
(0x5534)
#ControllerOutput2#
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x5534 1 ProportionalPosGain FLOAT32 rw Y FLOAT32 1.0
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x5535 1 ProportionalNegGain FLOAT32 rw Y FLOAT32 1.0