Moog ACV Series - Object 0 X561 C: Axis Status and Device Status Word; Object 0 X570 C: Axis Position Deviation Window; Object 0 X570 D: Axis Velocity Actual Value Window; Table 90: Possible Values of Parameter <Axisstatusanddevicestatusword> (0 X561 C)

Moog ACV with CANopen bus interface 7 Servo valve functions
Axis status
B99224-DV018-D-211, Rev. A, October 2018 231
7.14.2 Object 0x561C: Axis status and device status word
This 32 bit status word is a combination of the 16 bit <AxisStatusWord> (0x561D) and the 16 bit
<StatusWord> (0x6041).
 Chapter "5.2.3 Object 0x6041: Status word", page 52
Value description
7.14.3 Object 0x570C: Axis position deviation window
The position deviation window is used to set bit 1 and bit 5 in the <AxisStatusWord> (0x561D).
Bit 1 is active while the absolute position difference (|<DemandValue> (0x6610) – <ActualValue1> (0x6601)|)
is less than <PositionWindow1> (0x570C) and the velocity |<ActualValue> (0x6501)| is less than
<VelocityLimitWindow> (0x570D).
Bit 5 is active while the absolute position difference (|<DemandValue> (0x6610) – <ActualValue1> (0x6601)|)
is less than <PositionWindow2> (0x570C).
7.14.4 Object 0x570D: Axis velocity actual value window
The velocity actual value window is used to set bit 1 and bit 3 in the <AxisStatusWord> (0x561D).
Bit 1 is active while the absolute position difference (|<DemandValue> (0x6610) – <ActualValue1> (0x6601)|)
is less than <PositionWindow1> (0x570C) and the velocity |<ActualValue> (0x6501)| is less than
<VelocityLimitWindow> (0x570D).
Bit 3 is active while the absolute velocity |<ActualValue> (0x6501)| is less than the
<VelocityLimitWindow> (0x570D).
Drive
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x561C 0 AxisStatusAndDeviceStatusWord UINT32 ro - UINT32 None
<AxisStatusAndDeviceStatusWord>
Bit Word Description
0…15 <AxisStatusWord> (0x561D) Axis status word.
16…31 <StatusWord> (0x6041) Device status word.
Table 90: Possible values of parameter <AxisStatusAndDeviceStatusWord> (0x561C)
Drive
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x570C 1 PositionWindow1 INT32 rw Y 0…2147483647 0
0x570C 2 PositionWindow2 INT32 rw Y 0…2147483647 0
Drive
Index Sub-index Parameter name Data type Access
Per-
sistence Value range Default
0x570D 0 VelocityLimitWindow INT32 rw Y 0…2147483647 0