Moog ACV Series - Page 26

Moog ACV with CANopen bus interface List of figures
B99224-DV018-D-211, Rev. A, October 2018 xxiv
Figure 116: Ramp function .......................................................................................................................... 208
Figure 117: Velocity demand ramp.............................................................................................................. 208
Figure 118: Axis velocity controller .............................................................................................................. 209
Figure 119: Axis velocity demand value filter .............................................................................................. 209
Figure 120: Axis velocity actual value.......................................................................................................... 210
Figure 121: Actual derivative length ............................................................................................................ 211
Figure 122: Axis velocity feed forward proportional element .......................................................................212
Figure 123: Proportional element ................................................................................................................ 213
Figure 124: Integral element........................................................................................................................ 213
Figure 125: Feedback axis velocity value filter ............................................................................................ 215
Figure 126: Feedback axis velocity derivative element ............................................................................... 215
Figure 127: Directional depending gain ....................................................................................................... 216
Figure 128: Signal limitation ........................................................................................................................ 217
Figure 129: Flow setpoint conditioning / demand value generator .............................................................. 217
Figure 130: Flow control .............................................................................................................................. 218
Figure 131: Flow control mode .................................................................................................................... 219
Figure 132: Flow transducer selection......................................................................................................... 221
Figure 133: Alpha correction........................................................................................................................ 222
Figure 134: Flow demand value scaling ...................................................................................................... 223
Figure 135: Flow actual value selection....................................................................................................... 223
Figure 136: Feedback axis velocity proportional element............................................................................ 225
Figure 137: Bernoulli compensator.............................................................................................................. 225
Figure 138: Maximal flow A side.................................................................................................................. 227
Figure 139: Flow / pressure switchover ....................................................................................................... 228
Figure 140: Continuous signal switching ..................................................................................................... 229
Figure 141: Spool position control deviation monitoring .............................................................................. 233
Figure 142: Pressure control deviation monitoring ...................................................................................... 235
Figure 143: Axis position control deviation monitoring ................................................................................ 237
Figure 144: Axis velocity control deviation monitoring................................................................................. 239
Figure 145: Failsafe monitoring ................................................................................................................... 241
Figure 146: 4…20 mA analog input signal monitoring.................................................................................245
Figure 147: Data logger state machine........................................................................................................ 253
Figure 148: Data memory organization ....................................................................................................... 259
Figure 149: Data memory - mixed channel data.......................................................................................... 259
Figure 150: Data memory - one channel with INT8 parameter.................................................................... 260
Figure 151: Data memory - four channels with INT32 parameters.............................................................. 260
Figure 152: Rectangular output signal (type 1)............................................................................................ 261
Figure 153: Triangle output signal (type 2) .................................................................................................. 261
Figure 154: Saw signal (type 3) ................................................................................................................... 262