Moog ACV Series - Page 5

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 iii
4.2 Objects defined by Device Profile Fluid Power ...................................................................... 40
4.2.1 Object 0x6050: Version ................................................................................................ 40
4.2.2 Object 0x6051: Code number ...................................................................................... 41
4.2.3 Object 0x6052: Serial number...................................................................................... 41
4.2.4 Object 0x6053: Description .......................................................................................... 41
4.2.5 Object 0x6054: Model description................................................................................ 41
4.2.6 Object 0x6055: Model URL .......................................................................................... 41
4.2.7 Object 0x6056: Parameter set code............................................................................. 41
4.2.8 Object 0x6057: Vendor name....................................................................................... 42
4.2.9 Object 0x605F: Capability ............................................................................................ 42
5 Device control .........................................................................................43
5.1 Local mode................................................................................................................................. 43
5.1.1 Object 0x604F: Local ................................................................................................... 43
5.1.2 Object 0x6040: Control word........................................................................................ 44
5.1.3 Object 0x4040: Local control word ............................................................................... 45
5.1.4 Object 0x403F: Local control word default ................................................................... 45
5.2 Device state machine (DSM)..................................................................................................... 46
5.2.1 DSM states................................................................................................................... 47
5.2.2 State transitions............................................................................................................ 49
5.2.2.1 DSM state transitions caused by the control word .................................. 49
5.2.2.2 DSM state transitions caused by the enable signal................................. 50
5.2.2.3 DSM state transitions caused by internal events .................................... 50
5.2.2.4 Enable behavior ...................................................................................... 50
5.2.2.4.1 DSM state transitions depending on the enable signal ...... 51
5.2.2.4.2 Fault confirmation with the enable signal ........................... 51
5.2.2.5 Error output pin........................................................................................ 52
5.2.3 Object 0x6041: Status word ......................................................................................... 52
5.2.4 Object 0x1002: Manufacturer Status Register ............................................................. 53
5.3 Bootup of the device ................................................................................................................. 53
5.3.1 Object 0x200F: Power On Delay.................................................................................. 54
5.4 Status display LEDs .................................................................................................................. 54
5.4.1 Module status LED «MS»............................................................................................. 54
5.4.2 Network status LED «NS»............................................................................................ 55
6 Signal routing and scaling .....................................................................56
6.1 Signal routing structure............................................................................................................ 56
6.2 Setpoint value path ................................................................................................................... 57
6.2.1 Object 0x6042: Device mode ....................................................................................... 58
6.2.2 Object 0x4042: Device mode default ........................................................................... 58
6.2.3 Spool position setpoint value path................................................................................ 59
6.2.3.1 Object 0x6300: Setpoint .......................................................................... 59
6.2.3.2 Object 0x3320: Setpoint parameter......................................................... 60
6.2.3.3 Object 0x6314: Spl hold setpoint............................................................. 60
6.2.4 Pressure setpoint value path........................................................................................ 61
6.2.4.1 Object 0x6380: Setpoint .......................................................................... 61
6.2.4.2 Object 0x3310: Setpoint parameter......................................................... 62
6.2.4.3 Object 0x6394: Prs hold setpoint ............................................................ 62
6.2.5 Axis position setpoint value path .................................................................................. 63
6.2.5.1 Object 0x6600: Setpoint .......................................................................... 63
6.2.5.2 Object 0x3330: Setpoint parameter......................................................... 64
6.2.5.3 Object 0x6614: Hold setpoint .................................................................. 64
6.2.5.4 16 to 32 bit scaling .................................................................................. 65
6.2.5.4.1 Object 0x4230: Minimum reference.................................... 65
6.2.5.4.2 Object 0x4231: Maximum reference................................... 65
6.2.5.4.3 Object 0x5509: Minimum interface ..................................... 65