Moog ACV Series - Object 0 X6040: Control Word; Table 30: Possible Values of Parameter <Controlword> (0 X6040)

Moog ACV with CANopen bus interface 5 Device control
Local mode
B99224-DV018-D-211, Rev. A, October 2018 44
5.1.2 Object 0x6040: Control word
The functionality of the <LocalControlWord> (0x4040) and the <ControlWord> needs to be distinguished. If
the parameter <Local> (0x604F) is set, the DSM input #ControlWord# comes from the local parameter <Lo-
calControlWord> (0x4040) otherwise it comes from <ControlWord> (0x6040). This bit-coded parameter con-
trols the DSM states.
Value description
Bits 0, 1, 2, 3: 'DISABLED', 'HOLD', 'ACTIVE', 'RESET FAULTS'
The lower four bits within the control word represent the device state machine's (DSM) control command.
 Chapter "5.2.2.1 DSM state transitions caused by the control word", page 49
Bit 8: Enable pressure controller
This bit activates the pressure controller in the p/Q control mode (<ControlMode> (0x6043) is set to 5).
 Chapter "7.1 Control modes", page 127
Bit 9: Axis install mode positive direction
If the servo valve is in <DeviceMode> (0x6042) = 3 (Install mode) or <DeviceMode> (0x6042) = 4 (reference
mode), then the hydraulic axis can be moved with bit 9 of the <ControlWord> (0x6040) in positive direction.
The velocity of the movement is defined in the parameter <ManualMaxSpeed> (0x5614). If an incremental en-
coder is used to measure the axis position, then <DeviceMode> (0x6042) = 4 (reference mode) is used to run
the homing position to calibrate the incremental encoder.
 Chapter "6.6.4 Incremental Encoder", page 96
 Chapter "7.7 Axis position setpoint conditioning / demand value generator", page 191
Device
Index Sub-index Parameter name Data type Access
Persis-
tence
Value
range Default
0x6040 0 ControlWord UINT16 rw N UINT16 None
<ControlWord>
Bit Description
<Control Mode> (0x6043) is set
to 1…4, 7…14
<Control Mode> (0x6043) is set
to 5 Specification
0 Bit Disabled (D) CiA 408
1 Bit Hold (H)
2 Bit Active (M)
3 Bit Reset Faults (R)
4…7 Reserved
8 <ControlMode> (0x6043) specific Reserved Enable pressure controller CiA 408
9 Axis install mode positive
direction
MOOG DCV
10 Axis install mode negative
direction
MOOG DCV
11…14 Reserved
15 Ramp stop Moog DCV
Table 30: Possible values of parameter <ControlWord> (0x6040)
0: Disables the pressure controller
1: Enables the pressure controller