Moog ACV Series - Page 75

Moog ACV with CANopen bus interface 5 Device control
Device state machine (DSM)
B99224-DV018-D-211, Rev. A, October 2018 48
'FAULT_DISABLED':
• Device parameters can be set.
• Actual values are available.
• A fault reaction has occurred.
• Hydraulic failsafe spool position (spool position depends on ordered servo valve model).
'FAULT_HOLD':
• Device parameters can be set.
• Actual values are available.
• A fault reaction has occurred.
• The selected <ControlMode> (0x6043) is active.
 Chapter "7.1 Control modes", page 127
• The setpoint values from the bus or from the analog input according to the chosen
<DeviceMode> (0x6042) are not effective.
 Chapter "6.2.1 Object 0x6042: Device mode", page 58
• The control loop depending on the selected <ControlMode> (0x6043) is active and the corresponding
pre-defined hold setpoint is used, for example, the <SplHoldSetPoint> (0x6314) for the spool control or
the <PrsHoldSetPoint> (0x6394) for the pressure control.
 Chapter "6.2.3.3 Object 0x6314: Spl hold setpoint", page 60
 Chapter "6.2.4.3 Object 0x6394: Prs hold setpoint", page 62
 Chapter "6.2.5.3 Object 0x6614: Hold setpoint", page 64
 Chapter "6.2.6.3 Object 0x5527: Hold setpoint", page 68
 Chapter "6.2.7.3 Object 0x5314: Hold setpoint", page 71
'FAULT_REACTION':
• This state is assumed when the device detects an error.
• A fault dependent vendor specific action is executed.
 Chapter "8.1.3 Fault reaction type", page 271
• The resulting fault state depends on the vendor specific <FaultReactionType> (0x2830).
• Important condition for transitions 9, 12, 13:
The RMHD bits of the #ControlWord# do not increase the state of the DSM.
Coming from Meaning
'INIT' 'FAULT_INIT'
'DISABLED' 'FAULT_INIT', 'FAULT_DISABLED'
'HOLD' 'FAULT_INIT', 'FAULT_DISABLED', 'FAULT_HOLD'
'ACTIVE' 'FAULT_INIT', 'FAULT_DISABLED', 'FAULT_HOLD'
'FAULT_HOLD' 'FAULT_INIT', 'FAULT_DISABLED', 'FAULT_HOLD'
'FAULT_DISABLED' 'FAULT_INIT', 'FAULT_DISABLED'
The default state after power on if <LocalMode> (0x604F) is set to 1 (Control Word Local) and en-
able signal on is defined by the parameter <LocalControlModeDefault> (0x403F).
 Chapter "5.1.4 Object 0x403F: Local control word default", page 45
WARNING
Moving machine parts!
The word "failsafe" means not a personnel safety. Parts of the machine can move if the servo valve has a
fault.
 If a personnel safety is needed, some additional electrical and hydraulic parts are necessary!