Moog ACV Series - Axis Position Setpoint Value Path; Figure 24: Axis Position Setpoint Value Path; Object 0 X6600: Setpoint

Moog ACV with CANopen bus interface 6 Signal routing and scaling
Setpoint value path
B99224-DV018-D-211, Rev. A, October 2018 63
6.2.5 Axis position setpoint value path
Figure 24: Axis position setpoint value path
 Chapter "7.7.1 Object 0x6610: Position demand value", page 191
6.2.5.1 Object 0x6600: Setpoint
This parameter contains the axis position setpoint value which is received from the field bus. Depending on
the <DeviceMode> (0x6042), this parameter is in effect only for the <ControlMode> (0x6043) = 8 (axis posi-
tion control).
 Chapter "7.1.1 Object 0x6043: Control mode", page 128
The setpoint value takes only effect in case the <StatusWord> (0x6041) is 1111
b
('ACTIVE') and the
<DeviceMode> (0x6042) is set to 1 (setpoint input via bus).
 Chapter "5.2.3 Object 0x6041: Status word", page 52
 Chapter "6.2.1 Object 0x6042: Device mode", page 58
 Chapter "2.4.3 Units and prefix parameter", page 12
<PosSetpoint>
(0x6600)
<PosSetpoint>
(0x6600)
#AxesPositionSetpoint#
<StatusWord>
(0x6041)
’ACTIVE’
’HOLD’ or
’FAULT HOLD’
’INIT’ or ’DISABLED’ or
’FAULT DISABLED’
<PosSetpointParameter>
(0x3330)
0x66000120
0x...
0x...
<...>
(0x...)
<...>
(0x...)
Object 0x1600:
RxPDO mapping
Axis position
setpoint value from
field bus
Scaling
16 bit -> 32 bit
<PosHoldSetpoint>
(0x6614)
<TrajectoryType>
(0x5700)
0 (Disabled)
1 (ACTIVE only)
2 (ACTIVE and HOLD)
<PosDemandValue>
(0x6610)
Sample
Sample if <StatusWord> (0x6041) changes from
’ACTIVE’ to ’HOLD’ or ’FAULT HOLD’ and save the
<PosDemandValue> (0x6610) value as stop axis
position for the stop trajectory
Any signed
16 or 32 bit
param. from the
object dictionary
<HoldSetpointTarget>
(0x585C)
0 (hold setpoint)
1 (demand position)
2 (actual position)
Generate stop
trajectory
<PosActualValue1>
(0x6601)
1 (Setpoint input via the bus)
2 (Setpoint input locally)
<DeviceMode>
(0x6042)
DrivePositionControl
Index Sub-index Parameter name Data type Access
Per-
sistence
Value
range Default
0x6600 1 PosSetpoint INT32 rw N INT32 None
0x6600 2 Unit UINT8 ro - UINT8 0
0x6600 3 Prefix INT8 ro - INT8 0