Moog ACV Series - Object 0 X5520: Setpoint Parameter; Object 0 X5527: Hold Setpoint; Table 38: Possible Values of Parameter <Velsetpointparameter> (0 X5520)

Moog ACV with CANopen bus interface 6 Signal routing and scaling
Setpoint value path
B99224-DV018-D-211, Rev. A, October 2018 68
6.2.6.2 Object 0x5520: Setpoint parameter
The axis velocity setpoint value parameter <VelSetpointParameter> (0x5520) points to the input where the
axis velocity setpoint value <VelSetpoint> (0x6500) comes from.
The axis velocity setpoint value <VelSetpoint> (0x6500) is only effective in case the <StatusWord> (0x6041)
is 1111
b
('ACTIVE') and the <DeviceMode> (0x6042) is set to 1 (setpoint input via bus).
Value description
This pointer contains a combination of index, sub-index and length of the parameter to be used.
The default value is 0x65000120, which refers to the <VelSetpoint> (0x6500), sub-index 0x01 with the length
of 32 bit (32 = 0x20).
6.2.6.3 Object 0x5527: Hold setpoint
This parameter defines the axis velocity hold setpoint value. This parameter is in effect only for the
<ControlMode> (0x6043) = 6 (axis velocity control).
 Chapter "7.1.1 Object 0x6043: Control mode", page 128
The <VelHoldSetpoint> (0x5527) acts as setpoint value in case of <StatusWord> (0x6041) equals 'HOLD' or
'FAULT_HOLD'.
 Chapter "5.2.3 Object 0x6041: Status word", page 52
 Chapter "2.4.3 Units and prefix parameter", page 12
DriveVelocityControl
Index Sub-index Parameter name Data type Access
Per-
sistence
Value
range Default
0x5520 0x00 VelSetpointParameter INT32 rw Y INT32 0x65000120
<VelSetpointParameter>
Byte
3210
Description Index MSB Index LSB Sub-Index Parameter bit length
Default 0x65 0x00 0x01 0x20
Table 38: Possible values of parameter <VelSetpointParameter> (0x5520)
DriveVelocityControl_DemandValueGenerator
Index Sub-index Parameter name Data type Access
Per-
sistence
Value
range Default
0x5527 1 VelHoldSetpoint INT32 rw N INT32 0
0x5527 2 Unit UINT8 ro - UINT8 0
0x5527 3 Prefix INT8 ro - INT8 0