Moog ACV Series User manual

WHAT MOVES YOUR WORLD
Rev. A, October 2018
OFFERING FLEXIBLE INTEGRATION AND ADVANCED
MAINTENANCE FEATURES INCLUDING DIAGNOSTICS,
MONITORING OF CHARACTERISTICS AND ABILITY TO
DEFINE DYNAMIC BEHAVIORS
USER MANUAL FOR
AXIS CONTROLVALVES
WITH
CANOPEN INTERFACE
FIRMWARE B99224-DV018-D-211

B99224-DV018-D-211, Rev. A, October 2018 A
Copyright
© 2018 Moog GmbH
Hanns-Klemm-Straße 28
71034 Boeblingen
Germany
All rights reserved.
No part of these operating instructions may be reproduced in any form (print,
photocopies, microfilm, or by any other means) or edited, duplicated, or distrib-
uted with electronic systems without our prior written consent.
Offenders will be held liable for the payment of damages.
Subject to change without notice.
Telephone: [phone]
Fax: [phone]
E-mail: [email protected]
Internet: http://www.moog.com/Industrial

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 i
Table of contents
Copyright ................................................................................................................................................... A
List of tables............................................................................................................................................ xvii
List of figures ........................................................................................................................................... xxi
1 General information ..................................................................................1
1.1 About this manual ....................................................................................................................... 1
1.1.1 Reservation of changes and validity............................................................................... 1
1.1.2 Completeness ................................................................................................................ 1
1.1.3 Place of storage ............................................................................................................. 1
1.1.4 Warranty and liability...................................................................................................... 1
1.1.5 Typographical conventions............................................................................................. 2
1.2 Structure of warning notices...................................................................................................... 3
1.3 Selection and qualification of personnel .................................................................................. 3
1.4 Further documentation for the servo valve .............................................................................. 4
1.5 References ................................................................................................................................... 5
1.5.1 CAN field bus ................................................................................................................. 5
1.5.2 Device Profile ................................................................................................................. 5
1.6 Definitions .................................................................................................................................... 5
1.6.1 Internal resolution (iR) .................................................................................................... 5
1.6.2 Volume flow direction ..................................................................................................... 5
1.6.3 Servo valve position and stage names........................................................................... 6
1.7 Abbreviations............................................................................................................................... 6
1.8 Trademarks .................................................................................................................................. 7
2 Access over CANopen..............................................................................8
2.1 Introduction.................................................................................................................................. 8
2.2 Device profiles ............................................................................................................................. 8
2.3 CANopen slave reference model ............................................................................................... 9
2.4 CANopen objects....................................................................................................................... 10
2.4.1 Parameter value........................................................................................................... 10
2.4.2 Parameter and their attributes...................................................................................... 10
2.4.3 Units and prefix parameter ........................................................................................... 12
2.5 CANopen object dictionary (OD).............................................................................................. 12
2.6 CAN data link layer.................................................................................................................... 13
2.7 CAN bit rate and Node-ID configuration.................................................................................. 13
2.7.1 CAN bit rate and Node-ID configuration using LSS services ....................................... 14
2.7.2 CAN bit rate and Node-ID configuration using SDO protocol....................................... 14
2.7.2.1 Object 0x3002: Module identifier (Node-ID) ............................................ 15
2.7.2.2 Object 0x3003: Bit rate............................................................................ 15
2.8 CANopen communication protocols ....................................................................................... 16
2.8.1 Synchronization (SYNC) protocol (COB-ID: 0x080)..................................................... 16
2.8.1.1 Object 0x1005: SYNC protocol COB-ID configuration ............................ 17
2.8.2 Emergency (EMCY) protocol (COB-ID: 0x080+Node-ID) ............................................ 17
2.8.2.1 Object 0x1014: EMCY protocol COB-ID configuration............................ 17
2.8.3 Process data object (PDO) protocol............................................................................. 18
2.8.3.1 RxPDO protocol configuration (COB-ID: 0x200, 0x300, 0x400, 0x500).. 18
2.8.3.1.1 Object 0x1400: 1st RxPDO protocol configuration ............. 19
2.8.3.1.2 Object 0x1401: 2nd RxPDO protocol configuration............ 19
2.8.3.1.3 Object 0x1402: 3rd RxPDO protocol configuration............. 20
2.8.3.1.4 Object 0x1403: 4th RxPDO protocol configuration............. 20
2.8.3.2 RxPDO mapping (COB-ID: 0x200, 0x300, 0x400, 0x500) ...................... 21

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2.8.3.2.1 Object 0x1600: 1st RxPDO mapping ................................. 22
2.8.3.2.2 Object 0x1601: 2nd RxPDO mapping ................................ 23
2.8.3.2.3 Object 0x1602: 3rd RxPDO mapping ................................. 23
2.8.3.2.4 Object 0x1603: 4th RxPDO mapping ................................. 24
2.8.3.3 RxPDO counter ....................................................................................... 24
2.8.3.3.1 Object 0x3012: RxPDO counter ......................................... 24
2.8.3.4 TxPDO protocol configuration (COB-ID: 0x180, 0x280, 0x380, 0x480) .. 24
2.8.3.4.1 Object 0x1800: 1st TxPDO protocol configuration ............. 25
2.8.3.4.2 Object 0x1801: 2nd TxPDO configuration protocol ............ 26
2.8.3.4.3 Object 0x1802: 3rd TxPDO protocol configuration............. 26
2.8.3.4.4 Object 0x1803: 4th TxPDO protocol configuration ............. 26
2.8.3.5 TxPDO mapping (COB-ID: 0x180, 0x280, 0x380, 0x480)....................... 27
2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping ................................. 28
2.8.3.5.2 Object 0x1A01: 2nd TxPDO mapping ................................ 29
2.8.3.5.3 Object 0x1A02: 3rd TxPDO mapping ................................. 29
2.8.3.5.4 Object 0x1A03: 4th TxPDO mapping ................................. 30
2.8.3.6 Object 0x3011: TxPDO trigger ................................................................ 30
2.8.4 Service data object (SDO) protocol (COB-ID: 0x580, 0x600) ...................................... 31
2.8.4.1 Object 0x1200: SDO client/server parameter.......................................... 32
2.9 Network management state machine (NMT state machine) .................................................. 32
2.9.1 Network management (NMT) protocol (COB-ID: 0x000, 0x700).................................. 34
2.9.2 Start remote node command (COB-ID:0, CS:1)........................................................... 35
2.9.3 Stop remote node command (COB-ID:0, CS:2) ........................................................... 35
2.9.4 Enter 'Pre-Operational' command (COB-ID:0, CS:128) ............................................... 35
2.9.5 Reset node command (COB-ID:0, CS:129) ................................................................. 35
2.9.6 Reset communication command (COB-ID:0, CS:130) ................................................. 35
2.9.7 Bootup message (COB-ID: 0x700)............................................................................... 36
2.9.8 Node guarding (COB-ID: 0x700, RTR:1)...................................................................... 36
2.9.8.1 Object 0x100C: Guard time..................................................................... 36
2.9.8.2 Object 0x100D: Life time factor ............................................................... 36
2.10 Electronic data sheet (EDS) files ............................................................................................. 36
3 Device structure ......................................................................................37
3.1 Overview..................................................................................................................................... 37
3.1.1 Device identification ..................................................................................................... 37
3.1.2 Device control............................................................................................................... 37
3.1.3 Signal routing and scaling ............................................................................................ 37
3.1.4 Servo valve functions ................................................................................................... 38
3.1.5 Diagnostics................................................................................................................... 38
3.1.6 Storing / restoring parameters...................................................................................... 38
3.1.7 Object dictionary........................................................................................................... 38
3.2 Device controller structure....................................................................................................... 38
4 Device identification ...............................................................................39
4.1 Objects of the CANopen communication profile defined by CiA 301 .................................. 39
4.1.1 Object 0x1000: Device Type ........................................................................................ 39
4.1.2 Object 0x1008: Manufacturer device name.................................................................. 39
4.1.3 Object 0x1009: Manufacturer hardware version .......................................................... 39
4.1.4 Object 0x100A: Manufacturer software version ........................................................... 39
4.1.5 Object 0x1018: Identity object ...................................................................................... 40

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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

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6.2.5.4.4 Object 0x5510: Maximum interface .................................... 66
6.2.5.5 Object 0x5700: Trajectory Type .............................................................. 66
6.2.5.6 Object 0x585C: Hold setpoint target ....................................................... 66
6.2.6 Axis velocity setpoint value path .................................................................................. 67
6.2.6.1 Object 0x6500: Setpoint .......................................................................... 67
6.2.6.2 Object 0x5520: Setpoint parameter......................................................... 68
6.2.6.3 Object 0x5527: Hold setpoint .................................................................. 68
6.2.6.4 16 to 32 bit scaling .................................................................................. 69
6.2.6.4.1 Object 0x5523: Minimum reference.................................... 69
6.2.6.4.2 Object 0x5524: Maximum reference................................... 69
6.2.6.4.3 Object 0x5525: Minimum interface..................................... 69
6.2.6.4.4 Object 0x5526: Maximum interface .................................... 70
6.2.7 Flow setpoint value path............................................................................................... 70
6.2.7.1 Object 0x5300: Setpoint .......................................................................... 70
6.2.7.2 Object 0x5202: Setpoint parameter......................................................... 71
6.2.7.3 Object 0x5314: Hold setpoint .................................................................. 71
6.3 Drive transducer interface ........................................................................................................ 72
6.3.1 Object 0x6210: Actual value 1...................................................................................... 73
6.3.2 Object 0x6211: Actual value 2...................................................................................... 73
6.3.3 Object 0x6212: Actual value 3...................................................................................... 73
6.3.4 Object 0x6213: Actual value 4...................................................................................... 74
6.3.5 Object 0x6214: Actual value 5...................................................................................... 74
6.3.6 Object 0x6215: Actual value 6...................................................................................... 74
6.3.7 Object 0x6216: Actual value 7...................................................................................... 74
6.3.8 Object 0x6217: Actual value 8...................................................................................... 74
6.3.9 Transducer interface definition ..................................................................................... 74
6.3.9.1 Object 0x6200: Max interface number .................................................... 75
6.3.9.2 Object 0x6201: Interface number ............................................................ 75
6.3.9.3 Object 0x6202: Type ............................................................................... 76
6.3.9.4 Object 0x6203: Sign ................................................................................ 76
6.3.9.5 Object 0x6204: Actual value.................................................................... 77
6.3.9.6 Object 0x4032: Transducer port.............................................................. 77
6.3.9.7 Object 0x3271: Drive transducer structure.............................................. 78
6.3.10 Pressure actual value scaling....................................................................................... 78
6.3.10.1 Object 0x6220: Minimum pressure.......................................................... 78
6.3.10.2 Object 0x6221: Maximum pressure......................................................... 79
6.3.10.3 Object 0x6224: Minimum transducer signal ............................................ 79
6.3.10.4 Object 0x6225: Maximum transducer signal ........................................... 79
6.3.10.5 Object 0x6222: Pressure area................................................................. 79
6.3.10.6 Object 0x6223: Pressure offset ............................................................... 79
6.3.11 Position digital encoder actual value scaling................................................................ 80
6.3.11.1 Object 0x6240: Position resolution.......................................................... 80
6.3.11.2 Object 0x6241: Position offset................................................................. 80
6.3.12 Position analog encoder actual value scaling .............................................................. 81
6.3.12.1 Object 0x6233: Minimum reference ........................................................ 81
6.3.12.2 Object 0x6234: Maximum reference ....................................................... 81
6.3.12.3 Object 0x6230: Minimum interface.......................................................... 82
6.3.12.4 Object 0x6231: Maximum interface......................................................... 82
6.3.13 General input scaling.................................................................................................... 82
6.3.13.1 Object 0x6228: General input minimum .................................................. 83
6.3.13.2 Object 0x6229: General input maximum ................................................. 83
6.3.13.3 Object 0x622C: General input signal minimum ....................................... 83
6.3.13.4 Object 0x622D: General input signal maximum ...................................... 83
6.3.13.5 Object 0x622B: General input offset ....................................................... 83

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6.3.14 Parameterization examples.......................................................................................... 83
6.3.14.1 Get active transducer interface number and output value....................... 84
6.3.14.2 Example 1: Enable/disable transducer interface ..................................... 84
6.3.14.3 Example 2: Change sign of the transducer signal................................... 84
6.3.14.4 Example 3: Adjust transducer interface without scaling .......................... 84
6.3.14.5 Example 4: Adjust transducer interface with scaling ............................... 85
6.4 Analog inputs............................................................................................................................. 86
6.4.1 Analog input 0 .............................................................................................................. 87
6.4.1.1 Object 0x3200: Input type ....................................................................... 87
6.4.1.2 Object 0x3204: Actual value.................................................................... 87
6.4.2 Analog input 1 .............................................................................................................. 87
6.4.2.1 Object 0x3208: Input type ....................................................................... 87
6.4.2.2 Object 0x320C: Actual value ................................................................... 88
6.4.3 Analog input 2 .............................................................................................................. 88
6.4.3.1 Object 0x3210: Input type ....................................................................... 88
6.4.3.2 Object 0x3214: Actual value.................................................................... 88
6.4.4 Analog input 3 .............................................................................................................. 89
6.4.4.1 Object 0x3218: Input type ....................................................................... 89
6.4.4.2 Object 0x321C: Actual value ................................................................... 89
6.4.5 Analog input 4 .............................................................................................................. 89
6.4.5.1 Object 0x3220: Input type ....................................................................... 89
6.4.5.2 Object 0x3224: Actual value.................................................................... 89
6.4.6 Internal pressure transducer input................................................................................ 89
6.4.6.1 Object 0x3404: Actual value.................................................................... 90
6.5 Analog outputs .......................................................................................................................... 91
6.5.1 Analog output 0 ............................................................................................................92
6.5.1.1 Object 0x3244: Scaling ........................................................................... 92
6.5.1.2 Object 0x3245: Actual value.................................................................... 92
6.5.1.3 Object 0x3240: Mapping parameter ........................................................ 92
6.5.1.4 Object 0x3243: Type ............................................................................... 93
6.5.2 Analog output 1 ............................................................................................................93
6.5.2.1 Object 0x3265: Scaling ........................................................................... 93
6.5.2.2 Object 0x3266: Actual value.................................................................... 93
6.5.2.3 Object 0x3260: Mapping parameter ........................................................ 94
6.5.2.4 Object 0x3263: Type ............................................................................... 94
6.6 Encoder input ............................................................................................................................ 95
6.6.1 Object 0x5613: Encoder value ..................................................................................... 95
6.6.2 Object 0x5621: Encoder set value ............................................................................... 95
6.6.3 Object 0x5619: Sensor supply enable.......................................................................... 96
6.6.4 Incremental Encoder .................................................................................................... 96
6.6.4.1 Object 0x5614: Referencing velocity....................................................... 96
6.6.4.2 Object 0x561A: Referencing force .......................................................... 97
6.6.4.3 Object 0x561B: Referencing stop............................................................ 97
6.6.4.4 Object 0x5617: Z pulse trigger ................................................................ 97
6.6.4.5 Object 0x5611: Z pulse detected............................................................. 97
6.6.4.6 Object 0x5618: Z pulse clear................................................................... 97
6.6.4.7 Object 0x5610: Z pulse enable................................................................ 98
6.6.4.8 Object 0x5612: Z pulse set...................................................................... 98
6.6.5 SSI encoder.................................................................................................................. 98
6.6.5.1 Object 0x5620: Master slave................................................................... 98
6.6.5.2 Object 0x6243: Bit size............................................................................ 98
6.6.5.3 Object 0x561F: Bit rate............................................................................ 99
6.6.5.4 Object 0x3252: SSI Error Count.............................................................. 99
6.7 Digital inputs.............................................................................................................................. 99
6.7.1 Digital input 0 (enable signal) ..................................................................................... 100

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6.8 Digital outputs ......................................................................................................................... 100
6.8.1 Object 0x5E42: Digital output setpoint ....................................................................... 100
6.8.2 Object 0x5E41: Digital output configuration ............................................................... 101
6.8.2.1 Object 0x2420: Digital output 1 type ..................................................... 101
6.8.3 Object 0x5E44: Digital output value ........................................................................... 102
6.9 Local CAN ................................................................................................................................ 102
6.9.1 Local CAN general configuration................................................................................ 103
6.9.1.1 Object 0x5B00: Module identifier .......................................................... 103
6.9.1.2 Object 0x5B01: Bit rate ......................................................................... 103
6.9.1.3 Object 0x5B02: Start remote node ........................................................ 104
6.9.1.4 Object 0x5B03: TxPDO trigger.............................................................. 104
6.9.1.5 Object 0x5B14: Termination resistor ..................................................... 104
6.9.2 Local CAN process data object (PDO)....................................................................... 105
6.9.3 Receive process data object (RxPDO) configuration ................................................. 106
6.9.3.1 Object 0x5400: 1st RxPDO configuration.............................................. 107
6.9.3.2 Object 0x5401: 2nd RxPDO configuration ............................................ 107
6.9.3.3 Object 0x5402: 3rd RxPDO configuration ............................................. 108
6.9.3.4 Object 0x5403: 4th RxPDO configuration ............................................. 108
6.9.3.5 Receive process data object (RxPDO) mapping ................................... 109
6.9.3.6 Object 0x5600: 1st RxPDO mapping .................................................... 110
6.9.3.7 Object 0x5601: 2nd RxPDO mapping ................................................... 111
6.9.3.8 Object 0x5602: 3rd RxPDO mapping .................................................... 111
6.9.3.9 Object 0x5603: 4th RxPDO mapping .................................................... 112
6.9.4 Transmit process data object (TxPDO) configuration ................................................ 112
6.9.4.1 Object 0x5800: 1st TxPDO configuration .............................................. 113
6.9.4.2 Object 0x5801: 2nd TxPDO configuration............................................. 114
6.9.4.3 Object 0x5802: 3rd TxPDO configuration.............................................. 114
6.9.4.4 Object 0x5803: 4th TxPDO configuration.............................................. 114
6.9.4.5 Transmit process data object (TxPDO) mapping .................................. 115
6.9.4.6 Object 0x5A00: 1st TxPDO mapping .................................................... 116
6.9.4.7 Object 0x5A01: 2nd TxPDO mapping ................................................... 117
6.9.4.8 Object 0x5A02: 3rd TxPDO mapping .................................................... 117
6.9.4.9 Object 0x5A03: 4th TxPDO mapping .................................................... 118
6.9.5 Local CAN service data object (SDO) ........................................................................ 118
6.9.6 Local CAN service data object (SDO) gateway.......................................................... 119
6.9.6.1 Object 0x5B10: Remote parameter....................................................... 120
6.9.6.2 Object 0x5B11: Remote parameter address ......................................... 120
6.9.6.3 Object 0x5B12: Remote node identifier................................................. 121
6.9.6.4 Object 0x5B13: Remote transmission ................................................... 121
6.9.7 Local CAN Synchronization (SYNC) producer protocol emulation............................. 121
6.10 Free to use parameters ........................................................................................................... 122
6.10.1 Object 0x0002: Signed one byte integer .................................................................... 122
6.10.2 Object 0x0003: Signed two byte integer..................................................................... 122
6.10.3 Object 0x0004: Signed four byte integer .................................................................... 122
6.10.4 Object 0x0005: Unsigned one byte integer ................................................................ 122
6.10.5 Object 0x0006: Unsigned two byte integer................................................................. 122
6.10.6 Object 0x0007: Unsigned four byte integer ................................................................ 123
6.10.7 Object 0x0008: Float32 .............................................................................................. 123
6.10.8 Object 0x0009: Visible string...................................................................................... 123
6.10.9 Object 0x290B: Signed one byte integer array........................................................... 123
6.10.10 Object 0x290C: Signed two byte integer array........................................................... 123
6.10.11 Object 0x290D: Signed four byte integer array .......................................................... 124
6.10.12 Object 0x290E: Unsigned one byte integer array....................................................... 124
6.10.13 Object 0x290F: Unsigned two byte integer array ....................................................... 124
6.10.14 Object 0x2910: Unsigned four byte integer array....................................................... 125

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7 Servo valve functions ...........................................................................126
7.1 Control modes ......................................................................................................................... 127
7.1.1 Object 0x6043: Control mode..................................................................................... 128
7.1.2 Object 0x4043: Control mode default......................................................................... 128
7.1.3 Spool position control open loop for single stage valves............................................ 129
7.1.4 Spool position control open loop for dual stage valves .............................................. 129
7.1.5 Spool position control closed loop for single stage and dual stage valves................. 130
7.1.6 Pressure control open loop ........................................................................................ 130
7.1.7 Pressure control closed loop ...................................................................................... 130
7.1.8 p/Q control closed loop............................................................................................... 131
7.1.9 Axis position control ................................................................................................... 132
7.1.10 Axis velocity control.................................................................................................... 133
7.1.11 Flow control ................................................................................................................ 134
7.1.12 p/flow control .............................................................................................................. 135
7.1.13 Sample frequency ...................................................................................................... 135
7.1.13.1 Object 0x3030: Basic sample frequency ............................................... 136
7.2 Spool position setpoint conditioning / demand value generator ....................................... 136
7.2.1 Object 0x6310: Demand value ................................................................................... 136
7.2.2 Object 0x6311: Reference value ................................................................................ 137
7.2.3 Limit function .............................................................................................................. 137
7.2.3.1 Object 0x6320: Upper Limit................................................................... 138
7.2.3.2 Object 0x6321: Lower Limit................................................................... 138
7.2.4 Scaling........................................................................................................................ 138
7.2.4.1 Object 0x6322: Factor ........................................................................... 139
7.2.4.2 Object 0x6323: Offset............................................................................ 139
7.2.5 Ramp.......................................................................................................................... 140
7.2.5.1 Object 0x6330: Type ............................................................................. 140
7.2.5.2 One-quadrant ramp (ramp type 1)......................................................... 141
7.2.5.2.1 Object 0x6331: Acceleration time..................................... 141
7.2.5.3 Two-quadrant ramp (ramp type 2)......................................................... 142
7.2.5.3.1 Object 0x6331: Acceleration time..................................... 142
7.2.5.3.2 Object 0x6334: Deceleration time .................................... 142
7.2.5.4 Four-quadrant ramp (ramp type 3) ........................................................ 143
7.2.5.4.1 Object 0x6332: Acceleration time positive........................ 143
7.2.5.4.2 Object 0x6333: Acceleration time negative ...................... 144
7.2.5.4.3 Object 0x6335: Deceleration time positive ....................... 144
7.2.5.4.4 Object 0x6336: Deceleration time negative...................... 144
7.2.6 Directional dependent gain......................................................................................... 145
7.2.6.1 Object 0x6340: Type ............................................................................. 146
7.2.6.2 Object 0x6341: Factor ........................................................................... 146
7.2.7 Characteristic compensation ...................................................................................... 147
7.2.7.1 Object 0x6346: Type ............................................................................. 147
7.2.7.2 Look-up table......................................................................................... 148
7.2.7.2.1 Object 0x4347: Look-up table .......................................... 148
7.2.7.2.2 Object 0x4348: Look-up table .......................................... 148
7.2.7.2.3 Object 0x4349: Look-up table .......................................... 148
7.2.7.2.4 Object 0x434A: Look-up table .......................................... 149
7.2.8 Dead band compensation .......................................................................................... 149
7.2.8.1 Object 0x6342: Type ............................................................................. 150
7.2.8.2 Object 0x6343: A side ........................................................................... 150
7.2.8.3 Object 0x6344: B side ........................................................................... 150
7.2.8.4 Object 0x6345: Threshold ..................................................................... 151
7.2.8.5 Jump function (dead band compensation type 1) ................................. 151
7.2.8.6 Continuous function (dead band compensation type 2) ........................ 151
7.2.9 Zero correction ........................................................................................................... 152
7.2.9.1 Object 0x6324: Offset............................................................................ 153

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 viii
7.3 Spool position controller ........................................................................................................ 153
7.3.1 Single stage servo valve ............................................................................................ 153
7.3.2 Dual stage servo valve for open loop control ............................................................. 154
7.3.3 Dual stage servo valve for closed loop control........................................................... 154
7.3.4 Spool position / pilot spool position actual value path ................................................ 155
7.3.4.1 Object 0x6301: Actual value.................................................................. 155
7.3.4.2 Object 0x3301: Actual value pilot .......................................................... 155
7.3.4.3 Object 0x3506: Customer Scaling Offset .............................................. 155
7.3.5 Spool position / pilot spool position controller ............................................................ 155
7.3.5.1 Object 0x6350: Control deviation .......................................................... 156
7.3.5.2 Object 0x3302: Pilot Control deviation .................................................. 156
7.3.5.3 Object 0x2416: Integrator Test Value.................................................... 156
7.3.5.4 Object 0x241F: Customer Overall Gain ................................................ 156
7.3.6 Main stage spool position actual value path............................................................... 156
7.3.6.1 Object 0x3237#1…3: Customer scaling external LVDT........................ 157
7.3.6.2 Object 0x3235: External LVDT Actual Value......................................... 157
7.3.7 Main stage transducer selection................................................................................. 157
7.3.7.1 Object 0x2149: Active transducer interface main stage ........................ 157
7.3.8 Main stage spool position controller ........................................................................... 157
7.3.8.1 Object 0x215C: Main stage customer overall gain................................ 157
7.3.8.2 0x2170: Main stage controller proportional part output ......................... 158
7.3.8.3 0x2171: Main stage controller integral part output ................................ 158
7.3.8.4 0x2172: Main stage controller differential part output ........................... 158
7.3.8.5 Object 0x2158: Controller output........................................................... 158
7.4 Pressure setpoint conditioning / demand value generator ................................................. 158
7.4.1 Object 0x6390: Demand value ................................................................................... 159
7.4.2 Object 0x6391: Reference value ................................................................................ 159
7.4.3 Limit function .............................................................................................................. 160
7.4.3.1 Object 0x63A0: Upper Limit .................................................................. 160
7.4.3.2 Object 0x63A1: Lower Limit .................................................................. 160
7.4.4 Scaling........................................................................................................................ 161
7.4.4.1 Object 0x63A2: Factor........................................................................... 161
7.4.4.2 Object 0x63A3: Offset ........................................................................... 162
7.4.5 Ramp.......................................................................................................................... 162
7.4.5.1 Object 0x63B0: Type............................................................................. 163
7.4.5.2 One-quadrant ramp (ramp type 1)......................................................... 163
7.4.5.2.1 Object 0x63B1: Acceleration time .................................... 164
7.4.5.3 Two-quadrant ramp (ramp type 2)......................................................... 164
7.4.5.3.1 Object 0x63B1: Acceleration time .................................... 164
7.4.5.3.2 Object 0x63B4: Deceleration time .................................... 165
7.4.5.4 Four-quadrant ramp (ramp type 3) ........................................................ 165
7.4.5.4.1 Object 0x63B2: Acceleration time positive ....................... 166
7.4.5.4.2 Object 0x63B3: Acceleration time negative...................... 166
7.4.5.4.3 Object 0x63B5: Deceleration time positive....................... 166
7.4.5.4.4 Object 0x63B6: Deceleration time negative ..................... 167
7.4.6 Pressure demand signal sign ..................................................................................... 167
7.4.6.1 Object 0x586D: Pressure demand sign mode....................................... 167

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 ix
7.5 Pressure controller.................................................................................................................. 168
7.5.1 Object 0x6381: Actual value....................................................................................... 168
7.5.2 Object 0x63D0: Control deviation............................................................................... 169
7.5.3 Object 0x2311: Kp T1 output...................................................................................... 169
7.5.4 Object 0x2310: Ki output ............................................................................................ 169
7.5.5 Object 0x2312: Kd output........................................................................................... 169
7.5.6 Object 0x5862: Kd feedback output ........................................................................... 169
7.5.7 Object 0x2418: Controller output................................................................................ 170
7.5.8 Active parameter set number ..................................................................................... 170
7.5.8.1 Object 0x2350: Active parameter set number ....................................... 171
7.5.9 Demand pressure ramp function ................................................................................ 171
7.5.9.1 Object 0x2303[N]: Ramp slope ............................................................. 172
7.5.10 Pressure transducer selection.................................................................................... 172
7.5.10.1 Object 0x230D[N]: Active transducer interface area A.......................... 173
7.5.10.2 Object 0x230F[N]: Active transducer interface area B .......................... 173
7.5.10.3 Object 0x585F[N]: Cylinder piston diameter.......................................... 173
7.5.10.4 Object 0x585D: Cylinder rod diameter A............................................... 173
7.5.10.5 Object 0x585E: Cylinder rod diameter B ............................................... 174
7.5.11 Actual value filter ........................................................................................................ 174
7.5.11.1 Object 0x23F2: Actual pressure filter cutoff frequency.......................... 174
7.5.11.2 Object 0x23F3: Actual pressure filter order........................................... 174
7.5.12 Proportional first order lag element (PT1) .................................................................. 175
7.5.12.1 Object 0x2304[N]: Proportional Gain..................................................... 175
7.5.12.2 Object 0x230E[N]: Proportional gain time constant............................... 175
7.5.13 Integrator element (I).................................................................................................. 175
7.5.13.1 Object 0x2305[N]: Integrator gain ......................................................... 176
7.5.13.2 Object 0x2306[N]: Integrator factor ....................................................... 176
7.5.13.3 Object 0x2307[N]: Integrator control range ........................................... 176
7.5.13.4 Object 0x231D: Integrator gain status................................................... 176
7.5.13.5 Object 0x5857[N]: Integrator gain switch threshold............................... 177
7.5.13.6 Object 0x231A[N]: Integrator upper output limit .................................... 177
7.5.13.7 Object 0x231B[N]: Integrator lower output limit..................................... 177
7.5.13.8 Object 0x5861[N]: Integrator proportional part P gain........................... 177
7.5.14 Integrator preload value ............................................................................................. 178
7.5.14.1 Object 0x586B: Integrator preload mode .............................................. 178
7.5.14.2 Object 0x5869: Integrator preload gain ................................................. 179
7.5.14.3 Object 0x586A: Integrator preload parameter ....................................... 179
7.5.14.4 Object 0x5860: Integrator preload values ............................................. 179
7.5.15 Derivative element (PD) ............................................................................................. 180
7.5.15.1 Object 0x2308[N]: Differentiator gain .................................................... 180
7.5.15.2 Object 0x2309[N]: Differentiator T1....................................................... 180
7.5.15.3 Object 0x2324[N]: Spool Position Feed Forward Gain.......................... 180
7.5.16 Feedback derivative element (PD) ............................................................................. 181
7.5.16.1 Object 0x5863[N]: Differentiator gain 2 ................................................. 181
7.5.16.2 Object 0x5864[N]: Differentiator T1 2.................................................... 181
7.5.16.3 Object 0x5858N]: Spool Position Feed Forward Gain_2....................... 181
7.5.17 Alpha correction ......................................................................................................... 182
7.5.18 Signal limitation 1 .......................................................................................................182
7.5.18.1 Object 0x230A[N]: Upper output limit .................................................... 182
7.5.18.2 Object 0x230B[N]: Lower output limit .................................................... 183
7.5.19 Feed forward ..............................................................................................................183
7.5.19.1 Object 0x5867[N]: Feed forward gain.................................................... 183
7.5.19.2 Object 0x5870[N]: Feed forward offset.................................................. 183
7.5.19.3 Object 0x5868[N]: Feed forward parameter .......................................... 184
7.5.20 Signal limitation 2 .......................................................................................................184
7.5.20.1 Object 0x5865[N]: Upper controller output limit..................................... 184
7.5.20.2 Object 0x5866[N]: Lower controller output limit..................................... 185
7.5.21 Automatic parameterization of the pressure controller............................................... 186

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 x
7.5.21.1 Object 0x230C[N]: Hydraulic capacity................................................... 187
7.5.21.2 Object 0x231C: Sys Pressure Reference.............................................. 187
7.6 Spool position (Q) / pressure (P) switchover........................................................................ 187
7.6.1 Object 0x586C[N]: pQ switching mode ...................................................................... 188
7.6.1.1 Object 0x3300: Demand value pilot ...................................................... 188
7.6.2 Minimum criterion in positive direction (switching mode 0) ........................................ 188
7.6.3 Minimum criterion in both directions (switching mode 1)............................................ 189
7.6.4 Force exceeded in both directions (switching mode 2) .............................................. 190
7.7 Axis position setpoint conditioning / demand value generator .......................................... 191
7.7.1 Object 0x6610: Position demand value...................................................................... 191
7.7.2 Object 0x561E: Velocity demand value...................................................................... 191
7.7.3 Object 0x5616: Acceleration demand value............................................................... 192
7.7.4 Axis position trajectory generator ............................................................................... 193
7.7.4.1 Object 0x5700: Trajectory type ............................................................. 194
7.7.4.2 Object 0x5703: Maximum velocity......................................................... 194
7.7.4.3 Object 0x5702: Maximum acceleration ................................................. 194
7.7.5 Axis position demand value filter................................................................................ 194
7.7.5.1 Object 0x582A: Demand value filter time constant ............................... 194
7.7.6 Axis position manual movement................................................................................. 195
7.7.6.1 Object 0x5614: Manual maximum speed .............................................. 195
7.8 Axis position controller .......................................................................................................... 195
7.8.1 Object 0x6601: Actual value....................................................................................... 196
7.8.2 Object 0x582B: Demand filter output ......................................................................... 196
7.8.3 Object 0x6650: Control deviation ............................................................................... 196
7.8.4 Object 0x552A: Kp output .......................................................................................... 196
7.8.5 Object 0x552A: Kp T1 output ..................................................................................... 196
7.8.6 Object 0x552C: Ki output ........................................................................................... 197
7.8.7 Object 0x552B: Kd output .......................................................................................... 197
7.8.8 Object 0x552E: Velocity feedforward output .............................................................. 197
7.8.9 Object 0x552F: Acceleration feedforward output ....................................................... 197
7.8.10 Object 0x5530: Velocity feedback output ................................................................... 197
7.8.11 Object 0x5531: Acceleration feedback output............................................................ 198
7.8.12 Object 0x550F: Controller output ............................................................................... 198
7.8.13 Sample frequency ...................................................................................................... 198
7.8.13.1 Object 0x553F: Sample frequency divider ............................................ 198
7.8.14 Axis position transducer selection .............................................................................. 199
7.8.14.1 Object 0x6602: Actual value reference ................................................. 199
7.8.15 Axis position synchronisation ..................................................................................... 200
7.8.15.1 Object 0x5829: Synchronisation gain.................................................... 200
7.8.15.2 Object 0x5830: Number of axis to synchronize..................................... 200
7.8.16 Proportional element with first order lag element ....................................................... 200
7.8.16.1 Object 0x5501: Proportional gain .......................................................... 201
7.8.16.2 Object 0x5508: Time constant............................................................... 201
7.8.17 Integral element..........................................................................................................201
7.8.17.1 Object 0x5504: Integral gain ................................................................. 201
7.8.17.2 Object 0x5511: Integral inner range ...................................................... 202
7.8.17.3 Object 0x5505: Integral outer range...................................................... 202
7.8.17.4 Object 0x5513: Integral limit.................................................................. 202

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xi
7.8.18 Derivative element...................................................................................................... 202
7.8.18.1 Object 0x5502: Differentiator gain......................................................... 202
7.8.18.2 Object 0x5503: Differentiator T1 ........................................................... 203
7.8.19 Axis velocity feed forward proportional element......................................................... 203
7.8.19.1 Object 0x5506: Velocity feed forward proportional gain........................ 203
7.8.20 Axis acceleration feed forward proportional element ................................................. 203
7.8.20.1 Object 0x5507: Acceleration feed forward proportional gain................. 204
7.8.21 State feedback axis velocity and acceleration derivative elements............................ 204
7.8.21.1 Object 0x550C: Actual value filter time constant................................... 204
7.8.21.2 Object 0x550B: State feedback axis velocity proportional gain............. 204
7.8.21.3 Object 0x550A: State feedback axis acceleration proportional gain ..... 205
7.8.22 Directional depending gain......................................................................................... 205
7.8.22.1 Object 0x550D: Directional depending positive proportional gain......... 205
7.8.22.2 Object 0x550E: Directional depending negative proportional gain........ 205
7.8.23 Signal limitation .......................................................................................................... 206
7.9 Axis velocity setpoint conditioning / demand value generator .......................................... 206
7.9.1 Object 0x5615: Demand value ................................................................................... 206
7.9.2 Limit function .............................................................................................................. 207
7.9.2.1 Object 0x6521: Upper limit .................................................................... 207
7.9.2.2 Object 0x6520: Lower limit .................................................................... 207
7.9.3 Ramp.......................................................................................................................... 208
7.9.3.1 Object 0x5553: Velocity demand ramp ................................................. 208
7.10 Axis velocity controller ........................................................................................................... 209
7.10.1 Axis velocity demand value filter ................................................................................ 209
7.10.1.1 Object 0x5533: Demand value filter time constant................................ 209
7.10.1.2 Object 0x553B: Demand value filter output........................................... 209
7.10.2 Axis velocity actual value ........................................................................................... 210
7.10.2.1 Object 0x5542: Actual value reference ................................................. 210
7.10.2.2 Object 0x5548: Actual value filter time constant ................................... 210
7.10.2.3 Object 0x5552: Actual value filter output............................................... 210
7.10.2.4 Object 0x5550: Actual derivative length ................................................ 211
7.10.2.5 Object 0x5545: Actual value path mode................................................ 211
7.10.2.6 Object 0x5544: Actual value proportional gain...................................... 211
7.10.2.7 Object 0x6501: Axis velocity actual value ............................................. 212
7.10.3 Axis velocity feed forward proportional element......................................................... 212
7.10.3.1 Object 0x5547: Velocity feed forward proportional gain........................ 212
7.10.3.2 Object 0x5546: Velocity feed forward output......................................... 212
7.10.3.3 Object 0x6550: Control deviation .......................................................... 212
7.10.4 Proportional element .................................................................................................. 213
7.10.4.1 Object 0x5514: Proportional gain .......................................................... 213
7.10.4.2 Object 0x5537: Kp output...................................................................... 213
7.10.5 Integral element..........................................................................................................213
7.10.5.1 Object 0x5522: Integral gain ................................................................. 214
7.10.5.2 Object 0x5517: Integral inner range ...................................................... 214
7.10.5.3 Object 0x5516: Integral outer range...................................................... 214
7.10.5.4 Object 0x5518: Integral limit.................................................................. 214
7.10.5.5 Object 0x553C: Ki output ...................................................................... 215

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xii
7.10.6 Acceleration feedback ................................................................................................ 215
7.10.6.1 Feedback axis velocity value filter......................................................... 215
7.10.6.2 Object 0x5549: Velocity feedback filter output ...................................... 215
7.10.6.3 Feedback axis velocity derivative element ............................................ 215
7.10.6.4 Object 0x5329: Feedback axis velocity derivative gain......................... 216
7.10.6.5 Object 0x5539: Acceleration feedback output ....................................... 216
7.10.7 Directional depending gain......................................................................................... 216
7.10.7.1 Object 0x5534: Directional depending positive proportional gain ......... 216
7.10.7.2 Object 0x5535: Directional depending negative proportional gain ........ 216
7.10.8 Signal limitation .......................................................................................................... 217
7.10.8.1 Object 0x5519: Controller output........................................................... 217
7.10.9 Sample frequency ...................................................................................................... 217
7.10.9.1 Object 0x5540: Sample frequency divider............................................. 217
7.11 Flow setpoint conditioning / demand value generator ........................................................ 217
7.12 Flow control ............................................................................................................................. 218
7.12.1 Object 0x5213: Deviation value.................................................................................. 218
7.12.2 Object 0x5200: Bernoulli output ................................................................................. 218
7.12.3 Object 0x520F: Controller output ............................................................................... 218
7.12.4 Sample frequency ...................................................................................................... 219
7.12.5 Flow control mode ...................................................................................................... 219
7.12.5.1 Object 0x5205: Flow control mode........................................................ 220
7.12.6 Flow transducer selection........................................................................................... 221
7.12.6.1 Object 0x2330: Active transducer interface system .............................. 222
7.12.6.2 Object 0x5217: Active transducer interface tank................................... 222
7.12.7 Alpha correction ......................................................................................................... 222
7.12.7.1 Object 0x5219: Flow alpha.................................................................... 222
7.12.7.2 Object 0x5210: Actual value filter time constant ................................... 223
7.12.8 Flow demand value scaling........................................................................................ 223
7.12.8.1 Object 0x521B: Demand value scaling ................................................. 223
7.12.9 Flow actual value selection ........................................................................................ 223
7.12.9.1 Object 0x5223: Actual value.................................................................. 223
7.12.9.2 Object 0x5220: Actual value high pass filter frequency......................... 224
7.12.9.3 Object 0x5221: Actual value proportional gain...................................... 224
7.12.9.4 Object 0x5222: Actual value parameter ................................................ 224
7.12.10 Feedback axis velocity proportional element ............................................................. 225
7.12.10.1 Object 0x5224: Feedback axis velocity proportional gain ..................... 225
7.12.11 Bernoulli compensation .............................................................................................. 225
7.12.11.1 Object 0x5215: Nominal flow A side...................................................... 226
7.12.11.2 Object 0x5216: Nominal flow B side...................................................... 226
7.12.11.3 Object 0x521A: Flow beta ..................................................................... 226
7.12.11.4 Object 0x5203: Nominal supply pressure.............................................. 226
7.12.11.5 Object 0x521D: Nominal sensor pressure............................................. 226
7.12.11.6 Object 0x521F: Maximal flow A side ..................................................... 227
7.12.11.7 Object 0x521E: Nominal pressure A side.............................................. 227
7.13 Flow / pressure (P) switchover............................................................................................... 228
7.13.1 Object 0x520E: Flow valve direction .......................................................................... 228
7.13.2 Continuous signal switching ....................................................................................... 229
7.13.2.1 Object 0x5204: Switching time constant ............................................... 229
7.14 Axis status ............................................................................................................................... 230
7.14.1 Object 0x561D: Axis status word ............................................................................... 230
7.14.2 Object 0x561C: Axis status and device status word .................................................. 231
7.14.3 Object 0x570C: Axis position deviation window ......................................................... 231
7.14.4 Object 0x570D: Axis velocity actual value window..................................................... 231
7.14.5 Object 0x570E: Axis velocity deviation window.......................................................... 232
7.14.6 Object 0x5710: Pressure deviation window ............................................................... 232
7.14.7 Object 0x5711: Pressure actual value limit ................................................................ 232

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xiii
7.15 Monitoring ................................................................................................................................ 232
7.15.1 Spool position control deviation monitoring................................................................ 233
7.15.1.1 Object 0x6351: Type ............................................................................. 233
7.15.1.2 Object 0x6352: Delay time .................................................................... 234
7.15.1.3 Object 0x6354: Upper threshold............................................................ 234
7.15.1.4 Object 0x6355: Lower threshold............................................................ 234
7.15.2 Pressure control deviation monitoring ........................................................................ 235
7.15.2.1 Object 0x63D1: Type............................................................................. 235
7.15.2.2 Object 0x63D2: Delay time.................................................................... 236
7.15.2.3 Object 0x63D4: Upper threshold ........................................................... 236
7.15.2.4 Object 0x63D5: Lower threshold ........................................................... 236
7.15.3 Axis position control deviation monitoring .................................................................. 237
7.15.3.1 Object 0x6651: Type ............................................................................. 237
7.15.3.2 Object 0x6652: Delay time .................................................................... 238
7.15.3.3 Object 0x6654: Upper threshold............................................................ 238
7.15.3.4 Object 0x6655: Lower threshold............................................................ 238
7.15.4 Axis velocity control deviation monitoring................................................................... 239
7.15.4.1 Object 0x6551: Type ............................................................................. 239
7.15.4.2 Object 0x6552: Delay time .................................................................... 240
7.15.4.3 Object 0x6554: Upper threshold............................................................ 240
7.15.4.4 Object 0x6555: Lower threshold............................................................ 240
7.15.5 Failsafe monitoring ..................................................................................................... 241
7.15.5.1 Object 0x2421: Upper limit .................................................................... 242
7.15.5.2 Object 0x2422: Lower limit .................................................................... 242
7.15.5.3 Object 0x3307: Spring Position Minimum ............................................. 242
7.15.5.4 Object 0x3308: Spring Position Maximum ............................................ 242
7.15.6 Pilot/single stage actual spool position monitoring..................................................... 242
7.15.7 Main/dual stage actual spool position monitoring....................................................... 243
7.15.8 Analog input cable break monitoring .......................................................................... 243
7.15.8.1 Object 0x3217: Cable break monitoring analog input 2 ........................ 244
7.15.8.2 Object 0x3228: Cable break monitoring analog input 3 ........................ 244
7.15.8.3 Object 0x3227: Cable break monitoring analog input 4 ........................ 244
7.15.8.4 Object 0x3250: Lower current border .................................................... 245
7.15.8.5 Object 0x3251: Analog input monitoring time........................................ 245
7.15.9 Sensor power supply monitoring ................................................................................ 245
7.15.10 Hardware monitoring .................................................................................................. 246
7.15.10.1 Object 0x2803: CPU supply voltage...................................................... 246
7.15.10.2 Object 0x2804: Power supply voltage ................................................... 246
7.15.10.3 Object 0x2805: PCB temperature ......................................................... 247
7.15.10.4 Object 0x2809: Maximal PCB temperature ........................................... 247
7.15.10.5 Object 0x280D: Operating time ............................................................. 247
7.16 Event handler........................................................................................................................... 248
7.16.1 Event expressions ...................................................................................................... 248
7.16.1.1 Object 0x2901: Event expression 1....................................................... 250
7.16.1.2 Object 0x2902: Event expression 2....................................................... 250
7.16.1.3 Object 0x2903: Event expression 3....................................................... 250
7.16.1.4 Object 0x2904: Event expression 4....................................................... 250
7.16.1.5 Object 0x2905: Event expression 5....................................................... 250
7.16.1.6 Object 0x2906: Event expression 6....................................................... 250
7.16.1.7 Object 0x2907: Event expression 7....................................................... 251
7.16.1.8 Object 0x2908: Event expression 8....................................................... 251
7.16.1.9 Object 0x2909: Event enable ................................................................ 251
7.16.2 Event handler examples............................................................................................. 252

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xiv
7.17 Data logger............................................................................................................................... 252
7.17.1 Data logger state machine ......................................................................................... 253
7.17.1.1 Object 0x3180: Control.......................................................................... 254
7.17.1.2 Object 0x3181: Status ........................................................................... 254
7.17.2 Channel settings......................................................................................................... 254
7.17.2.1 Object 0x3185: Channel parameter ...................................................... 255
7.17.2.2 Object 0x3184: Enable channel ............................................................ 255
7.17.3 Sample frequency ...................................................................................................... 255
7.17.3.1 Object 0x3182: Divider .......................................................................... 256
7.17.4 Trigger settings........................................................................................................... 256
7.17.4.1 Object 0x3189: Trigger parameter ........................................................ 256
7.17.4.2 Object 0x3188: Trigger type .................................................................. 257
7.17.4.3 Object 0x318C: Trigger level or bitmask ............................................... 257
7.17.4.4 Object 0x318A: Trigger coupling ........................................................... 257
7.17.4.5 Object 0x318B: Trigger slope................................................................ 258
7.17.4.6 Object 0x318D: Trigger position ............................................................ 258
7.17.5 Data memory.............................................................................................................. 259
7.17.5.1 Object 0x3186: Memory ........................................................................ 260
7.17.5.2 Object 0x3187: Sample start offset ....................................................... 260
7.17.5.3 Object 0x3183: Number of samples ...................................................... 260
7.18 Function generator.................................................................................................................. 261
7.18.1 Function generator output signal shapes ................................................................... 261
7.18.1.1 Rectangular output signal (type 1) ........................................................ 261
7.18.1.2 Triangle output signal (type 2)............................................................... 261
7.18.1.3 Sawtooth signal (type 3)........................................................................ 262
7.18.1.4 Trapezoid signal (type 4)....................................................................... 262
7.18.1.5 Sine signal (type 5)................................................................................ 262
7.18.1.6 Object 0x3100: Type ............................................................................. 263
7.18.1.7 Object 0x3104: Magnitude .................................................................... 263
7.18.1.8 Object 0x3105: Offset............................................................................ 263
7.18.1.9 Object 0x3107: Sign .............................................................................. 263
7.18.2 Function generator output signal frequency ............................................................... 263
7.18.2.1 Object 0x3103: Frequency .................................................................... 264
7.18.2.2 Object 0x3108: Frequency prefix .......................................................... 264
7.18.3 Function generator output signals .............................................................................. 264
7.18.3.1 Object 0x3101: Output signal ................................................................ 264
7.18.3.2 Object 0x3102: Square output (Trigger signal) ..................................... 265

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xv
8 Diagnostics............................................................................................266
8.1 Fault reaction ........................................................................................................................... 266
8.1.1 Fault reaction flow chart ............................................................................................. 267
8.1.2 Possible fault codes ................................................................................................... 268
8.1.3 Fault reaction type...................................................................................................... 271
8.1.3.1 Object 0x2830: Fault reaction type........................................................ 271
8.1.4 Error codes depending on fault codes........................................................................ 272
8.1.5 Fault status................................................................................................................. 274
8.1.5.1 Object 0x2831: Fault status................................................................... 274
8.1.5.2 Object 0x2834: Fault retain status......................................................... 275
8.1.6 Error register .............................................................................................................. 275
8.1.6.1 Object 0x1001: Error register ................................................................ 275
8.1.7 Last eight fault codes and error codes ....................................................................... 276
8.1.7.1 Object 0x1003: Predefined error field.................................................... 276
8.1.8 Last eight error message descriptions ....................................................................... 277
8.1.8.1 Object 0x2832: Fault reaction description ............................................. 277
8.1.8.2 Object 0x2833: Fault history number .................................................... 277
8.1.9 Emergency message.................................................................................................. 277
8.1.10 Fault disappears......................................................................................................... 278
8.1.11 Fault acknowledgment ............................................................................................... 278
8.2 Internal errors .......................................................................................................................... 278
8.2.1 Object 0x2822: Internal error code............................................................................. 278
8.2.2 Object 0x2823: Internal error time.............................................................................. 279
8.3 Abort SDO Transfer Protocol ................................................................................................. 279
8.4 Troubleshooting ...................................................................................................................... 280
8.4.1 Fault code descriptions .............................................................................................. 280
8.4.1.1 Not implemented fault ........................................................................... 280
8.4.1.2 0x02: Error during startup...................................................................... 280
8.4.1.3 0x03: Error DSP program download ..................................................... 280
8.4.1.4 0x04: Error DSP realtime data transmission ......................................... 280
8.4.1.5 0x05: Power supply voltage too low ...................................................... 280
8.4.1.6 0x06: Power supply voltage too high..................................................... 281
8.4.1.7 0x07: Internal supply voltage too low .................................................... 281
8.4.1.8 0x08: Internal supply voltage too high................................................... 281
8.4.1.9 0x0D: Electronics temperature too low (< –20 °C) ................................ 281
8.4.1.10 0x0E: Electronics temperature too high (> 85 °C) ................................. 281
8.4.1.11 0x0F: Electronics temperature exceeded (> 105 °C) ............................ 282
8.4.1.12 0x11: Pilot/single stage LVDT cable break............................................ 282
8.4.1.13 0x14: Main stage LVDT cable break ..................................................... 282
8.4.1.14 0x1C: Analog input 2 supply cable break/short circuit........................... 282
8.4.1.15 0x1D: Analog input 3 supply cable break/short circuit........................... 283
8.4.1.16 0x1E: Analog input 4 supply cable break/short circuit........................... 283
8.4.1.17 0x1F…0x23: Analog input 0…4 current too low (4…20 mA) / ADC
overflow (voltage) .................................................................................. 283
8.4.1.18 0x29: Encoder channel a cable break ................................................... 283
8.4.1.19 0x2A: Encoder channel b cable break................................................... 284
8.4.1.20 0x2B: Encoder channel z cable break................................................... 284
8.4.1.21 0x2C: SSI error...................................................................................... 284
8.4.1.22 0x30: Internal nonvolatile memory initialization error ............................ 284
8.4.1.23 0x32: Software coding........................................................................... 285
8.4.1.24 0x33: Software reset (watchdog) occurred............................................ 285

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B99224-DV018-D-211, Rev. A, October 2018 xvi
8.4.1.25 0x34: Interrupt time exceeded............................................................... 285
8.4.1.26 0x35: Task time exceeded .................................................................... 286
8.4.1.27 0x36: Parameter initialization error........................................................ 286
8.4.1.28 0x37: Node identifier data memory corrupted ....................................... 286
8.4.1.29 0x38: User data memory corrupted....................................................... 286
8.4.1.30 0x3A: Factory data memory corrupted .................................................. 287
8.4.1.31 0x3C: Diagnosis data memory corrupted .............................................. 287
8.4.1.32 0x3D: Position control monitoring.......................................................... 287
8.4.1.33 0x3E: Velocity control monitoring .......................................................... 288
8.4.1.34 0x41: Pressure control monitoring......................................................... 288
8.4.1.35 0x42: Current control monitoring ........................................................... 288
8.4.1.36 0x43: Spool position control monitoring ................................................ 289
8.4.1.37 0x45: Event handler exception .............................................................. 289
8.4.1.38 0x4A…0x4D: Local CAN RPDO1…RPDO4 time out............................ 289
8.4.1.39 0x4E…0x51: Local CAN RPDO1…RPDO4 data .................................. 290
8.4.1.40 0x52…0x55: Local CAN TPDO1…4 time out........................................ 290
8.4.1.41 0x56…0x59: Local CAN TPDO1…4 data ............................................. 290
8.4.1.42 0x5B: CAN general fault........................................................................ 291
8.4.1.43 0x5E…0x61: CAN RPDO1…4 time out ................................................ 291
8.4.1.44 0x62…0x65: CAN RPDO1…4 data....................................................... 291
8.4.1.45 0x66…0x69: CAN TPDO1…4 time out ................................................. 291
8.4.1.46 0x6A…0x6D: CAN TPDO1…4 data ...................................................... 292
8.4.1.47 0x6E: CAN life guard error or heartbeat error ....................................... 292
8.4.1.48 0x6F: CAN SYNC producer time out..................................................... 292
8.4.1.49 0x70: CAN SYNC producer time out ..................................................... 293
8.4.1.50 0x71: EtherCAT communication fault.................................................... 293
8.4.1.51 0x72: EtherCAT RPDO time out............................................................ 293
8.4.1.52 0x73: EtherCAT RPDO data ................................................................. 293
8.4.1.53 0x74: EtherCAT TPDO time out ............................................................ 294
8.4.1.54 0x75: EtherCAT TPDO data.................................................................. 294
8.4.1.55 0x76: PROFIBUS general fault ............................................................. 294
8.4.1.56 0x77: I2C_general_fault ........................................................................ 294
9 Storing / restoring parameters.............................................................295
9.1 Storing parameters.................................................................................................................. 296
9.1.1 Object 0x1010: Store parameters .............................................................................. 296
9.2 Restoring parameters to factory settings ............................................................................. 297
9.2.1 Object 0x1011: Restore default parameters............................................................... 297
10 Object dictionary...................................................................................298

Moog ACV with CANopen bus interface List of tables
B99224-DV018-D-211, Rev. A, October 2018 xvii
List of tables
Table 1: Abbreviations................................................................................................................................ 6
Table 2: CANopen slave reference model.................................................................................................. 9
Table 3: Field bus independent attributes ................................................................................................ 11
Table 4: Unit representation ..................................................................................................................... 12
Table 5: Prefix representation .................................................................................................................. 12
Table 6: Structure of the CANopen object dictionary (OD)....................................................................... 12
Table 7: CANopen bit rates ...................................................................................................................... 13
Table 8: CANopen bit rates ...................................................................................................................... 15
Table 9: CANopen communication objects .............................................................................................. 16
Table 10: Possible values of parameter <CobIdSyncMessage> (0x1005)................................................. 17
Table 11: Possible values of parameter <CobIdEmergencyMessage> (0x1014) ...................................... 17
Table 12: Object 0x1400: 1st RxPDO configuration................................................................................... 19
Table 13: Possible values of parameter <RPdo1_CobIdUsedByPdo> (0x1400, sub-index 1)................... 19
Table 14: Possible values of parameter <RPdo1_TransmissionType> (0x1400, sub-index 2).................. 19
Table 15: Object 0x1600: 1st RxPDO mapping.......................................................................................... 22
Table 16: Value description of mapping parameter <RPdo1_ApplicPara1>…<RPdo1_ApplicPara8> ...... 22
Table 17: Object 0x1800: 1st TxPDO configuration ................................................................................... 25
Table 18: Possible values of parameter <TPdo1_CobIdUsedByPdo> (0x1800 sub-index 1) .................... 25
Table 19: Possible values of parameter <TPdo1_TransmissionType> (0x1400, sub-index 2) .................. 25
Table 20: Object 0x1600: 1st TxPDO mapping .......................................................................................... 28
Table 21: Possible values of parameter <TPdo1_ApplicPara1>…<TPdo1_ApplicPara8> ........................ 28
Table 22: Object 0x1200: SDO client/server parameter............................................................................. 32
Table 23: NMT state transitions.................................................................................................................. 34
Table 24: NMT states ................................................................................................................................. 34
Table 25: Possible values of parameter <DeviceType> (0x1000).............................................................. 39
Table 26: Possible values of parameter Identity object (0x1018)............................................................... 40
Table 27: Possible values of parameter <Capability> (0x605F)................................................................. 42
Table 28: Bit values of parameter <Capability> (0x605F) .......................................................................... 42
Table 29: Possible values of parameter <Local> (0x604F) ........................................................................ 43
Table 30: Possible values of parameter <ControlWord> (0x6040)............................................................. 44
Table 31: Possible values of parameter <StatusWord> (0x6041) .............................................................. 52
Table 32: Possible values of parameter <DeviceMode> (0x6042)............................................................. 58
Table 33: Possible values of parameter <SplSetpointParameter> (0x3320).............................................. 60
Table 34: Possible values of parameter <PrsSetpointParameter> (0x3310) ............................................. 62
Table 35: Possible values of parameter <PosSetpointParameter> (0x3300)............................................. 64
Table 36: Possible values of parameter <TrajectoryType> (0x5700 .......................................................... 66
Table 37: Possible values of parameter <HoldSetpointTarget> (0x585C) ................................................. 66

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B99224-DV018-D-211, Rev. A, October 2018 xviii
Table 38: Possible values of parameter <VelSetpointParameter> (0x5520).............................................. 68
Table 39: Possible values of parameter <FlwSetpointParameter> (0x5202) ............................................. 71
Table 40: Possible values of parameter <InterfaceNumber> (0x6201) ...................................................... 75
Table 41: Possible values of parameter <Type> (0x6202)......................................................................... 76
Table 42: Possible values of parameter <Sign> (0x6203).......................................................................... 76
Table 43: Possible values of parameter <TransducerPort> (0x4032) ........................................................ 77
Table 44: Possible values of parameter <AnaInpType0> (0x3200) ........................................................... 87
Table 45: Possible values of parameter <AnaInpType2> (0x3210) ........................................................... 88
Table 46: Possible values of parameter <AnaOutMappingParameter0> (0x3240) .................................... 92
Table 47: Possible values of parameter <AnaOutType0> (0x3243)........................................................... 93
Table 48: Possible values of parameter <AnaOutMappingParameter1> (0x3260) .................................... 94
Table 49: Possible values of parameter <AnaOutType0> (0x3263)........................................................... 94
Table 50: Possible values of parameter <SensorSupplyEnable> (0x5619) ............................................... 96
Table 51: Possible values of parameter <MasterSlave> (0x5620)............................................................. 98
Table 52: Possible values of parameter <BitRate> (0x561F)..................................................................... 99
Table 53: Possible values of parameter <DigitalOutputConfiguration> (0x5E41) .................................... 101
Table 54: Receive PDOs and corresponding COB-IDs............................................................................ 106
Table 55: Parameters of 1st RxPDO configuration object (0x5400)......................................................... 107
Table 56: Possible values of parameter <LocalRPdo1_CobIdUsedByPdo> (0x5400)............................. 107
Table 57: Possible values of parameter <LocalRPdo1_TransmissionType> (0x5400)............................ 107
Table 58: Parameters of 1st RxPDO mapping object (0x5600) ............................................................... 110
Table 59: Value description of mapping parameter <LocalRPdo1_ApplicPara1…8> .............................. 110
Table 60: Transmit PDOs and corresponding COB-IDs........................................................................... 112
Table 61: Parameters of 1st TxPDO configuration object (0x5800) ......................................................... 113
Table 62: Possible values of parameter <LocalTPdo1_CobIdUsedByPdo> (0x5800) ............................. 113
Table 63: Possible values of parameter <LocalTPdo1_TrasnmissionType> (0x5800) ............................ 113
Table 64: Parameters of 1st TxPDO mapping object (0x5A00) ............................................................... 116
Table 65: Possible values of parameter <LocalTPdo1_ApplicPara1…8>................................................ 116
Table 66: Possible values of parameter <LocalCANRemoteParameter> (0x5B10)................................. 120
Table 67: Possible values of parameter <LocalCANRemoteParameterAdress> (0x5B11)...................... 120
Table 68: Possible values of parameter <LocalCANRemoteTransmission> (0x5B13) ............................ 121
Table 69: Control mode values................................................................................................................. 127
Table 70: Possible values of parameter <ControlMode> (0x6043) .......................................................... 128
Table 71: Data structure of the slope factor ............................................................................................. 139
Table 72: Possible values of parameter <Type> (0x6330)....................................................................... 140
Table 73: Definition of the directional dependent gain factor values ........................................................ 145
Table 74: Possible values of parameter <DirectionalDependentGain_Type> (0x6340)........................... 146
Table 75: Data structure of the directional dependent gain factor............................................................ 146
Table 76: Possible values of parameter <CharacteristicCompensation_Type> (0x6346)........................ 147