Moog ACV with CANopen bus interface
7 Servo valve functions
Axis velocity controller
B99224-DV018-D-211, Rev. A, October 2018
216
7.10.6.4 Object 0x5329: Feedback axis velocity derivative gain
Gain for the acceleration feedback.
7.10.6.5 Object 0x5539: Acceleration feedback output
Output of the acceleration feedback to the controller.
7.10.7 Directional depending gain
To compensate a not symmetrical movement between moving in and out a directional depending gain is im-
plemented.
Figure 127: Directional depending gain
7.10.7.1 Object 0x5534: Directional depending positive proportional gain
This gain is used while the input signal is positive.
7.10.7.2 Object 0x5535: Directional depending negative proportional gain
This gain is used while the input signal is positive.
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x5329
1
ProportionalFeedBackGainKa
FLOAT32
rw
Y
FLOAT32
0.0
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x5539
1
AccFeedBackOutput
FLOAT32
ro
-
FLOAT32
None
#
C
on
tr
ol
le
rOut
put1
#
<ProportionalNegGain>
(0x5535)
<ProportionalPosGain>
(0x5534)
#C
on
tr
ol
le
rOu
tp
ut
2#
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x5534
1
ProportionalPosGain
FLOAT32
rw
Y
FLOAT32
1.0
DriveVelocityControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x5535
1
ProportionalNegGain
FLOAT32
rw
Y
FLOAT32
1.0
