Moog ACV with CANopen bus interface
7 Servo valve functions
Axis position controller
B99224-DV018-D-211, Rev. A, October 2018
205
7.8.21.3 Object 0x550A: State feedback axis acceleration proportional gain
The second derivation of the axis position value (or the derivation of the #VelFeedBack#) is the acceleration
feedback. To realize a state space controller, this second derivation multiplied with the
<ProportionalFeedBackGainKa> (0x550A) will be added to the other parts of the controller.
Figure 111: State feedback axis acceleration proportional gain
7.8.22 Directional depending gain
To compensate a not symmetrical movement between moving in and out a directional depending gain is im-
plemented.
Figure 112: Directional depending gain
7.8.22.1 Object 0x550D: Directional depending positive proportional gain
This gain is used while the input signal is positive.
7.8.22.2 Object 0x550E: Directional depending negative proportional gain
This gain is used while the input signal is negative.
#Vel
FeedBa
ck#
<ProportionalFeedBackGainKa>
(0x550A)
<AccFe
edBack
O
u
tput
>
(0
x5
531
)
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x550A
1
ProportionalFeedBackGainKa
FLOAT32
rw
Y
FLOAT32
0.0
#
C
on
tr
ol
le
rOut
put1
#
<ProportionalNegGain>
(0x550E)
<ProportionalPosGain>
(0x550D)
#C
on
tr
ol
le
rOu
tp
ut
2#
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x550D
1
ProportionalPosGain
FLOAT32
rw
Y
FLOAT32
1.0
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x550E
1
ProportionalNegGain
FLOAT32
rw
Y
FLOAT32
1.0
