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(RKP-D) and CAN bus interface

1. j o4u02uonisod9eA eA 6 0 05 6469 0 10001 000 0 c amp LNIN c amp LNIN 101084 soyesouaHanjepjpuewaqg JONUOJUONISOYGSAJEA 19jui p ds 69 0 SINI z SINI xUJ 1d IOlluoOuollIiSOd A PA udids z LGE9X0 8LNIN oDueij onjeA eoueisisJad Z 8LNIN d4A ejeg Hun 1041U0OUOH SOG A EA euieu JajouieJed euieu MOO uoneoyi2ods iunjds Bulddeul Odd z 1269 0 159 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary SINI Le Jo 9Z Hed Areuonoip 102140 G2 erige L dAL OUO QUOS NEA dAuouuds 1569 0 SINI Xd IOlluoOuollISOd A PA udids 056940 8LNIN hun 101U0OUOH SOG A EA iunjds 056940 9LINI uollglA q ojl1luoo IOlluoOuolnliSOd A PA uApll9 ds 056940 SINI XIJ 1d eAneDeNeuur uonejojoooq dwey jo4uo2uonisogeA eA jId6aujopduujds 96 9X0 8LNIN 8LNIN Hun junun 96 9X0 9LINIn 9LINIn AYE N ul uolle19 9859q dwey jopejeuegenjeApueule JONUODJUONISOGSNEA Beujopduujds 96 9X0 p SINI XIJ 1d e nisogoeuir dwey jojejeuecenjeApueuleq jouoouonisogeA eA gidsodjopduujds GEEOXO 8LNIN Hun junun S
2. dwey 041u098JnsseJgeA eA sodjopduusud 9869 0 p SINI KIJald uul Luonei19 j 59q dwey Joyessuanenjeajpueweq 041u098JnsseJgeA eA Jidiopduusid va 9x0 8LNIN 8LNIN Hun junun 869 0 9LINIn 9LINIn eui uone14ojooeq dwey jopejeuegen eApueujeq o4u09eunsseJgeA eA Jopduusud va 9x0 p SINI XIJ 1d eAneDeNeouui uoneJo eoov dwey jopejeuegenjeApueule 041u098JnsseJgeA eA gd6eujoeduusud 6869 0 8LNIN 8LNIN Hun junun 6869 0 9LINIn 9LINIn AHED N UM uolle19 909V dwey 40184 U D n BADUBUl Q 041u098JnsseJgeA eA 5 6869 0 p SINI XH91d SANISOdgSWI uolle19 900V dwey jopejeuegenjeApueuje 041u098JnsseJgeA eA gdsodjoeduusud ca 9x0 8LNIN 8LNIN Hun junun ca 9x0 9LINIn 9LINIn SAIISO GOW uone19 o2oy dwey 40184 U D n BAPUBUl Q 041u098JnsseJgeA eA sodjoeduusud ca 9x0 p SINI XIJ 1d eui Luole19 909V dwey 40184 U D n BADUBUl Q 041u098JnsseJgeA eA Jidiopduusid g 9x0 8LNIN Hun junun 1369 0 9LLNIN 9LLNIN eui dwey jopejeuegenjeApueuled 04u098JnsseJgeA eA joeduusud 1369 0 SINI edAL dwey jopejeuegenjeApueuje 041u098eJnsseJgeA eA dAduusud 0869 0 SINI xUJ 1d o33u05euns
3. issues Meaning of entries in object dictionary u u uu nens Gode table TOF EE Gode table for prefixes 5 erede uyanalla aaa unai siya Tausug Abbreviations cuc a E RS HE paene op eee u E Ee ed ARI O Obj ct dictionary SIrctUte suiit ce euet t epe M ee ev t esa eee v y aa AN lette owed Object entries in the communication profile area 5 Service Data Objects Gei Process Data Objects PDOS u eerte ane ei i uv es Synchronization object SYNC iii Emergency object EMCY sisi Network Management object NMT is Node Guarding obj ctu uuu a abaan Da aaa n m ian din en DeviceTypes values iet teret ba s yl ga e kanan ang BE baang Identity object values iii Value definition of the parameter set identification aane i anana anana aana nean nean Capability data struchure sisi D vice capability TI Device control commands issues Status transitions through internal events a Control word value definition sis uiay i E AJ NGRASAAKE MATA RS tase qa SANAN M EE E PUR IER TORT DI Network status LED lt NS gt n n inttr sen nnn sensn nnns Module status LED 5 askai a hoa
4. lt DecelerationTimeNegative gt lt AccelerationTimeNegative gt Figure 21 Ramp type 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 62 7 Pump functions Demand Value Generator ValvePositionControl DemandValueGenerator Ramp Persis Value ndex Subindex 1 Name Data type Access tence range Default 0x6332 AccelerationTimePositive UINT16 rw Y UINT16 0x6332 Unit UINT8 ro UINT8 0x6332 AccelerationTimePositive Prefix INT8 rw 4 0 0x6333 UINT16 0x6333 UINT8 0x6333 4 0 0x6335 UINT16 0x6335 UINT8 0x6335 4 0 0x6336 UINT16 0x6336 UINT8 0x6336 4 0 AccelerationTimeNegative UINT16 rw Unit UINT8 ro Acceleration TimeNegative Prefix INT8 rw DecelerationTimePositive UINT16 rw Unit UINT8 ro DecelerationTimePositive Prefix INT8 rw DecelerationTimeNegative UINT16 rw Unit UINT8 ro DecelerationTimeNegative Prefix INT8 rw 1 2 3 1 2 3 1 2 3 1 2 3 lt Z lt lt Z lt lt Z lt lt Z Chapter 1 6 2 Definition of unit and prefix page 5 AccelerationTimePositive This parameter defines the output signal s maximum rate of change on the positive side The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 96 The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt DecelerationTimePositive gt This p
5. 5 2 MOJJESIe zatex0 19 c n nyu ddn UUCHT 9LINI 6 8 ddnjesig Levex0 dAL SIN 5 Ie AALA dAyesie 0292 0 1ndinoiu jiojlluoo OLIN 01JU0981NSS2148AI2A nosiddulo 981Y X0 8 8LNIN Ion uoo inss iq A BA piolisid 6462 0 ou nba1jjolnoi lliJ inss iq en1ov 261 014 Ion uoo inss iq A PA yysuddwo Z4Ezx0 JequinNiegJejeueJe Jet 8LNIN Ion uoo inss iq A BA unujessud 066240 1UE SUOD UILLSSEdUB HY EQp luonsodloods 281 013 Io uoo inss iqduind s uapsdusadduuo 6162 0 6162 0 Bueiu onjeA u lsisl d d4A ejeg J9j9uleJed aweu 0018 uoneoyi2odsg Buiddeui Odd 145 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary c LNID c LNID Lg 10 ZL Hed 102 00 G2 elige L snes uonop Hllne i s Ilsisne LE8ZXO 1682 0 c amp LNIN c LNin snjels uonoeeuneJ o sisne 1682 0 SINI SINI dAL uonogaHi neg si Je ine 0 82X0 0682 0 d L uonoeegne ole sne 0682 0 euin Jejpuepo43 g June 28cX0 c8cx0 J pueHiou3 o umue c8cx0 sseippy Jejpuep1043 g Hesa 2282X0 ce8cx0 c amp LNIN
6. euinssejd lt SH told 89 exo sindinod llonuoox 10 9x0 lt anjeqjenjoy gt dund e e s NVO NYO 1069x0 0066x0 s nle yemoy lt olidaneapuewog gt uonsod s seul a EE uu l s s oineapAu 1 12 minimum dund uojsid pe pue 1010 youd maximum g17cx0 lt jndjnQuayjoujuog gt NM 4H82x0 lt qdJoauonelurpons gt inss id 1 llonuoo uonisod K 851240 lt Indinoi llo nuoo gt duind 181seu Figure 41 RKP D control structure with slave pump 99 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 7 Pump functions Controller 7 2 9 1 Objects 0x21A4 0x21A5 0x21A7 0x21AA Master slave operation lt SpoolSetPointFromMaster gt By setting bit 9 to true in the control word the pump is working in the slave modus This command can be monitored by the parameter lt SpoolSetPointFromMaster gt in the slave pump On the master side the transmitted position is held by the parameter lt ActualValue gt 0x6301 On the slave side the received position command is held by the parameter lt SpoolSetPointFromMaster gt 0x21A4 PumpController Index Subindex Name Data type Access Default 0x21A4 0 SpoolSetPointF
7. sise 82 Pressure control open 100P n terere tue tette e Dee KAG treu TA KANGA e e pe KAG sla b s 84 Pressure control closed loop sise 86 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 vii List of Figures Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Pressure controller structure ss 88 p Q controller n res t EE 94 Power limitation str eture ce LQ deo ettet ec saka Capa qaqa te EE ete tentes 95 RKP D control structure with slave pump 99 Hold pressure Setpoint behavior I ss 102 Status machine of the hold pressure enable a 103 Assignment of analog input value to active parameter set 105 Assignment of lt PressureSetSelector gt subindex to active parameter set number 106 Fault reaction behavior sise 116 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 viii 1 General information About this manual 1 General information 1 1 About this manual This document describes all accessible parameters used by our radial piston pumps with CANopen interface Most parameters follow the DSP 408 The manual is part of the complete documentation available for the radial piston pump Chapter 1 3 Further documentation for the device page 2 This document is not a replacement for the CANopen standards as listed in the references gt
8. voltage ADC overflovv Analog input 4 current too lovv 4 20 mA ADC overflovv voltage Analog input 3 current too lovv 4 20 mA voltage Analog input 0 circuit failure Analog input 1 circuit failure Analog input 2 circuit failure Analog input 3 circuit failure MI NJOJ ul S ol lim Analog input 4 circuit failure Encoder channel a cable break Encoder channel b cable break Encoder channel z cable break SSI error Povver driver nternal random access memory Internal program memory nternal nonvolatile memory Out of memory error Software coding Software reset watchdog Interrupt time exceeded Task time exceeded Parameter initialization error Node identifier data memory corrupted User data memory corrupted Restore data memory corrupted Factory data memory corrupted Calibration data memory corrupted Diagnosis data memory corrupted Position control monitoring Velocity control monitoring Force control monitoring Table 66 Fault reaction status bits part 2 of 4 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 123 8 Diagnostics Fault reaction Subindex of Fault code 0x2831 Fault description Flovv control monitoring Pressure control monitoring Current control monitoring Spool position control moni
9. LEcEx0 enjeAlen y LOATEUISIXT JEAPAJKa S c X0 jueunoBuuoiuo g eindujBojeuy uouigue gec x0 ju811n9BULOJIUON gindujBojeuy uowpue Lecex0 enjeAjenioy gindujBojeuy jeapue yecex0 d ndu gindujBojeuy dAipue OccEx0 enjeAjenijoy eindujBojeuy yeague 126 0 d jindul gindujbojeuy dAigue 8126 0 jueunoBunuoiuo g uowzgue 21128 0 enjeAjenioy PAZUE 12 d ndu dAizue 01 22 0 enjeAjenijoy Lindu6oyeuy yea Lue O0c6x0 SINI d j1nduJ jindujBojeuy dA Lue 80c X0 9LLNI enjeAjenioy QindujBojeuy jeaque vOZEXO SINI gt SINI adAjindul QindujBojeuy dAigue z 002640 c amp LNIN oDueij onjeA z 92uelsisJad c amp LNIN d4A ejeg JebBoTereq U D D 3 o c 2 D 3 o euieu 20 uoneoyi2ods Buiddeui Odd z 2816 0 149 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary L0S0X0 9LINIn 9LINIn LE jo 91 ed 1o lqO G2 elqeL ynejeqp4oMou02 e201 29118 J po0ll19 AEOvXO uoN 9LINI 9LINI enjeA Jeonpsues einsseld pasid vOvEKO 0100702640 c amp LNIN c
10. eoueisisJad Z SIN poIN 9IA9q e9iA8q eueu 18e e1ed euieu MOO poulA p uoneoyi2ods Buiddeui Odd gt cv09X0 156 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary Le Jo gz ued Areuonoip Pafqo G2 erige L enjeAlen y IOlluoOuollISOd A PA jeaids 1069 0 xIJ 1d Jo3juo2uoriisogeA eA udids 006940 hun 101U0OUOH SOG A EA iunjds 006940 lulodjas JO1JUODUONISOdGENIBA 195 08 006940 jeuBig4eonpsuea WNUWIKEN BuiuonipuooenjeA enj v A JPA xewbissidp 4219 0 jeubisueonpsues WNWIUIA BuiuonipuogenjeAjenioy A PA uluBIssidpi ye 19K0 1esJoeunsseJg BuiuonipuogenjeAjen vy ANEA SJosidpi c 9X0 easy BuiuonipuogenjeAjenov AeA ses dp 19 0 einsseJguunulixelN BuiuonipuogenjeAjeniov AeA xeuusJdpa 1219 0 eJnsseJgunului BuiuonipuogenjeAjeniovy uiusadpa 02 1940 genijeA enjov BuiuonipuogenjeAjenioy 611 9 0 BuiuonipuogenjeAjenioy SEN 0119 0 zen eAjenioy BuiuonipuogenjeAjenioy eatp 111 9 0 LENBAIENOY BuiuonipuogenjeAjenioy loleAnpa 011940 2 ni AlETy BuiuonipuogenjeAjenv AeA BADIA gt 019 0 Bueiu onjeA 92uelsisJad d4A ejeg
11. lt DecelerationTime gt This parameter defines the output signal s maximum rate of change The deceleration time corresponds to the time that the signal needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms 7 1 3 5 3 Ramp type 3 four quadrant ramp This function limits the input signal s rate of change to an acceleration time and a deceleration time each sep arated for the positive and negative sides Activated with ramp type 0x63B0 3 Chapter 7 1 3 5 Ramp page 70 input 100 100 lt AccelerationTimePositive gt output gt lt DecelerationTimePositive gt 100 96 100 96 lt DecelerationTimeNegative gt lt AccelerationTimeNegative gt Figure 30 Ramp type 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 73 7 Pump functions Demand Value Generator ValvePressureControl_DemandValueGenerator_Ramp Persis Value Index Subindex Name Data type Access tence range Default 0x63B2 AccelerationTimePositive UINT16 rw Y UINT16 0x63B2 Unit UINT8 ro UINT8 0x63B2 AccelerationTimePositive Prefix INT8 rw 4 0 0x63B3 UINT16 0x63B3 UINT8 0x63B3 4 0 0x63B5 UINT16 0x63B5 UINT8 0x63B5 4 0 0x63B6 UINT16 0x63B6 UINT8 0x63B6 4 0 AccelerationTimeNegative UINT16 rw Unit UINT8 ro Acceleration TimeNegative Prefix I
12. 1 092 0 enjeAuoneiuriewod M 89 zx0 s ndinol llonuoo g17cx0 jndingjejonuo2 1 sigexo uonisogjoods INI 91 zx0 urecypeqpoo 1069x0 uonisogjoods enjeAjenjoy 21 st eexo uegyoeqpoe uonisogjoods N 8 eexo N 61 2x0 peieyiJsse dY IHU DY juejsuoossed oeqpeeJjuonisogjoods uipoegpee Juonisogioods yoeqp l uonisoqd 2162 0 ib b 1969x0 yeg enueJeyiq enjeAjenijoy N v zx0 lt ssaidwooaquiey Le Bunnoi E JojenueJeyiq pue Duieos N 6062 0 Lioyenueseyiq gt N 8062 0 lt ureg4ojenuaaya gt 1JAol ellu 1 JJ iq Wl ye qioyes6o u ET N zoezxo N 9062 0 N zoezxo lt eBueyjonuoo1oe1Bequ gt maximum 4 is 0669x0 pueuieg N go zxo LLEZxO N 0E2x0 yeqreuonmodojd lt ureojeuoodoid gt N voezxo A lt murmndinoieddn gt jeuoniodoud 00690 uoneiveqiou02 Qd104uoneyurponsg 91771 senjeA lqissod jequinu 195 1ejeurejed out Buipioooe N S x pulqns 2 0 x pul Jo spueis s yez xo D xepuiqns uonelu s
13. 12 2 7 Network Management NMT 12 2 8 DD IcHUEpnngp I NEE EENS EEGENEN 13 2 9 The device Layer Setting Services LSS J u u u 14 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 i Table of Contents 3 Device SIFUCIUFG sila 15 4 Device identification ayama AAA te 17 4 1 Objectdescription cae iaaa Go asie aoaaa darei oaei aeiia ia 17 4 1 1 Object 0x1000 Device type nsen nnne nnns 17 4 1 2 Object 0x1019 Identity cece coe Dec Ai LADA oae eeu deve rue 18 4 1 3 Object 0x1008 Manufacturer device name 18 4 1 4 Object 0x1009 Manufacturer hardware version 18 4 1 5 Object 0x100A Manufacturer software version 18 4 1 6 Object 0x6050 Device version si 19 4 1 7 Object 0x6051 Code number 19 4 1 8 Object 0x6052 Serial number sis 19 4 1 9 Object 0x6053 Description issus 19 4 1 10 Object 0x6054 Model description nennen 19 4 1 11 Object 0x6055 Model UP 19 4 1 12 Object 0x6056 Parameter set code nennen 20 4 1 13 Object 0x6057 Vendor name is 20 4 1 14 Object Ox605F Capability iii 21 5 DEVICES control tee 23 5 T Structure aa kat A AE SS Lx u u ne 23 5 2 Stat machine UU A b y n R
14. Chapter 6 3 1 1 Object 0x6301 Actual position value page 46 lt Type gt This parameter is used to select the control monitoring type or to turn off the control monitoring Values description Meaning No control monitoring Standard control monitoring upper and lower thresholds Reserved Reserved Table 53 Control monitoring types lt DelayTime gt The delay time defines the minimal duration of a control deviation after which a fault will be displayed lt UpperThreshold gt This parameter defines the upper threshold of the control deviation s tolerance band lt LowerThreshold gt This parameter defines the upper threshold of the control deviation s tolerance band The lt LowerThreshold gt value cannot be greater than the lt UpperThreshold gt value Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 78 7 Pump functions Controller 7 2 2 2 Pressure control monitoring ValvePressureControl ControlMonitoring ndex Subindex Name Data type Access Persistence Value range Default 0x63D0 1 ControlDeviation INT16 ro Ox63DO 2 Ox63DO 3 Ox63D1 0 0x63D2 0x63D2 2 3 2 3 INT16 None UINT8 INT8 0 1 UINT16 UINT8 INT8 INT16 UINT8 Unit UINT8 ro Prefix INT8 ro Type INT8 rw 1 DelayTime UINT16 rw Unit UINT8 ro Prefix INT8 ro 1 UpperThreshold INT16 rw Unit UINT8 ro 0x63D4 Prefix INT8 ro INT8 0x63D5 1 LowerThreshold INT16 INT16 2
15. Store parameters gt Chapter 9 1 1 Object 0x1010 Store parameters page 132 1011 Restore default parameters gt Chapter 9 2 1 Object 0x1011 Restore default pa rameters page 134 1012 COB ID TIME DS 301 not processed 1013 high resolution time stamp DS 301 not processed 1014 COB ID EMCY DS 301 gt Chapter 2 6 Emergency Object EMCY page 12 1015 Inhibit Time EMCY DS 301 not processed 1017 Producer heartbeat time DS 301 not processed 1018 Identity object gt Chapter 4 1 2 Object 0x1018 Identity page 18 Client SDO parameter 1280 RPDO communication parameter 15t SDO client parameter DS 301 gt Chapter 2 3 Service Data Objects SDOs page 11 1400 1403 RPDO mapping parameter RPDO communication parameter DS 301 gt Chapter 2 4 Process Data Objects PDOs page 11 1600 1603 RPDO mapping parameter TPDO communication parameter 1800 1803 TPDO communication parameter TPDO mapping parameter 1A00 1A03 Moog GmbH TPDO mapping parameter Table 8 Object entries in the communication profile area USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 10 2 Access over CANopen Service Data Objects SDOs 2 3 Service Data Objects SDOs Service Data Objects are used to configure the communication parameters and for setting up the application
16. Valve ActualValueConditioning Persis Index Subindex Name Data type Access tence Value range Default 0x3264 0 TransducerPort UINT32 rw N UINT32 DSV Assignment of an analog input to the transducer port There are 5 analog inputs 0 4 Each input has its value parameter and its type parameter as shown in the following table The value parameters can be assigned to a transducer port i e written to the lt Transducer Port parameter as described in the example below The type of the analog input e g 10 mA 4 20 mA etc is set by writing the corresponding value to the type parameter Chapter 6 1 Physical pump interfaces page 34 impuro Connetor Actuatvalue index Input type index Transducer portvae 0 Analog input 0 0x3204 0x3200 0x32040010 Analog input 2 0x3214 0x3210 0x32140010 Analog input 3 0x321C 0x3218 0x321C0010 Analog input 4 0x3224 0x3220 0x32240010 Table 41 Analog inputs with value parameters c Chapter 6 1 1 Analog inputs 0 and 1 page 34 Chapter 6 1 2 Analog inputs 2 3 and 4 page 36 Example for transducer port value lt TransducerPort gt 0x32240010 Bit 0 Meaning Index LSB Index MSB Subindex Parameter bit length Contents 32 24 00 10 Table 42 Bit coding of the transducer port value This means the actual physical values are provided by analog input 4 0x3224 6 3 3 1 3 Object 0x3270 Valve transducer structure This parameter stores th
17. control word from bus Device gt Chapter 5 3 4 Object 0x604F Local page 28 Index Subindex Name Value range Persis Data type Access tence Default 0x6040 0 ControlWord Control word values lt ControlWord gt UINT16 rw N UINT16 Description None Specification Disabled D Hold enable H Device mode active enable M Reset fault R These bits form the device control command gt Chapter 5 2 2 1 State transitions depending on the control word page 26 DS 408 mandatory Reserved These bits are reserved for future use They must be set to 0 in order to ensure upward compatibility Reserved Pressure controller enabled p Q closed loop control type only If bit 8 is activated then the pressure controller is enabled in the p Q control type Note This function is applicable only in the p Q control type DS 408 Slave mode enable This bit is used to enable the slave mode of the pump gt Chapter 7 2 9 Master Slave operation page 98 Leakage compensation enable This bit is used to enable disable the leakage compensa tion gt Chapter 7 2 4 1 Leakage compensation page 82 Power limitation enable Enables disables the power limitation function gt Chapter 7 2 8 Power limitation page 95 RKP D specific Reserved See bits 4 7 Reserved Hold pressure enable Enables disables the local ho
18. d4A ejeg Hun aweu JojouleJed eujeu yoojg uoneoyi2odsg junun Buiddeui Odd z Sg 9X0 164 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary Le Jo Le Wed Meuonaip alqo 5 lqe L xUJ 1d Io luoo inss id A BA udsid Sd 9x0 hun o33u05eJnssaJgeA eA junsid Sd 9x0 pIousaJu L18M07 01U0981NSS8148A2 A NO uouusid Sd 9x0 xUJ 1d Io uoo inss id A BA udsid z vaeoexo oDueij onjeA z 92uelsisJad d4A ejeg Hun Ioluoo inss id A BA aweu JojouleJed eujeu yoojg uolnsonui5 ds iunsud Buiddeui Odd z vaeoexo 165 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 166 MOOG COM INDUSTRIAL For the location nearest you contact moog com industrial globallocator Argentina Australia Austria Brazil China Finland France Germany Hong Kong India Ireland Italy Japan Korea Luxembourg Netherlands Norway Russia Singapore South Africa Spain Sweden Switzerland United Kingdom USA 54 61 43 55 86 358 33 49 852 91 353 39 81 182 352 31 47 7 65 27 34 46 41 44 1 11 4326 5916 3 9561 6044 664 144 65 80 11 5523 8011 21
19. lt ActualValue gt 0x6381 control parameter set 16 lt ActualPressureFilterCutoffFrequency gt 0x23F2 lt ActualPressureFilterOrder gt 0x23F3 control parameter set N lt ActualValue4 gt 0x6113 transducer interface value 4 lt ActualValue3 gt 0x61 12 transducer interface value 3 ActualValue2 0x61 11 transducer interface value 2 lt ActualValue1 gt 0x6110 transducer interface value 1 control parameter set 1 pressure controller 0x230D subindex 1 holds transducer interface number 1 4 value of 0x230D subindex 1 selects active transducer interface of parameter set 1 Figure 11 Pressure actual value path 6 3 2 1 Objects 0x23F2 Ox23F3 Actual pressure filter cutoff frequency Actual pressure filter order The parameters Ox23F2 and Ox23F3 are used to set the behavior of the Butterworth filter OX23F2 specifies the cutoff frequency of the filter in Hz The order of the filter is set with the parameter Ox23F3 possible values 1 3 For a frequency of 0 Hz the Butterworth filter is switched off In this case the parameters 0x6104 and 0x6381 both hold the actual pressure value Description of the parameter 0x6104 gt Chapter 6 3 3 1 1 Objects 0x6100 0x6104 Actual value routing page 49 ValvePressureControl Index Subindex Name Data type Ox23F2 0 ActualPressureFilterCutoff FLOAT32 Frequency 0x23F3 ActualPressureFilterOrd
20. 0x6320 input lt LowerLimit gt 0x6321 Figure 16 Limit function ValvePositionControl DemandValueGenerator Limit Persis ndex Subindex Name Data type Access tence Value range Default 0x6320 UpperLimit INT16 rw Y LowerLimit 32767 16384 0x6320 Unit UINT8 ro UINT8 0x6320 Prefix INT8 ro INT8 0x6321 LowerLimit INT16 rw 32768 lt UpperLimit gt 0x6321 Unit UINT8 ro UINT8 0x6321 Prefix INT8 ro INT8 Chapter 1 6 2 Definition of unit and prefix page 5 The lt LowerLimit gt value cannot be greater than the lt UpperLimit gt value Status limit reached The status is used to indicate whether the input signal is being limited This information is mapped to the sta tus word bit 10 Status Meaning Input signal not limited Input signal limited Table 43 Definition of the limit value status Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 57 7 Pump functions Demand Value Generator 7 1 2 4 Scaling This function is used to scale the position setpoint i e to influence the input signal s value range The output signal is derived from an offset and the multiplication of the input signal with a factor sets the signal s slope according to the following function output input x Factor Offset numerator Factor denominator output slope lt Factor gt 0x6322 E 0x6323 input Figu
21. 0x63D5 Unit UINT8 UINT8 0x63D5 3 Prefix INT8 INT8 Chapter 1 6 2 Definition of unit and prefix page 5 0x63D2 0x63D4 0x63D4 lt Z Z lt Z Z lt lt Z Z Z z lt ControlDeviation gt The value of this parameter corresponds to the difference between the pressure demand value 0x6390 and the pressure actual value 0x6381 Chapter 7 1 3 1 Object 0x6390 Demand value page 67 Chapter 6 3 2 2 Object 0x6381 Actual pressure value page 48 lt Type gt This parameter is used to select the control monitoring type or to turn off the control monitoring Values description Meaning No control monitoring Standard control monitoring upper and lower thresholds Reserved Reserved Table 54 Control monitoring types lt DelayTime gt The delay time defines the minimal duration of a control deviation after which a fault will be displayed lt UpperThreshold gt This parameter defines the upper threshold of the control deviation s tolerance band lt LowerThreshold gt This parameter defines the upper threshold of the control deviation s tolerance band The lt LowerThreshold gt value cannot be greater than the lt UpperThreshold gt value Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 79 7 Pump functions Controller 7 2 3 Control position open loop In the position open loop mode contr
22. 9LINI oDueij onjeA z 92uelsisJad enjeAJeniov Jo31u09uorniisodeA eA euieu JajouiBJed euieu 20 uoneoyi2ods IEA dS Buiddew Odd gt 1069 0 158 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary p SINI Le Jo sz wed Areuonoip 102140 5 XH91d SANISOdgSwWI uoneJe eoov dwey jojejeuecenjeApueuleq jouoouonisogeA eA jidsodjoeduujds 4869 0 8LNIN 8LNIN Hun junun 4869 0 9LINIn 9LINIn SAIISO GOW dwey jopejeuegenjeApueuje olnuoouolniSod AjeA sodjoeduujds 4869 0 p SINI XIJ 1d dwey jo4uo2uonisogeA eA gdjoeduujds LE 9X0 8LNIN 8LNIN Hun junun VE 9X0 9LINIn 9LINIn uu uole19 9095V dwey jojejeuecenjeApueuleq jouoouonisogeA eA joeduujds LE 9X0 SINI dAL dwey jojejeuegenjeApueuleq JONUODTUONISOGSNJEA dAduujds 0 9X0 SINI SINI Xd Jo3uo2uoriisogaeA eA udids yet9x0 8LNIN 8LNIN hun IOlluoOuollISOd A PA iunjds yet9x0 9LINI 9LLNI 1 9 U0I9811090187 joje1euecjenjeApueuleq jolluoouolliSOd A PA JoooJz ds yet9x0 SINI SINI xIJ 1d IOlluoOuollISOd A PA udids ce9x0 8LNIN 8LNIN hun 101U0OUOH SOG A EA iunjds 6469 0 9LINI 9LINI 199
23. Application Layer and Communication Profile CiA Draft Standard 301 Version 4 1 August 15 2006 DSP Digital Signal Processor DSP 305 DSP 408 CANopen Layer Setting Services LSS and protocols CiA Draft Standard Proposal 305 Version 2 0 January 16 2006 CANopen Device Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions CiA Draft Standard Proposal 408 Version 1 5 2 April 30 2005 DSV Device Specific Value EDS Electronic Data Sheet EMCY Emergency object EPROM Erasable Programmable Read Only Memory EPROM Electrically Erasable Programmable Read Only Memory FLOAT32 32 bit floating point value Hydraulic profile Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions Version 1 5 Input Output Identifier n bit signed Integer value value range 2 1 1 2 1 1 Infinite Internal Resolution gt Chapter 1 5 Definitions page 3 Light Emitting Diode Least Significant Bit Layer Setting Services Linear Variable Differential Transformer Milliseconds Most Significant Bit Network ManagemenT Symbol for pressure Printed Circuit Board Process Data Object a type of COB Used for transmitting time critical data such as control commands references and actual values PE Protective Earth Q Symbol for volumetric flow R
24. Chapter 7 2 6 2 2 Objects 0x2305 0x2307 0x2310 Integrator page 89 Differentiator The gain of the pressure differentiator can be adjusted separately in both directions using the parameters lt DifferentiatorGain gt 0x2308 and DifferentiatorGainDecompress 0x2314 Chapter 7 2 6 2 4 Objects 0x2308 0x2309 0x2312 0x2314 Differentiator page 90 Position The negative stroke ring position and the velocity can be limited using the parameters SpoolPositionFeedbackGain 0x2316 lt SpoolPositionFeedbackGainHighPassFiltered gt 0x2318 and lt SpoolPositionFeedbackHighPassTimeConstant gt 0x2319 Chapter 7 2 6 2 6 Objects 0x2315 0x2316 0x2318 0x2319 Position feedback page 91 Controller parameter sets Sixteen predefined parameter sets with different controller settings are available These allow a simple and fast change over to various controller settings in real time The selection of the controller parameter set can be done via the CAN bus parameter lt ActiveParameterSetNumber gt 0x2350 or by using the analog parameter set switching function This func tion allows to select the desired controller parameter set via one of the analog inputs Chapter 7 2 6 3 Object 0x2350 Active parameter set number page 92 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 87 Controller 7 Pump functions 0066 0 dund minimum
25. Tu Ra baa ab Ala 24 5 2 DEVICE States aaa san yuya yab eat Pp vp eee aila sssi Lee Boe ves 25 ERR E E e EE 26 5 2 2 1 State transitions depending on the control word 26 5 2 2 2 State transitions through internal 15 26 5 3 Object description S srie 27 5 3 1 Object 0x6040 Control word 27 5 3 2 Object 0x4040 Local control word nennen 28 5 3 3 Object 0x403F Local control word 25 2 28 5 3 4 Object 0 604 Local upa l usu Dayu Qhana aaa yaaa 28 5 3 5 Object 0x6041 Status word 29 5 4 Bootup Of the device te cece aperia a eaaa ENEE 30 5 5 Statuis display LEDSu 55 55 EE 31 6 Signal routing and scaling 33 6 1 Physical pump interfaces J aa T J T 34 6 1 1 Analog inputs and 1 34 6 1 2 Analog inputs 2 3 and A uu u u kia a R 36 6 1 3 Analog e tee EC 38 6 2 Command value path y a un Suysa cece sad Ga DENG Ga sasin sawa 39 6 2 1 Object descriptions Eed aa uma saam Mq 41 6 3 Actuall Value path u on g kani b qa au su asa suy aa ss spa aa 46 6 3 1 Position actual value path sise 46 6 3 2 Pressure actual value pat
26. USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary SINI Le Jo zz wed Areuonoip Pafqo 5 erige L dAL BuiuonipuogenjeAjenjoy eAeA dAJPHAIA d019X0 8LNIN ONS2ELEIUI BuiuonipuogenjeAjeniov AeA DANAA 1019 0 8LNIN ONS9ELISIUIXEN BuiuonipuogenjeAjeniov AeA 0019 0 0006004640 Z Y V002S01 9122279 c amp LNIN Ayyqedeo 291A9 denen 3S09x0 ueuu o u Builq og 7601 0 8z ssens Ulule y suueH HQWE SOON Jeuo r9 ONIHIS EI UHEUU AA D ZS09X0 vSc auer poouudAep 9S09x0 u109 Boour AAA Jeuo p9 SNId1S TANPON EI SS09x0 AGO Jeuo 79 ONIHIS uonduosegiepoiN 29149 909 0 AGO Jeuo v9 ONIHIS uonduoseq qd S09X0 ASQ Jun 99 SNId1S ONIEL S 29118 unu4es 4909 0 ASq 9LINIn 9LLNID ON poo 29118 unupoo ep 1509 0 ASQ Jeuo SNId1S UOISI8A 29118 0S09x0 L V 8el SINI E201 29118 pouu90 09 ynejeq poyylonuoo z SINI eoieqg gt t09 0 ynejeq poIN 9lA9q gt abues enjeA
27. X0 8LNIN ed jue66u l dABa 8816 0 c amp LNIN c amp LNIN jesyouelsejduesg 21816 0 s l q 8702 NIVINOQ Aouwen 9816X0 0110186940 c amp LNIN c amp LNIN 9816 0 011 00629 0 c amp LNIN c amp LNIN zhed ip 9816 0 011 01069 0 c amp LNIN c amp LNIN hed ip 9816 0 0110016940 c NI c NI JejeureJegeuueuo Jeb6oTejeq o red6ip 9816 0 8LNIN 8LNIN jauueyye qeuy cleu fip vY81 X0 8LNIN jauueyuye qeuy 1J 66oTeleq zleu fip vY81 X0 8LNIN z 8LNIN jauueyuye qeuy 1J 66oTeleq i eue6ip z vY81 X0 SIN oDueij onjeA z 92uelsisJad SIN 2 d4A ejeg jauueyoe qeuy 1966o1eleg euieu JojouieJed euieu yoo uoneoyi2ods o eueBip Buiddeui Odd z t8 LEXO 148 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary LE jo SI Hed 1o lqO S elige L JopeeuinNJo oe JBuieos4euro sno LOA Teuse x3
28. c amp LNIN SseJppy Jejpuepo43 folie ue ec8cX0 CE ININ c amp LNIN oul eyeqgonsoubeiq 21eMpIEH umudo 008240 c amp LNIN c amp LNIN aul Bune18dO eiegonsoufeiq 0 umudo 008240 9LINI 9LINI qoq ejeqonsouDeiq 21eMpIEH dungod 4082 0 9LINIn 9LLNIN ejeqonsouDeiq dnsimd 082 0 9LINIn z 9LLNIN abeyonAjddnsgnd9 ejeqonsouDeiq dnsndo gt 6082 0 9LINI oDueij onjeA eouasisied Z 9LLNI enjeA1eMod Jejonuooduing euieu JojouieJed euieu yoo uoneoyi2ods eumd Buiddeui Odd gt 8092X0 146 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary 8v0c 9 12 4811 LE Jo 61 ed 1o lqO G2 lq L 99 0 dusBp 6816 0 SEGG9 9LINIn JepIAIQ Jeb6o1ereq 4816 0 8LNIN snieis slsB p 18 EXO 8LNIN JOUOD n bip 08 X0 9LLNIN Jaw Su S ueg wous 6106 0 c amp LNIN 1 lunooopd Al 8098uulr ueg 0106 0 c amp LNIN JejunoogopgeArieoeHpue ueg 01
29. e 1VO 14 ureoJolellu J jiiq o33u05eunssaJgeA eA olu6psidduo 8062 0 9LLNI eBueyjouo2401e4Be1u Ioluoo inss id A BA c i i91sidduuo 2062 0 LOESXO oDueij onjeA eouasisied gt eBueyujouo2401e4De1u 0o41u058JnsseJgdeA eA U D D 3 o c 2 D 3 o euieu 20 uoneoyi2ods ol91s1dduo Buiddew Odd gt 2062 0 143 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary CEO LE jo OL ed 1lo lqO S lq L Juelsuoo u SSEdUB HYOEQqp luonisodloods Io uoo uinss iqduind o wypsdysuddwo 6162 0 CEO p 1 llldssequBiHuieoyoeqp duollsodioods oxuo9ensseiqdund s LJu6ssdusidduio 8162 0 8162 0 e61VO 1 4 p l li IssedubiHuleoyoeqp juonisogjoods 043u0598eunssejgduing o uBssdusiddwo 8162 0 9LINI QdJ04uoneiurpions 041u0598unsseJgduing c Vlurisidduio 21162 0 2162 0 9LINI Qd o4uonenurin ns 043u05eunssejqduing o uusadduuo 2162 0 ZE IO urecyoegpee Juorisogjoodg 043u05eunssejqduing g JuB6ssuddwo 91 2X0 9162 0 jur 0 CEO ulgeoyoeqp duolijsoqlioods o33u058unsseJgduing o uBssuddwo 9162 0 CEO CEO uegxoeqpee Juonisogjoods Joxuo9einsseiqdund 1 idssadduio GLECXO c 1VO14 CEO uegoeqpee Juonisoqioods JOujUODeunsselqdwng o
30. 2 u u u 2 1 3 Further documentation for the 5 22 2 1 4 l l Rasa A na ne NA ARGA RA Ka AA AR ABEN aan AG 3 RTE ne 3 1 6 Representation of parameters u J J 4 1 6 1 Representation of parameters in the object dictionary 22 4 1 6 2 Definition of unit and prefix user 5 1 6 2 1 Unit representation 5 1 6 2 2 Prefix representation cs eoe t e t eth po Eee te tives qa pounce 5 1 7 Abbreviations qk 5 2 Access over CANopoen 9 2 1 pesi uuu cee cece 9 2 2 Communication profile area l U u uu uu u uu u u J T 10 2 3 Service Data Objects SDOs ei aaa ii aaa aaa aa 11 2 4 Process Data Objects PDOs uu u u u u 11 2 4 1 Object 0x3012 Receive PDO counter sis 11 2 5 Synchronization Object SYNC R u u uu u 12 2 5 1 Object 0x3013 Synchronization timer 12 2 6 Emergency Object EMCY
31. 9LININ 2 Hluunpdool L08SX0 8LNIN d uoissiusueJ Opd itusuel pUZ NVOlEoo7 Hlumpdoo L08SX0 S69S8v v Io opd gpesnpliqoo opgilusueu puz NVOlEoo7 L gooipdoo L08SX0 9LLNIN 1 W ua Op_ itwsued 1S NY918901 0089540 9LLNIN OWI LUAYU OPUSUL LIS NY918901 0 uunpdoo 0089540 8LNIN ed uoissiuusuei opgiiusuei 181 NY918901 oluinpdoo 008GX0 S69SSEZT IZ opd gp snpiqoO opdiltususi si NVOlEoo7 o qo51pdool 008GX0 c amp LNIN oDueij onjeA eouasisied gt 2 d4A ejeg p ddeyy qo 112e qo uoneoiddyuiNeu j404BuiddejNopd 4ejeurejeqgBurdde qopgeAre2eu NVOlEoo71 euieu JojouieJed euieu yoo uoneoyi2ods rg deuupdoo Bulddeul Odd z 6099 0 153 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary L Jo Og Hed Areuonoip io lqo G2 opduisioefqouorneorddypeddejyjO4equinN BuiddeWWopdiluusueBiu ulr NV918901 g umudeuwipdoo 0VSX0 c amp LNIN c amp LNIN p ddeyy goL joefqouoneoiddyuiNeu L40 15ulddeyyopel 1ejeurege yBuiddeyyopqyiwisue NV9189071 gzldeunpdool c0WSX0 c0WSX0 c amp LNIN c LNID peddejyego joefqouoneoiddyuiNeu L40 16ulddeyyopel 1ejeureje yBuiddeyyopqyiwisue NVOIE901 9 deunp
32. 9X0 9LINIn 9LINIn 2ANISOd UI dwey jopejeuegenjeApueuje jo4uo2uonisogeA eA sodjopduujds S 9X0 SINI KIJald dwey jo4uo2uonisogeA eA udjopduuds YyE 9x0 8LNIN 8LNIN Hun junun YyE 9x0 9LINIn 9LINIn eui uoneJojoooq dwey jojejeuecenjeApueuleq jouoouonisogeA eA jopduujds Ve 9x0 p SINI XIJ 1d eAneBeNeuui uolle19 905V dwey jopejeuegenjeApueuje 1044U0 UOR SOG A A gdBeujoeduujds 6669 0 8LNIN z 8LNIN yu junun z 6669 0 9LININ oDueij onjeA a0ua sIsidd gt 9LININ d4 ejeg eAneBeNoui uoneJo o2ov 1jojejeuegenjeApueuleq jouoouoiiisogaA eA euieu JojouieJed euieu MOO uoneoyi2odsg Beujoeduujds Buiddeui Odd gt 9X0 160 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 9LINI 9LINI Lg 40 z ued Pafqo S lq L pueuieq JojpejeuecjenjeApueule jonuooaeunsseJdeA eA wepsid 066940 SINI SINI xIJ 1d Ioluoo inss id A BA udsid 1869 0 8LNIN 8LNIN hun Jo33u05eJnssaJgeA eA junsid 1869 0 9LINI 9LLNI anjeajenjoy Io luoo inss id A BA IEASId 1869 0 SINI SINI xIJ 1d o33u05eunssaJgeA eA udsid 086940 8LNIN 8LN
33. DSV Index Subindex Name Persis Access tence Data type Value range Default 0x2608 0 PowerValue Moog GmbH INT16 INT16 ro N USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 None 97 7 Pump functions Controller 7 2 9 Master Slave operation Scenario Two or more pumps are feeding one hydraulic system to increase the max flow This could cause some un defined states in the system e g pump1 100 flow pump2 100 flow The RKP D has the capability to manage such situations One pump is operating as a master pump All other pumps are working as a slave pump The master processes all set commands pressure flow and power limit The slaves only follow the position of the master The actual value of the stroke ring and controller output is broadcasted to the slaves via local CAN For a description of the hydraulic conditions refer to the Operation Manual RKP D The local CAN Network is reserved for the master slave operation In master slave operation there must be only one active pressure controller master where the re maining pumps slaves are purely flow controlled by the master pump Enabling master slave communication The enabling of the communication between master and slave pump and the selection whether a pump is op erating as master or slave is done with the parameter lt MasterSlaveSelector gt 0x21A5 Enabling the operation of a pump as a slave p
34. Jojawese qbulddeyyjopyyiwisuel v D m 3 e 5 2 p 3 euieu yoo uoneoyi2ods zluunudeunpd Bulddeul Odd z 0V LXO 141 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary c 1VO 14 Lg 10 8 ped Areuonsip alqo 9 eiqe L ured soye169 uU JOJUODAINSSAI gare s JuBisuddwo 4062 0 4062 0 ZE IO uleouole16 lu Ioluoo inss id A BA o u amp isudduo 4062 0 e61YO 14 ulepeuorodol i IO uoo nss id A BA c LJu6dsiddu9 vOESXO vOECXO Jur CEO UIEENIEUOU OO Jolluooc inss id A BA o uBdsuddwo vOECXO CEO c 1VO l4 urecjeuon4odoJg4ejse AuoJJ4pJe uo pee J oods Jejouooduing uBdisuupeds VV LeXO 9LLNI 9LLNI JejsejquoJ4pue uo pee Jjjoodg Jejyonuooduing suipwids ZV VeX0 ep SIN 10 09 9S AE S1 SE N Jejonuooduing AISISulduud SV 12 0 9LINI J lseIWuuoljluloq1 8Sioods 1sul s ds 12 0 9LLNID eui Bulysn 4 Jejoquooduing unsydud LV Lox0 9LINI ndnO18 101U09 101U0986eISUIENSARA 1nosodBis 8912 0 8LNIN c L powyesued 8p 2 0 gi 12X0 o poujesued 87 12X0 gt NO dpuq H BHulyoyms
35. VOOIXO Jeun 9 ONIHIS UOISJAASIEMPIEHJOINJOBjNUe 6001 0 Jeun 9 SNId1S uIeN O9IA 9GCJ In loPeJnue UHEUA PUEUI 8001 0 c amp LNIN gt GEINT UDUSCIMODULMSPOUOIUOUAG ua ul MoUs 2 2001X0 c LNID oDueij onjeA eouasisied gt c LNID d4A ejeg pouegejoAouorneorunuiulo2 aweu JojouleJed eujeu yoojg Jedo ouio00 uoneoyi2ods Buiddeui Odd z 9001X0 136 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 8LNIN Lg Jo ped Areuonsip eloo G7 eiqe L d uoissiusueJ opdeAieoeupuz JOJOWBIE qUO JEOIUNWWODOP_aAl900Y Hlunipd LOT EXO 969987 12 opd gp snpiqoO L qooupd LOvLXO 9LLNIN Jeu LJUSAT Opde eoeuis JejeurejequomeoiunuiuogopdeAreoeH o uumupd 00v 1X0 8LNIN ed uoissiusueJ ODd AL H S JOJOWBIE qUO JEOIUNWWODOP_aAl900Y o uuupd 00v 1X0 969987 12 402 opdeAeoeuis 0071 0 c NI lu 9 O49A49SDIqQ0O JOJOWEIE 4OPSIBAIBS qooAJsops 0021X0 c amp LNIN 1 A19S1Uu IIOpIQ0O J l ute eqopSieA18S qooujoops 0021X0 2 NI Jequin
36. parameters There is one SDO channel available on the device A channel consists of two COB IDs One for reception One for transmission Requests go from client to server Confirmations go from server to client The device is the server Client SDO 0x600 Node ID 1200 01 Service data from client to server valve Server SDO 0x580 Node ID 1200 02 Service data from server to client Table 9 Service Data Objects SDOs 2 4 Process Data Objects PDOs Process Data Objects are used to transfer process data There are 4 transmission and 4 receive channels available on the device Communication via PDOs allows data transfer without protocol overhead and pro vides a data length of up to 8 bytes per transmission RPDO 1 Receive PDO 0x200 Node ID 1400 RPDO 2 Receive PDO 0x300 Node ID Process data received RPDO 3 Receive PDO 0x400 Node ID Process data received RPDO 4 Receive PDO TPDO 1 Transmit PDO 0x180 Node ID Process data transmitted TPDO 2 Transmit PDO 0x280 Node ID Process data transmitted TPDO 3 Transmit PDO 0x380 Node ID Process data transmitted TPDO 4 Transmit PDO 0x480 Node ID 1803 Process data transmitted Table 10 Process Data Objects PDOs 0x500 Node ID Process data received 1 The COB IDs according to the predefined connection set can be changed manually 2 4 1 Object 0x3012 Receive PDO counter This is a PDO counter The subindex of the count
37. 1 1 Object 0x6301 Actual position value This parameter indicates the actual position value returned from the position transducer to the controller ValvePositionControl Persis Index Subindex Name Data type tence Default 0x6301 ActualValue INT16 None 0x6301 Unit UINT8 0 0x6301 Prefix INT8 0 Chapter 1 6 2 Definition of unit and prefix page 5 6 3 1 2 Object 0x3235 Actual External LVDT value This parameter holds the actual External LVDT value forwarded to the position controller Scaling of this value is done according to formula shown above ExternalLVDT Index Subindex Name Data type Default 0x3235 1 ActualValue INT16 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 46 6 Signal routing and scaling Actual value path 6 3 1 3 Object 0x3237 Scaling External LVDT raw value The subindexes of this parameter are used to scale the External LVDT raw value that is forwarded to the po sition controller Scaling is done according to the formula given in Chapter 6 3 1 Position actual value path page 46 ExternalLVDT Index Subindex Name Data type Default 0x3237 CustomerScalingFactorNu INT16 16384 merator 0x3237 CustomerScalingFactorDe INT16 16384 nominator 0x3237 CustomerScalingOffset INT16 6 3 2 Pressure actual value path The following figure shows the pressure actual value path and the parameters influencing this behavior
38. 2 1 1 Object 0x6300 Position setpoint page 41 lt The pressure command via bus is delivered by the parameter 0x6380 lt Setpoint gt gt Chapter 6 2 1 4 Object 0x6380 Pressure setpoint page 43 lt The position command from local source is coming from the analog input 0 gt Chapter 6 1 1 1 Objects 0x3200 0x3204 Analog input 0 page 34 lt The pressure command from local source is coming from the analog input 1 gt Chapter 6 1 1 2 Objects 0x3208 0x320C Analog input 1 page 35 For a description of the pump connectors see Benutzerinformation Elektrische Schnittstellen Which command is forwarded to the demand value generator depends on the set device mode 0x6042 and the status of the device which is controlled using the control word lt ControlWord gt 0x6040 or lt LocalControlWord gt 0x4040 as shown in the figure below The following applies lt Device mode 1 device status DEVICE MODE ACTIVE The command transferred over the bus is forwarded to the demand value generator lt Device mode 2 device status DEVICE MODE ACTIVE The command received from the analog input is forwarded to the demand value generator lt Device mode 1 or 2 device status HOLD The hold setpoint stored to the parameter lt HoldSetPoint gt is forwarded to the demand value generator Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 39 6 Signal routing and scaling Command value pa
39. 90 0x2314 lt DifferentiatorGainDecompress gt gt Chapter 7 2 6 2 4 Objects 0x2308 0x2309 0x2312 0x2314 Differentiator page 90 0x2316 lt SpoolPositionFeedbackGain gt gt Chapter 7 2 6 2 6 Objects 0x2315 0x2316 0x2318 0x2319 Position feedback page 91 0x2317 lt SuckLimitationForPD gt gt Chapter 7 2 6 2 7 Object 0x2317 Suck limitation page 91 0x2318 lt SpoolPositionFeedbackGainHighPassFiltered gt gt Chapter 7 2 6 2 6 Objects 0x2315 0x2316 0x2318 0x2319 Position feedback page 91 0x2319 lt SpoolPositionFeedbackHighPassTimeConstant gt Chapter 7 2 6 2 6 Objects 0x2315 0x2316 0x2318 0x2319 Position feedback page 91 Table 55 Pressure controller parameter set Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 92 7 Pump functions Controller 7 2 7 p Q closed loop The p Q controller control mode 5 is a combination of the pressure and volume flow functions i e it en ables regulation of the volume flow resp pressure In the p Q closed loop a pressure and a position are provided as a setpoint and the actual pressure 0x6381 and the position 0x6301 are measured gt Figure 39 page 94 The pressure controller output value 0x2418 is compared vvith the pump position controller output 0x2158 The lower of these demand values is forvvarded to the position controller The p Q controller makes t
40. B99224 DV007 CE400 Version 1 1 09 08 23 5 Device control State machine 5 2 State machine The state machine describes the status of the device Any state represents a certain internal and external be havior Status changes result from device control commands and other events for example switching on the supply voltage or in case of a device fault The current device status can be read by means of the status word bits 0 3 of the status word indicate the device condition TR 0 NOT READY state RMHD 0000 TR 1 INIT state RMHD 1000 TR 7 li TR 2 DISABLED TR 10 FAULT state RMHD 1001 state RMHD 0001 TR 6 TR 3 TR 12 HOLD state RMHD 1011 TR 5 TR 4 DEVICE_MODE_ACTIVE FAULT REACTION state RMHD 1111 state RMHD 0111 TR 8 TR 8 TR 8 FAULT HOLD state RMHD 0011 Figure 5 Device state machine Meaning of RMHD R Status word Ready Bit 3 M Status word Device Mode Active Enable Bit 2 H Status word Hold activated Bit 1 D Status word Disabled Bit 0 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 24 5 Device control State machine 5 2 1 Device states The following device states are possible NOT_READY lt The electronics are supplied with power Self test is running lt Device initialization is running lt The valve function is disabled INIT initialization e Ini
41. Chapter 1 4 References page 3 This manual was prepared with great care and the contents reflect the authors best knowledge However the possibility of error remains and improvements are possible Please feel free to submit any comments regarding errors or incomplete information to us 1 1 1 Reservation of changes and validity The information contained in this manual is valid at the time of this version s release See footer for version number and release date of this manual We reserve the right to make changes to this manual at any time without specified reasons 1 1 2 Completeness This manual is complete only when used in conjunction with the product related hardware and software docu mentation required for the relevant application 1 1 3 Place of storage This manual and all other associated documentation for hardware and software must always be kept in a loca tion where they will be readily accessible and close to the RKP D or the equipment in which they are installed 1 1 4 Warranty and liability This manual only describes the functionality and influence of the CANopen parameters The described soft ware functionality can be used in various pump models which can be implemented in a vast range of applica tions Hence it is not possible to assume liability for the influence of the parameters Please refer to the safety instructions and remarks in the related operating instructions Moog GmbH USER MANUAL Firmware RKP D B99
42. Chapter 9 Storing restoring parameters page 131 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 76 7 Pump functions Controller 7 2 2 Monitoring The deviation monitoring is only active if the associated controller is active In p Q mode the executed devia tion monitoring depends on the active controller Whether p or Q is active is shown by the bit 8 from the sta tus word Chapter 5 3 5 Object 0x6041 Status word page 29 input Type lt ControlDeviation gt deviation status word Supper Threshold monitoring control error lt LowerThreshold gt lt DelayTime gt output Figure 31 Deviation monitoring The tolerance band is set by means of upper and lower thresholds defined with parameters lt UpperTreshold gt and lt LowerTreshold gt If the control deviation stored to parameter lt ControlDeviation gt is outside the tolerance band for the duration of the delay time set with parameter lt DelayTime gt then the control error will be set to 1 indicated by the sta tus word bit 11 If the control deviation lies within the tolerance band the value will be set immediately to 0 as shown in the following figure lt ControlDeviation gt m lt DelayTime gt lt UpperLimit gt lt LowerLimit gt Figure 32 Monitoring the control deviation s tolerance band Enabling control monitoring The parameter lt Type gt is used to activate the standa
43. Every time a configured error occurs on the device i e when the device goes into the FAULT condition the device sends an emergency message with error register error code and time of occurrence The emergency message will also be sent in case all errors disappeared In this case the emergency mes sage will hold the fault code for no fault The parameter lt CobldEmergencyMessage gt 0x1014 holds the COB ID of the telegram CobldEmergencyMessage Index Subindex Name Data type Access Persistence Value range Default 0x1014 CobldEmergencyMessage UINT32 1 2047 Coding of the emergency message Byte Contents Emergency error code Error Moog specific error code register Fault code Power on time Byte 0 1 Emergency message error code Byte 2 Error register object value gt Chapter 8 1 1 Object 0x1001 Error register page 109 Byte 3 Fault code gt Table 63 page 112 Byte 4 7 Power on time min The first three bytes are defined by the DSP 408 Example If the error Power supply voltage too low occurs the following data is available Error code 0x3412 Fault code 5 Time 1000 min Error register 4 The coding of the emergency message is as follows Byte Contents Error Moog specific error code register Power on time hex Byte 0 Least Significant Byte Byte 7 Most Significant Byte Emergency message error code Bytes 0 and 1 of the emergency message conta
44. Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 33 6 Signal routing and scaling Physical pump interfaces 6 1 Physical pump interfaces The pump consists of the following physical interfaces Interface Reference Analog input 0 gt Chapter 6 1 1 1 Objects 0x3200 0x3204 Analog input 0 page 34 Analog input 1 gt Chapter 6 1 1 2 Objects 0x3208 0x320C Analog input 1 page 35 Analog input 2 gt Chapter 6 1 2 1 Objects 0x3210 0x3214 Analog input 2 page 36 Analog input 3 gt Chapter 6 1 2 2 Objecis 0x3218 0x321C Analog input 3 page 37 Analog input 4 gt Chapter 6 1 2 3 Objecis 0x3220 0x3224 Analog input 4 page 37 Analog outputs 0 1 gt Chapter 6 1 3 Analog outputs page 38 Digital input gt Chapter 5 2 2 2 State transitions through internal events page 26 Supply 24 V gt Chapter 8 2 5 2 Object 0x2804 Power supply voltage page 126 Master slave communication Chapter 7 2 9 Master Slave operation page 98 CAN gt Chapter 2 Access over CANopen page 9 Table 27 Physical pump interfaces For a description of the pump connectors see Benutzerinformation Elektrische Schnittstellen 6 1 1 Analog inputs 0 and 1 The analog inputs 0 and 1 are intended for analog setpoints They are used if the lt DeviceMode gt 0x6042 is 2 Analog input 0 holds the input for the analog stroke ring command Analog input 1 holds the input for the analog pressure c
45. GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 113 8 Diagnostics Fault reaction Subindex Value Fault code 0x2830 gt Fault description range Local CAN RPDO4 time out Local CAN RPDO1 data Local CAN RPDO2 data Local CAN RPDO3 data Local CAN RPDO4 data Local CAN TPDO1 time out Local CAN TPDO2 time out Local CAN TPDO3 time out Local CAN TPDO4 time out Local CAN TPDO1 data Local CAN TPDO2 data Local CAN TPDO3 data Local CAN TPDO4 data CAN general fault CAN overrun CAN in error passive mode CAN recovered from bus off CAN RPDO1 time out CAN RPDO2 time out CAN RPDO3 time out CAN RPDO4 time out CAN RPDO1 data CAN RPDO2 data CAN RPDOS data CAN RPDOA data CAN TPDOT time out CAN TPDO2 time out CAN time out CAN TPDOA time out CAN TPDO 1 data CAN TPDO2 data CAN data CAN TPDO4 data CAN life guard error or heartbeat error CAN SYNC producer time out CAN SYNC consumer time out EtherCAT communication fault EtherCAT RPDO time out EtherCAT RPDO data EtherCAT TPDO time out EtherCAT TPDO data PROFIBUS general fault ss sim sss esse ka s ss s s eee ss a Se air O OT TOE T TO C O lO lOE lE lEP E E E TO O O lOTO O O O lO CG lG l TO lETE fOEP OEP O lO O loilioeololeiflioloelofloeflo Table 63 Type subindex values p
46. Jo43u058unssaJgeA eA junsid 1 69 0 lt ureddn gt 89 26 9LINI WIT 1ole g9u 9o n eApueuusd yuramoT jOUODauNssalgan eA NO uul Sid IVE9x0 SINI SINI xIJ 1d Ioluoo inss id A PA udsid OVE9XO 8LNIN 8LNIN hun o31u058unsseJgeA eA junsid OVE9XO 1912 nuryewoT 9LLNI 1Yuiqi ddn h r ojlluoo nss id AJPA ddnuul sid OVE9XO SINI SINI xIJ 1d Ioluoo inss id A BA udsid Y6 9X0 8LNIN 8LNIN hun Io luoo inss iq A BA junsid vEEOXO 9LLNI 9LLNI utog1espIoH JopejeuecjenjeApueule jonuooeunsseJdeA eA piuiessud Y6 9X0 SINI SINI xUJ 1d Io luoo inss id A BA udsid 1669 0 8LNIN 8LNIN Hun eoueJeJeu 10 ejeuecen eApueule q jouuo2eunssaJgaA eA junjeusud L6 9X0 19 c 0 9LLNI enjeAeouaJaJou JojpejeuecjenjeApueuile jo1u028JnsseJdeA eA jousud 1669 0 SINI SINI xUJ 1d Ioluoo inss id A BA udsid z 066940 8LNIN oDueij onjeA z 92uelsisJad 8LNIN d4A ejeg Hun J031u098unsseJdeA eA euieu JojouieJed euieu yoo uoneoyi2ods iunsud Buiddeui Odd z 066940 162 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary 9LLNIN 9LINIn Le Jo ez Wed Areuonoip 102140 G2 erige L
47. always refers to the stroke ring position Other positions are named explicitly Volume flow direction A positive stroke ring demand value will result in a volume flow from connection A to the connection B of the pump Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 3 1 General information Representation of parameters 1 6 Representation of parameters Parameters are described in this document in the following tabular form Block name Index Subindex Parameter name Data type Access Persistence Value range Default Table 1 Representation of objects where the table columns have the following meaning Block name Describes the family of parameters If the parameter does not belong to a block the parameter name is taken as block name Index 16 bit index that addresses the entry in the object dictionary In case of a simple variable this references the value of this variable directly In case of records and arrays the index addresses the whole data struc ture Then the 8 bit subindex allows access to individual elements in the structure Subindex If the object is defined as a record or array the subindex defines an element in the structure Name Defined name of the object Data type Data type of the parameter Access Access permission for the parameter Persistence Defines whether the parameter can be saved in non volatile memory If the persistence is set to Y the saved
48. closed loop 81 7 2 4 1 Leakage compensation 82 7 2 5 Pressure control open loop 83 7 2 6 Pressure control closed loop 85 7 2 6 1 Controller structure lt sasana rasan u eid ine fedes edente na deiade na 87 7 2 6 2 Controller parameters 89 7 2 6 3 Object 0x2350 Active parameter set number 92 742 7 p Q closed loop ssi iot terr tti ee ite trees er 93 7 2 7 1 Controller structure us 94 SS Power limitation saraa e uqa dt athe LA ert tem eee 95 7 2 9 Master Slave operation usine 98 7 2 10 Local holding pressure switchover eaaa eaaa aana aana eene 102 TZAT Fl shing mode eee nette end Gea 104 7 3 Analog parameter set switching ss R a R uuu aaa arama ann 105 7 3 1 Objects 0x2141 0x2146 0x2148 Active parameter set 107 8 RI Lie Le EE d T Error information eege 109 8 1 1 Object 0x1001 Error register 109 8 1 2 Object 0x1003 Predefined error field 110 8 1 3 Objects 0x2832 0x2833 Fault reaction description Fault history number 111 8 1 4 Objects 0x2822 0x2823 Error Handler Address Time 111 8 2 Faul reaction d 112 8 2 1 Fault reaction settings 112 8 2 2 Emergency Message iii 117 8 2 3 Object 0x2831 Fault reaction status nne 121 8 2 4 Fault acknowledgement ii 125 8 2 5 Mo
49. error field 0x1003 the fault description parameter returns a text message which describes the occurred fault The description corresponds to that entry of the predefined error field to which the parameter lt FaultHistoryNumber gt 0x2833 is set To read a specific fault description first the lt FaultHistoryNumber gt has to be set to the entry of the predefined error field and then the fault description can be read by means of the lt FaultReactionDescription gt parameter Example reading the fault description 1 To read the latest entry stored in the predefined error field write the value 0 to the parameter lt FaultHistoryNumber gt 0x2833 2 Read the fault description by means of the lt FaultReactionDescription gt parameter 0x2832 lt FaultReactionDescription gt FaultReaction Index Subindex Name Data type Persistence Value range Default 0x2832 0 FaultReactionDescription STRING 64 char DSV lt FaultHistoryNumber gt FaultReaction Index Subindex Name Data type Access Persistence Value range Default 0x2833 0 FaultHistoryNumber UINT8 rw N 0 7 0 8 1 4 Objects 0x2822 0x2823 Error Handler Address Time These parameters store information which could assist to debug software malfunctions The user may be asked to pass these values to our service personnel in order to identify software malfunctions ErrorHandler Index Subindex Name Data type Persistence Value range Default 0x2822 Ad
50. following interface parameters are available lt Type gt 0x6102 Selection of the sensor type interface type by writing the parameter lt Type gt 0x6102 Sign 0x6103 Setting the sign of the interface actual value sign by writing the parameter Sign 0x6103 lt TransducerPort gt 0x3264 Selection of the transducer port by writing the parameter lt TransducerPort gt 0x3264 This parameter carries the index of the input where the actual physical values are coming from For example lt TransducerPort gt can carry the index of the actual value of analog input 3 0x3204 Table 37 Interface parameters 6 3 3 1 1 Objects 0x6100 0x6104 Actual value routing Valve ActualValueConditioning Persis Index Subindex Name Data type Access tence Value range Default 0x6100 MaxlnterfaceNo UINT8 N UINT8 4 0x6101 InterfaceNo UINT8 1 4 DSV 0x6102 Type INT8 INT8 DSV 0x6103 Sign INT8 1 1 1 0x6104 ActualValue INT16 INT16 None lt MaxlnterfaceNo gt This parameter indicates the number of available interfaces in the device lt InterfaceNo gt This parameter defines the number of the referenced interface The parameters as stated in the procedure described in chapter 6 3 3 1 relate to the interface defined with this parameter The following interfaces are available on the device lt InterfaceNo gt Connection Reserved 13 referenced interface 2nd referenced interface 3 d
51. id u Pressure controller structure Figure 38 88 Version 1 1 09 08 USER MANUAL Firmvvare RKP D B99224 DV007 CE400 O Moog GmbH 7 Pump functions Controller 7 2 6 2 Controller parameters The controller parameters described in the following chapters are used to set the behavior of the pressure controller The controller structure in figure 38 shows at which position in the structure the individual parame ters act Controller parameter sets Sixteen predefined parameter sets with different controller settings are available which are activated by setting the parameter lt ActiveParameterSetNumber gt 0x2350 or using the device s analog inputs gt Chapter 7 2 6 3 Object 0x2350 Active parameter set number page 92 7 2 6 2 1 Objects 0x2304 0x2311 Proportional gain lt ProportionalGain gt The proportional gain of the pressure controller Usual values 0 5 2 ValvePressureControl Persis Index Subindex Name Data type Access tence Value range Default 0x2304 1 16 ProportionalGain FLOAT32 rw Y 0 inf DSV lt ProportionalPart gt The proportional portion of the pressure controller s proportional controller unit This parameter can be used to observe the behavior of the proportional portion ValvePressureControl Index Subindex Name Data type Access Value range Default 0x2311 0 ProportionalPart FLOAT32 ro FLOAT32 None 7 2 6 2 2 Objects 0x2305 0x2307 0x2310 Integrator lt I
52. lt CpuSupplyVoltage lt 3 5 V The following fault reactions are thrown Fault Code hex Fault reaction CpuSupplyVoltage lt 3 1 V 07 Internal supply voltage too low CpuSuppyVoltage gt 3 5 V 08 Internal supply voltage too high Table 67 Fault reactions for CPU supply voltage failure Hardware DiagnosticData Index Subindex Name Data type Access Persistence Value range Default The power supply voltage should be in the range of 18 32 V to ensure proper operation 8 2 5 2 Object 0x2804 Power supply voltage This parameter holds the value of the power supply voltage A fault reaction is thrown if the parameter is out side it s nominal range Nominal range 17 V lt PowerSupplyVoltage lt 32 5 V The following fault reactions are thrown Fault Code hex Fault reaction PowerSupplyVoltage lt 17 V Power supply voltage too low PowerSuppyVoltage gt 32 5 V Power supply voltage too high Table 68 Fault reactions for power supply voltage failure Hardware_DiagnosticData Index Subindex Name Data type Persistence Value range Default 0x2804 0 PowerSupplyVoltage UINT16 N UINT16 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 126 8 Diagnostics Fault reaction 8 2 5 3 Object 0x2805 PCB temperature This parameter holds the value of the temperature on the board A fault reaction is thrown if the parameter value falls below or exceeds the following temp
53. n lqouoneoliddy l u 1io i6uddeyyopd Jejeure je qBuiddeyjopyanisoey g deuupd 1091 0 opaulsiselqouoneoddypeddenoisqunN Sulddeyyopdl Al kipuz Jojawese qBuiddeyjopyanisoey Jwnudewupd 1091 0 c amp LNIN p ddeyy go n lqouoneoliddy l u 10 46urdde Nopd Jojawese qBuiddeyjopyanisoey deuupd 009140 009140 9502087 191 c amp LNIN p ddeyy go m lqouoneorddyul u L0 J6uiddejyopd Jojawese qBuiddeyjopyenisoey o deuupd 009140 opduisioe qouorneorddypeddejvjO4equinN buddewopdaNnadaHIs Jojawese qBuiddeyjopyenisoey o wnudewupd 0091X0 9LINIn Jeu Ju9 3 Opde eoeuulr JejeurejequomeoiunuiuogopdeAreoeH 6071 0 8LNIN ed uoissiusueJ opdgeAie eHuir JOJOWEIE qUO JEOIUNWWODOP_aAl900Y slunupd 6071 0 969987 12 opd gp snpiqoO opdeweoeuuip Jejeure je quomneoriunujul02OpdeAle2eH 6071 0 9LINIn Jeu Uu OPASASIOHPIE JeieuEIglUOUEOIUDUUUUOCHODASAISOeL zlunipd d0T1x0 8LNIN edA UOISSILISUEI 1 OPASAISISHPIS Jejeurejequomneorunuiuo2opgqeAre2eu z uuupd 0 1 0 969987 12 gt 202 opdeweoeupie Jejeurerequomneoiunuiuo2opgeAie29H 2 cot LXO 9LLNID oDueij onjeA eouasisied gt 2 d4A ejeg Jeul 1u9 3 opdeweoeupuz JejeureequomeoiunuiuogopgdeAreoeH euieu JojouieJed euieu yo
54. needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 74 7 Pump functions Controller 7 2 Controller 7 2 1 Control modes Control mode switching The device can be run in the following control modes The control mode of the device is set with the parame ter lt ControlMode gt 0x6043 Control position open loop c Chapter 7 2 3 Control position open loop page 80 Control position control closed loop c Chapter 7 2 4 Control position closed loop page 81 Pressure control open loop c Chapter 7 2 5 Pressure control open loop page 83 Pressure control closed loop gt Chapter 7 2 6 Pressure control closed loop page 85 p Q control c Chapter 7 2 7 p Q closed loop page 93 Power limitation The control modes 2 3 4 and 5 work parallel to the power limitation gt Figure 39 page 94 If the power limitation is active enabled with control word bit 11 then the lowest controller output is for warded to the pump Description of the power limitation function gt Chapter 7 2 8 Power limitation page 95 Description of the control word gt Chapter 5 3 1 Object 0x6040 Control word page 27 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 75 7 Pump functions Controller 7 2 1 1 Object 0x6043 Contr
55. of an error in the device The CANopen communication profile DS 301 defines the emergency error codes Description of the coding of the emergency message Chapter 8 2 2 Emergency message page 117 EMCY 0x80 Node ID 1014 Used to communicate emergencies Table 12 Emergency object EMCY 1 The COB IDs according to the predefined connection set can be changed manually 2 7 Network Management NMT Our hydraulic servo valves and radial piston pumps act as NMT slaves thus a NMT master must be present within the network to achieve the desired functionality Each module within a CAN network can be uniquely identified by its NMT address The NMT address corre sponds to the node ID The node ID is essential for the operation of the module within a CAN network which is a number between 1 127 The node ID can be configured via the LSS gt Chapter 2 9 The device Layer Setting Services LSS page 14 0 broadcast message Used to control the network status of a partici pant Table 13 Network Management object NMT Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 12 2 Access over CANopen Node Guarding 2 8 Node Guarding The Node Guarding object is used to monitor the network status The NMT master transmits the object cycli cally to the NMT slaves If a NMT slave does not respond within a defined span of time node life time or if the NMT slave s communication status has chang
56. page 42 Chapter 6 2 1 5 Object 0x3310 Pressure setpoint parameter page 43 6 2 1 8 Object 0x4042 Device mode default The parameter lt DeviceModeDefault gt can be used to save the set device mode on the device as default value Default values are always applied when starting the device The restore command sets the default values to factory defaults Device Persis Index Subindex Data type Access tence Default Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 45 6 Signal routing and scaling Actual value path 6 3 Actual value path The actual values are 16 bit integers A 100 signal corresponds to 16384 decimal gt Chapter 1 5 Definitions page 3 6 3 1 Position actual value path The following figure shows the position actual value path and the parameters influencing this behavior The parameter 0x6301 holds the position of the main stage The parameter 0x3235 holds the value of the RKP D stroke ring position the External LVDT value After the scaling the value becomes the actual value External LVDT raw value lt ActualValue gt 0x6301 position controller Figure 10 Position actual value path Scaling of the External LVDT raw value is done according to the following formula CustomerScalingFactorNumerator CustomerScalingFactorDenominator ActualValue External LVDT raw value CustomerScalingOffset x ActualValue External LVDT value 6 3
57. parameters are savable in order to provide a choosable bootup status The following table describes the behavior of the savable and volatile parameters when performing a save bootup or restore operation Savable Volatile parameters parameters with associated default parameters without associated default parameters At save Value saved Value of default parameter saved Nothing saved At bootup Saved value loaded Saved value of the default parameter Factory default value loaded loaded At restore Factory settings Factory settings loaded to default parame Factory default value loaded loaded ter and volatile parameter Table 72 Behavior of savable and volatile parameters There is the possibility to store all non volatile parameters or only a specific parameter group which lies within a certain object index range The write access to any parameter will not affect its default value The following table shows the different parameter groups and where they are found in the index range as de fined in the DS 301 the parameter used to store the corresponding parameter group is shown in the last col umn Communication 0x1000 0x1FFF lt SaveCommunicationParameters gt 0x1010 subindex 2 Application 0x6000 0x9FFF lt SaveApplicationParameters gt 0x1010 subindex 3 Manufacturer defined 0x2000 0x5FFF lt SaveApplicationParameters gt 0x1010 subindex 4 Table 73 Parameter groups store command The signa
58. positive input Usual values 0 01 0 08 ValvePressureControl Index Subindex Name Data type Value range Default 0x2308 1 16 DifferentiatorGain FLOAT32 0 inf DSV lt DifferentiatorGainDecompress gt The pressure controller s differentiator gain decompress that effects the negative input Usual values 0 01 0 08 PumpPressureControl Persis Subindex Name Data type Access tence Value range Default 1 16 DifferentiatorGainDe FLOAT32 rw Y 0 inf DSV compress lt DifferentiatorT1 gt The time constant of the pressure controller s differentiator in seconds ValvePressureControl Persis Index Subindex Name Data type Access tence Value range Default lt DifferentialPart gt The differentiator portion of the pressure controller s differentiator This parameter can be used to observe the behavior of the differentiator portion ValvePressureControl Persis Subindex Name Data type Access tence Value range Default 0 DifferentialPart FLOAT32 ro N FLOAT32 None 7 2 6 2 5 Object 0x2418 Pressure controller output This parameter indicates the actual pressure controller output value which is forwarded to the position control ler ValvePressureControl Persis Index Subindex Name Data type Access tence Value range Default 0x2418 0 ControllerOutput INT16 ro N INT16 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 90 7 Pump functions Co
59. qasa amasisa saka as Physical pump interfaces siemens InputType values analog input D lt lnputType gt values analog input 1 U U a lt lnputType gt values analog input 2 U ire lt lnputType gt values analog input 3 U U U u uQ lt lnputType gt values analog input A Scaling parameters of analog outputs ue Definition of the position setpoint source Definition of the pressure setpoint source U U Device mode valu6s eet emet eter et qe ute tete peer x e ge equ te e Poe bee ee Interface parameters e emet roe e Even eu denn He Reb Pan EES vr Ee Re pak Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 List of Tables Table 38 lt InterfaceNo gt values iii 49 Table 39 Interface types uy y BR a a te A taa etiem KAN eben 50 Table 40 Interface sign values a aka AE RA KAN GEL ABA a ANA EN Gan AA a DN aa AA ana Ka AGA Ka nag a Haa an 50 Table 41 Analog inputs with value parameters ss 51 Table 42 Bit coding of the transducer port value ss 51 Table 43 Definition of the limit value status 57 Table 44 Data structure of the scaling factor 58 Table 45 Possible ramp type values ss 59 Table 46 Ramp status indicated in the status word 60 Table 47 Definition of the limit value status 68 Table 48 Data structure of the scaling factor 69 Table 49 Possible ramp type va
60. reached its end value Position demand value generator c Chapter 7 1 2 5 Ramp page 59 Pressure demand value generator Chapter 7 1 3 5 Ramp page 70 O Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 29 5 Device control Bootup of the device Bit 10 Limit value reached If this bit is activated one of the setpoints is limited by the corresponding limit function set with the demand value generator functions Position demand value generator gt Chapter 7 1 2 3 Limit function page 57 Pressure demand value generator gt Chapter 7 1 3 3 Limit function page 68 Bit 11 Control deviation If this bit is activated a control deviation is indicated by one of the control monitoring functions i e the control deviation has been outside the set tolerance band for the duration of the delay time gt Chapter 7 2 2 Monitoring page 77 Bit 13 If this bit is activated flushing mode is active gt Chapter 7 2 11 Flushing mode page 104 Bits 14 If this bit is activated the hold pressure set values are active c Chapter 7 2 10 Local holding pressure switchover page 102 Bit 15 Ramp frozen If this bit is activated one of the ramp outputs is frozen Position demand value generator c Chapter 7 1 2 5 Ramp page 59 Pressure demand value generator gt Chapter 7 1 3 5 Ramp page 70 5 4 Bootup of the device The bootup procedure is according to the DS 301 Th
61. referenced interface 4 referenced interface Table 38 lt InterfaceNo gt values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 49 6 Signal routing and scaling Actual value path lt Type gt This parameter defines the type of actual value conditioning currently selected by the interface number pa rameter 0x6101 Meaning Interface deactivated no function Reserved Pressure sensor Scaling gt Chapter 6 3 3 3 Objects 0x6120 0x6125 Actual value con ditioning for pressure transducer page 53 Reserved Reserved Analog direct no further scaling possible Sign Reserved Table 39 Interface types Using this parameter the sign of the actual value interface currently selected by the interface number parame ter 0x6101 can be changed Meaning Positive Negative Table 40 Interface sign values eActualValue This parameter contains the conditioned actual value of the interface currently selected by the interface num ber parameter 0x6101 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 50 6 Signal routing and scaling Actual value path 6 3 3 1 2 Object 0x3264 Transducer port This parameter defines the transducer port currently selected by the interface number parameter 0x6101 that carries the index of the input where the actual physical values are coming from
62. supply voltage too high 09 Internal reference voltage too low 0A Internal reference voltage too high cl ool l ol ol S IN OB Internal current too low DC Internal current too high Electronics temperature too low lt 20 C Electronics temperature too high gt 85 C Electronics temperature exceeded gt 105 C Current sensor circuit failure Pilot single stage LVDT cable break Pilot single stage LVDT position out of range Pilot single stage LVDT circuit failure Main stage LVDT cable break Main stage LVDT position out of range Main stage LVDT circuit failure Internal pressure transducer cable break Internal pressure transducer circuit failure Internal pressure transducer pressure peak Analog input 0 supply cable break short circuit Analog input 1 supply cable break short circuit Analog input 2 supply cable break short circuit Analog input 3 supply cable break short circuit Analog input 4 supply cable break short circuit Analog input 0 current too low 4 20 mA ADC overflow voltage Table 66 Fault reaction status bits part 1 of 4 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 122 8 Diagnostics Fault reaction Subindex of Fault code 0x2831 7 Fault description Analog input 1 current too lovv 4 20 mA ADC overflovv voltage Analog input 2 current too lovv 4 20 mA ADC overflovv
63. the status word bit 10 Status Meaning Input signal not limited Input signal limited Table 47 Definition of the limit value status Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 68 7 Pump functions Demand Value Generator 7 1 3 4 Scaling This function is used to scale the pressure setpoint i e to influence the input signal s value range The output signal is derived from an offset and the multiplication of the input signal with a factor sets the signal s slope according to the following function output input x Factor Offset numerator Factor denominator output slope lt Factor gt 0x63A2 lt Offset gt 0x63A3 input Figure 26 Scaling function ValvePressureControl DemandValueGenerator Scaling Persis Value ndex Subindex Name Data type Access tence range Default 0x63A2 0 Factor UINT32 Y UINT32 0x00010001 0x63A3 1 Offset INT16 Y INT16 0x63A3 2 Unit UINT8 N UINT8 0x63A3 3 Prefix INT8 N INT8 Chapter 1 6 2 Definition of unit and prefix page 5 lt Factor gt Factor by which the input is multiplied It is calculated from a numerator upper 16 bits of the parameter anda denominator lower 16 bits of the parameter Bit 31 16 15 0 Meaning Numerator Denominator Table 48 Data structure of the scaling factor The default value 0x00010001 corresponds to the factor 1 lt Offset gt The offset is
64. type Access tence Default 0x6324 Offset INT16 rw 0x6324 Unit UINT8 ro 0x6324 Prefix INT8 ro Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 64 7 Pump functions Demand Value Generator 7 1 2 7 Hybrid mode correction In the hybrid mode a constant pump typically not connected to the bus and a solo pump operate to the same volume This functionality requires the knowledge of the constant pump s flow volume This flow volume volume of the hybrid pump is set with the parameter lt HybridFlow gt 0x2147 and is given as percentage of the solo pump maximum volume gt Chapter 1 5 Definitions page 3 The hybrid adjustment is done within the demand value generator before the position controller The transfer behavior is as follows output input x 16384 hybridflow hybridflow Figure 23 shows the transfer behavior for the hybrid mode and also the solo mode for comparison purposes The calculation of the flow demand for the servo pump servo demand is as follows flow constant pump servo demand total demand x 16384 flow constant pump resulting internal flow demand for the servo pump servo demand flow demand to the servo pump total demand flow of the constant pump max 80 of the servo pump Figure 23 Transfer behavior hybrid mode solo mode Enabling hybrid operation The hy
65. ubis AeA euieu JojouieJed euieu yoo uoneoyi2ods uBspulAjA Buiddeui Odd z 6019 0 157 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary lt ureddn gt 89 26 LE 10 pe ued 1lo lqO S lq L purmo WWI 40jeJeue5enjeApueuleq o4uo2uolisogdeA eA moljun ds 1469 0 SINI xIJ 1d IOlluoOuollISOd A PA udids 076940 8LNIN hun IOlluoOuollISOd A PA iunjds 076940 19126 yureddn WWI 40jeJeuecjenjpeApueuJleq ONUODJUONISOYSNJEA ddnuuids 076940 SINI xIJ 1d IOlluoOuollISOd A PA udids 169 0 8LNIN hun IolluoOuolnliSOd A PA iunjds VLEQXO 9LLNI Jutod1eSpIoH Jojpe4euecjenjeApueuleq jo4uo2uoriisodeA eA piuiesids VLEQXO SINI xIJ 1d IOlluoOuolnliSOd A PA udids LLE9XO hun IOlluoOuolnlISOd A PA iunjds LLE9XO 9LINI anjejsousiajoy JoyessuaHenjeAjpuewaq jo4uoouoriisogeA eA joujds 11 69 0 SINI xIJ 1d IOlluoOuollliSOd A PA udids 016940 8LNIN hun Jo3juo2uorisogaeA eA iunjds 016940 9LINI enjeApueuieq JojpejeuecjenjeApueuleq jo4uoouotiisogeA eA ulepids 016940 SINI xUJ 1d Jo3juo2uorniisogeA eA udids 1069 0 8LNIN z UN IOlluoOuollISOd A PA iunjds z 1069 0
66. 06 0 c amp LNIN ueg 0106 0 c amp LNIN Jejunog9opqeAreoeuis ueo 0106 0 8LNIN opdlluusuei l ueg mpd LLOEXO 8LNIN d uoissiuusuei J JOINJOBJNUe OP_ IWSUEL Ul ueg g ueuiuumpd 010640 8LNIN ed uoissiuusuei Jenjoejnue Nop diruusue pg ue 010640 8LNIN add uoissiuusuei 181n 92JNUENOPd LUSUE1 puz ue Huewuumpd 010640 8LNIN ad uoissiusuei LJANJE NULPA USUL 1 ue o ueuiuumpd 010640 z 8LNIN 1J quinN uolsiH1ined uonoeegne s une z 6682 0 Jeu GO Bueu onjeA Su lsISi d Z SNId1S d ejeg uondudsaguonogaHineg uonop Hllne i euieu JojouieJed euieu MOO uoneoyi2ods ospnej Bulddeul Odd z 4682 0 147 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary EIN LE 10 pL ed Pafqo G2 lq L uonisogqJebBu sod6a q81 x0 EIN yseunigiOI A911966u L 1966o1eleg Win O81 X0 8LNIN dojs1 6 u 1J 66oTeleq dis61 881 X0 8LNIN V81 X0 c c 66199 L c NI db uL 1J 66oTeleq sedha 68
67. 0x63B1 AccelerationTime UINT16 UINT16 Ox63B1 Unit UINT8 UINT8 0x63B1 AccelerationTime Prefix INT8 4 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 71 7 Pump functions Demand Value Generator lt AccelerationTime gt This parameter defines the output signal s maximum rate of change The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 as shown in the figure above The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms 7 1 3 5 2 Ramp type 2 two quadrant ramp This function limits the input signal s rate of change to an acceleration time and a deceleration time Activated with ramp type 0x63B0 2 c Chapter 7 1 3 5 Ramp page 70 Description of the acceleration time parameter gt Chapter 7 1 3 5 1 Ramp type 1 one quadrant ramp page 71 input 100 100 output lt AccelerationTime gt 100 lt DecelerationTime gt 100 Figure 29 Ramp type 2 Value Index Name Data type range Default 0x63B4 DecelerationTime UINT16 UINT16 0x63B4 Unit UINT8 UINT8 0x63B4 DecelerationTime Prefix INT8 4 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 72 7 Pump functions Demand Value Generator
68. 14 of the status word on the pump side Furthermore the holding pressure switchover can be forced externally by setting the bit 14 in the control word at anytime The completion of this action will also be acknowledged by setting of bit 14 in the status word Bit 14 of the status word is set whenever it is switched over to local holding pressure setpoints internally The following table shows the relations between the control word bits 13 and 14 and the status word bit 14 lt ControlWord gt lt StatusWord gt Bit 14 Holding pressure setpoints remain inactive Pump continues monitoring trigger level When reaching the trigger level local holding pressure set points will be activated Local holding pressure setpoints activated regardless of trigger level Table 58 Control word and status word bits for local holding pressure switchover Control word bits T lt ControlWord gt gt Chapter 5 3 1 Object 0x6040 Control word page 27 Activate holding pressure switchover Force holding pressure switchover Table 59 Control word bits Status word bits lt StatusWord gt 0 12 Chapter 5 3 5 Object 0x6041 Status word page 29 14 Holding pressure setpoints active Table 60 Status word bits Status machine of the hold pressure switchover ACTIVE wait for trigger lt ControlWord gt bit 14 1 or trigger reached local dwell pressure setpoints active Figure 43 Status machin
69. 2 and 5 Chapter 7 2 1 1 Object 0x6043 Control mode page 76 7 1 2 1 Object 0x6310 Demand value The demand value indicated by this parameter is generated from the setpoint by means of the functions in the demand value generator and forwarded to the position controller ValvePositionControl_DemandValueGenerator Index Subindex Name Data type Default 0x6310 DemandValue INT16 None 0x6310 Unit UINT8 0 0x6310 Prefix INT8 0 Chapter 1 6 2 Definition of unit and prefix page 5 7 1 2 2 Object 0x6311 Reference value The reference value is the value that corresponds to 100 of the setpoint ValvePositionControl_DemandValueGenerator Persis Index Subindex Name Data type Access tence Default 0x6311 ReferenceValue INT16 ro 16384 0x6311 Unit UINT8 ro 0 0x631 1 Prefix INT8 ro 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 56 7 Pump functions Demand Value Generator 7 1 2 3 Limit function This function limits the value range of the input signal The limit is defined by setting the upper limit and lower limit parameters Bit 10 of the status word indicates whether the input signal is being limited or not gt Chapter 5 3 5 Object 0x6041 Status word page 29 input lt UpperLimit gt status word bit 10 limit touched limit function lt LowerLimit gt output lt UpperLimit gt
70. 224 DV007 CE400 Version 1 1 09 08 1 1 General information Selection and qualification of personnel 1 1 5 Typographical conventions DANGER N ACTIVE MS Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or major property damage Failure to observe these safety instructions will lead inevitably to death serious per sonal injury disablement or major property damage Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for major property damage Failure to observe these safety instructions might lead to death serious personal injury dis ablement or major property damage Identifies safety instructions that are intended to warn of slight personal injury or minor prop erty damage Failure to observe these safety instructions might lead to slight personal injury or minor prop erty damage Identifies important information Identifies listings Identifies references to another chapter another page table or figure in this manual Identifies a hyperlink within the PDF file Identifies steps in a procedure that should be performed in consecutive order Identifies the valve status Identifies LEDs of the valve for example MS Identifies a parameter name Used for references 1 2 Selection and qualification of personnel Only qualified users may work with the device Qualified users
71. 2893 1600 9 2517 2730 1 4560 7000 7031 6220 2 635 3200 80 4120 8799 21 451 9000 0332 421 111 463 55 3615 31 764 6711 40 46 401 252 462 000 64 94 19 48 31713 1811 6773 6238 12 653 6768 902 133 240 31 680 060 71 394 5010 1684 296600 716 652 2000 info argentina moog com info australia moog com info austria moog com info brazil moog com info china moog com info finland moog com info france moog com info germany moog com info hongkong moog com info india moog com info ireland moog com info italy moog com info japan moog com info korea moog com info luxembourg moog com info netherlands moog com info norway moog com info russia moog com info singapore moog com info southafrica moog com info spain moog com info sweden moog com info switzerland moog com info unitedkingdom moog com info usa moog com 2008 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 All rights reserved Subject to change without notice WHAT MOVES YOUR WORLD
72. 46 0 ActiveParameterSet UINT8 ro N 0 16 DSV lt ControlWord gt AnalogParameterSetSwitching Index Subindex Name Data type Persistence Value range Default 0x2141 1 16 ControlWord UINT16 Y 1 65535 DSV The parameter sets allow to save a control word At activation of a set the saved control word is applied to the local control word lt LocalControlWord gt 0x4040 The subindex of the control word points to the corresponding control parameter set Example Subindex 2 of 0x2141 holds the value 7 dec This means the device is set to the device status ACTIVE if the control parameter set 2 is activated by a cor responding signal applied at the selected analog input Description of the device states gt Chapter 5 2 1 Device states page 25 lt PressureSetSelector gt This parameter holds a pressure controller parameter set number At activation of a set the saved number is applied to the active parameter set number ActiveParameterSetNumbers 0x2350 AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 0x2142 1 PressureSetSelector UINT8 rw Y 1 16 1 0x2142 2 PressureSetSelector UINT8 rw Y 1 16 2 0x2142 PressureSetSelector UINT8 1 16 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 107 7 Pump functions Analog parameter set switching lt Mode gt This parameter is used to activate deactiv
73. 4652187 191 c ANID p ddeyy go n lqouone liddy l u 10 45uddeyyopdi JejoueielJPuddenopdlusuel L gldeunpd 10 1 0 opqujsioefqouorneoiddypeddeyyOo4equnN Jojawese qbulddeyyjopgyiwisuel Juuinudeunpd LOVIXO c LNID p ddeyy go n lqouoneoliddy l u 10 46urdde Nopqd JejouweielJPuddenopdlusuel zldeunpd 00V EXO 00V LXO 06921 87191 c amp LNIN p ddeyy go m lqouorneorddyu u 140 16uiddeyyopci JejeurejegBuidde Nopqniusuea loldeunpd 00V EXO opqujsioefqouoneoiddypeddeyyo4equnwN Buiddenjopausuei11st Jojawese qbuiddeyyjopgyiwisued oJunudeunpd 00V LXO 9LINIn JUL HTU AZ OpdHwsueI Lyly Jejeurerequomeoiunuiuo2OpglIlsuei 6081 0 9LINIn SUI llq uul LU Jojeurerequomeorunuiuo2OpglIlsuei L gluunpd 081X0 8LNIN ed uoissiuisueJ opdluusueu ulr Jejeure1equomeorunuJuJO 2 Op dI Uu SUA l elumpd 081X0 S69S8FZT IZ gt opda gp snpiqoO opdinusuej uy Jojeurerequomeorunuiuo2opglI lsuei l g qoo1pd z 081X0 9LLNID bu onjeA eouasisied gt 2 d4A ejeg Jeu LJUSAT opdlluisue4u l pig Jejeurejequomeoiunuuo2opgniuusue l euieu JojouieJed euieu 20 uoneoyi2ods zlumpd Bulddeul Odd z 4081 0 140 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 0
74. 6120 0x6125 Actual value conditioning for pressure transducer The actual value conditioning of the pressure transducer interface provides the actual pressure value which is given to the controller Using the parameters described here the scaling and offset of the pressure value can be set as shown in the following figure Precondition The type of actual value conditioning needs to be configured to pressure sensor type This is done by writing the value 2 to the parameter lt Type gt 0x6102 gt Chapter 6 3 3 1 1 Objects 0x6100 0x6104 Actual value routing page 49 gt Table 39 page 50 lt ActualValue gt 0x6104 lt MaximumPressure gt 0x6121 lt MinimumPressure gt 0x6120 inss li interface input lt MaximumTransducerSignal gt lt MinimumTransducerSignal gt 0x6125 0x6124 Figure 13 Scaling and offset of the pressure value Valve ActualValueConditioning Persis ndex Subindex Name Data type Access tence 0x6120 1 MinimumPressure INT16 rw N 0x6121 1 MaximumPressure rw N 0x6123 PressureOffset 0x6124 1 MinimumTransducerSignal rw N 0 0x6125 MaximumTransducerSignal INT16 INT16 16384 MinimumPressure Pressure value referring to the minimum sensor signal when pressure offset equals 0 MaximumPressure Pressure value referring to the maximum sensor signal when pressure offset equals 0 PressureOf
75. 9 08 Moog GmbH 10 Object dictionary Lg Jo ped Areuonsip alqo 9 eiqe L e qeuz Hulyoymsjesiajewese qboyeuy pu l sied Si 12X0 JeonpsueJ Lanos Bulyoymsjesiajawese qBojeuy Jpn sied v 1cX0 Jojoo esiegeunssaeJg Bulyoymsjesiajawese qBojeuy S Huunu ssidied cY Lexo cv LoXO Jojoejes1egeunssaJg BuiuoiiMS1esJojourege qBojeuy olunuessidied cv LXO PAOMIO1U0N9 HulyoymsSjesiajowese qBojeuy 19 Lv 1cX0 LY LZXO GEGG9 9LLNID PJONAIO NUOD BulyoymsSjesuajowese qBojeuy Lv LZXO CEO eE1VO 1 4 uoresueduone6eyee Jejouooduing Jopje sud 0212 0 9LINI 9LINI juiodiesuonisogjoods o31u05eunsseJgdpioH lasidsplu 601240 9LINI 9LINI luiodi S nss iq o1u05eunsseJgdpioH jessudpiju 801240 9LINI 9LINI 18661 eansseJgpjoH o31u05eunsseJgpjoH 6 nplu 2012 0 01770 8LNIN fes quoismod wayskS Ajpamd 400240 e ININ et INIfT p ddeyy go n lqouoneoliddy l u 10 i9uddeyyopd Jajawese qBuiddeyyjopqywisuel OV LXO 0V LXO 4692187191 c amp LNIN gt peddenego lqouoireoliddyulN q 4046uiddeyyopd Jejeureje qBuiddeyyjopgyiwsued rz deunpd z O0V LXO oDueij onjeA BRIE 2 d4A ejeg opduls15 qOuo soiiddyp dde WiOi9QunN buddewopgdwsugI ut
76. 9LLNID pioANolluoo Dua 0r09x0 8INI UOISSILISUEI NVOlEoo7 u1 w3190 6189 0 81N Pl poN louueti NVOlEoo7 pouwe190 cLasxo c LNID sseJpy4ejeueJe NVOlEoo7 JpeuleJoo 11 46 0 c LNID JejeureJe Nvole907 Jeduu 120 0199540 8LNIN epoNejouieuuels ueg 8907 UJS90 c08SX0 000005 0000001770 ueg 8907 apqool 1089 0 221 AV Jeyguep e npoiN ueg 8907 epipouo0 0099540 ASO 8LNIN d uolssiwsue Jounjoesnueyyop dirusuei NVOIE20 quip ueg 8907 gluewuinpdsol 80VSx0 ASO 8LNIN edA uoissiuisuei Jounjoejnuepjopdywsuel NYO e9071 PE ueg 8907 zlucuuumpdooi 80VSx0 AGO 8LNIN adh uoissiuisuei 1e4njoejnue yopdiusUeJ NY912907PUZ ueg 8907 LJuewuinpdsol 80VSX0 ASQ 8LNIN adh uoissiuisuei Jounjoeynuepyopdywsues NV O e901IS ueg e007 0 Jugwumpdoo 80VSX0 peddejego joefqouoneoiddyuiNeu L40 15ulddeyyopel sajewese qBurddejAop qii uusuea l NVOI 20 eldeunpdoo 0VSXO 0VSx0 c NI Bueu onjeA eouasisied gt GEINT d4A ejeg paddewagol joefqouoneoiddyuiNeu L40 15ulddeyyopel sajewese qBurddejqop qii uusuea l NVOlEoo71 euieu JojouieJed euieu MOO uoneoyi2ods rz deuupdoo Buiddeui Odd z 0VSX0 155
77. AJEUOHOIP 1oe qo y jo e s oi Sq3 eu SOUS gq 9Iu04129 3 li 03 ue piA01d s nb uo D 1euonoip 199 qO 01 135 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary c amp LNIN c amp LNIN Lg Jo z wed Areuonsip alqo G7 eiqe L SJejeurejeqinejeqpeuiyega4eunioejnueNeJo1seH SJojeureJegninejeqe401seH gledisi LLOLXO c amp LNIN c amp LNIN sJOJOUBIe d NeEJaquoljeoi ddyasojsey SJ9jeueJegiinejeqeJo1seuH zledisi LLOLXO c amp LNIN c amp LNIN SJejeureJeginejequoneoiunuiuo98401seH SJojeureJegninejeqoeJ01seH iL edisi LLOLXO c amp LNIN c amp LNIN SJejeureJegnineje qive401seH SJojeureJegninejeqoe401seH oLedis1 LLOLXO c amp LNIN c amp LNIN SIDJOWBIE A paUljeqJounjoRjnuepares SIOJOWEIE YOIOIS gledoys 0101 0 c amp LNIN c amp LNIN S1ojourejequomeorddyoe es 19101 zHedols 0101 0 c amp LNIN c amp LNIN SJejeurejequomneoiunuiuooe eg SIOJOWEIE YJOIOIS Hedols 0101 0 c amp LNIN c amp LNIN SIDJOWBIE WOAeS SIOJOWEIE YOIOIS oledoys 0101 0 8LNIN 8LNIN 4019 JUIL 9417 zuy 00010 9LINIn 9LINIn awl pent 001 0 c amp LNIN c amp LNIN PISPON epipou 8001X0 Jeun p9 ONIHIS UOISI8 SIEMYOSIJOINJOBNUeY JOAMJSUEUJ
78. AL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 7 Pump functions Controller Setpoint source selection Which setpoint is forvvarded to the demand value generator depends on the set device mode 0x6042 and the status of the device which is controlled using the control word lt ControlWord gt 0x6040 or lt LocalControlWord gt 0x4040 Detailed description of the signal flow of the demand signal and the parameters influencing this behavior gt Chapter 6 2 Command value path page 39 Suck limitation The suck limitation function ensures a minimum flow of the pump By means of the parameter lt SuckLimitationForPD gt 0x2317 the minimum position is specified in case of pressure control Chapter 7 2 6 2 7 Object 0x2317 Suck limitation page 91 Power limitation Detailed information on the power limitation gt Chapter 7 2 8 Power limitation page 95 7 2 6 1 Controller structure PIDT1 controller The basic pressure controller structure corresponds to a PIDT1 controller however unlike a PIDT1 controller the DT1 partition is derived not from the control deviation but from the actual pressure value gt Figure 38 page 88 Integrator The integration range is limited by the parameter IntegratorControlRange 0x2307 The integrator gain is set by the parameter IntegratorGain 0x2305 The output of the integrator can be accessed through the parameter lt IntegratorPart gt 0x2310
79. AM Random Access Memory RKP D Radial piston pump with digital control ro Denotes read only access RPDO Receive Process Data Object Communication object that is received by a CANopen device rw Denotes read write access SDO Service Data Object a type of COB Used for transmitting non time critical data such as parameters SSI Synchronous Serial Interface STRING Array of Unsigned8 ASCII coded SYNC O Moog GmbH Synchronization obiect Table 6 Abbreviations part 2 of 3 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 6 1 General information Abbreviations Abbreviation Explanation Transmit Process Data Object Communication object that is transmitted by a CANopen device n bit unsigned Integer value value range 0 2 1 Uniform Resource Locator Verband Deutscher Maschinen und Anlagenbau German Engineering Federation Denotes write only access Table 6 Abbreviations part 3 of 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 7 1 General information Abbreviations For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 8 2 Access over CANopen Introduction 2 Access over CANopen 2 1 Introduction The device communicates via CANopen interface according to DS 301 This chapter is providing an overview of the capabilities over CANope
80. Access to parameter value via analog output There are 2 analog outputs Both outputs have the type 4 20 mA grounded Each output has it s scaling parameter as shown in the following table 0x3244 Scaling da0ref 0x6301 gt Chapter 6 3 1 1 Object 0x6301 Actual position value page 46 0x3265 Scaling dalref 0x6381 gt Chapter 6 3 2 2 Object 0x6381 Actual pressure value page 48 Table 33 Scaling parameters of analog outputs The customer scaling is done according to the following formula daNref 1 daNref 2 output input x daNref 3 Where N Represents the analog output number 1 2 8 Parameter subindex output daNref 1 daNref 2 input daNref 3 Figure 8 Analog output scaling Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 38 6 Signal routing and scaling Command value path AnalogOutput0 Index Subindex Name Data type Default 0x3244 Scaling INT16 16384 0x3244 Scaling INT16 16384 0x3244 Scaling INT16 0 AnalogOutput1 Persis Value Index Subindex Name Data type Access tence range Default 0x3265 1 Scaling rw Y 16384 0x3265 2 Scaling rw Y 16384 0x3265 3 Scaling rw Y 0 6 2 Command value path The commands for pressure and position are received via the CAN bus or as analog signals The following applies lt The position command via bus is delivered by the parameter 0x6300 lt Setpoint gt gt Chapter 6
81. B99224 DV007 CE400 Version 1 1 09 08 15 3 Device structure Actual value conditioning The actual value conditioning block uses the signals from the position sensor and the pressure sensor to gen erate the corresponding actual values Chapter 6 3 3 Interface assignment page 48 General functions The operational parameters of all valve functions are monitored on a continuous basis All errors which have occurred on the device are stored to a specific error field Description of this behavior Chapter 8 Diagnostics page 109 Control monitoring The control monitoring function makes it possible to detect a device malfunction in order to define an error re action for the corresponding control mode gt Chapter 7 2 2 Monitoring page 77 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 16 4 Device identification Object descriptions 4 Device identification The device has informational parameters that allow the identification of the device and permit the administra tion of the device within the machinery The following chapter includes the descriptions of the parameters pro viding this information 4 1 Object descriptions The following objects are described in this chapter Object number hex Page lt DeviceType gt ManufacturerDeviceName lt ManufacturerHardwareVersion gt lt ManufacturerSoftwareVersion gt lt ldentityObject gt lt De
82. IN hun Io luoo inss id A BA junsid 086940 9LINI 9LINI lulodjas o41u058JnssaJgeA eA y ssid 086940 SINI SINI xIJ 1d IOlluoOuolnliSOd A PA udids GSE9X0 8LNIN 8LNIN hun IolluoOuollIiSOd A PA iunjds GSE9X0 9LLNI 9LLNI pjouseJu OUO QUOS NEA MOojuowjds 9969 0 SINI SINI Xd Jo3uo2uorisogaeA eA udids vGE9KO 8LNIN 8LNIN hun IolluoOuolliSOd A PA iunjds 9 9 0 9LINI 9LINI piousaJu L1eddn jonuoouotisodeA eA ddnuow ds vSE9XO SINI SINI XIJ 1d udun 4969 0 8LNIN z 8LNIN yu junun z 4969 0 9LININ oDueij onjeA a0ua sIsidd gt 9LLNIN d ejeg eu Aejaq joguo2uotisogeA eA JojouieJed euieu MOO uluouulds uoneoyi2ods Buiddeui Odd gt 4969 0 161 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 9LINI 9LINI Le Jo ez wed Areuonoip 102140 5 erige L Bujeos JoyessuayenjeAjpuewsg 1 9 o33u05eunssaJgaA eA sjowapsid EVEOXO 10001 000 0 c amp LNIN c amp LNIN Bueog JoyesouaHenjeAjpuewesq 10984 o3ju05eJnssaJgaA eA yOJwWapsid eVE9X0 SINI SINI Xd Ioluoo inss id A PA udsid IVE9x0 8LNIN 8LNIN hun
83. LSS slaves The LSS slave can be uniquely addressed by its LSS address There is no other module in the vvorld vvith the same LSS address vvhich is assigned to the module by the manufacturer nformation about the LSS address is available from the name plate of the device or can be inquired by a LSS The LSS slave can be in two states either in the Operation Mode or in the Configuration Mode The LSS are activated when the LSS slave is in Configuration Mode This ensures that only the desired module listens to the LSS The LSS are used to set the node ID and baud rate of the CANopen device Before a configuration over LSS can take place the slaves need to be in configuration mode In configuration mode protocols such as the configure node ID protocol can be used D 71034 B blingen www moog com Mod D636 128 Rev B Type R16KB1M0VS92 BAA pp 350 bar S N D1234 Date 03 05 Signal fieldbus Supply 24 V DC A 7B LSS 40 61 1 1234 P T Figure 2 Name plate of a valve Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 14 3 Device structure 3 Device structure The complete device functionality is based on the DSP 408 This device profile defines the behavior of the de vice within the CANopen network and describes the device functionality and the object dictionary of the pa rameters The following figure shows the general architecture CANBus i analog I O R digital h device mode and
84. MasterProportionalGain gt Proportional gain for the pump controller output transmitted by the master on slave side held by the parame ter lt SpoolFeedForwardFromMaster gt 0x21A7 PumpController Persis Value Subindex Name Data type Access tence range Default Index 0x21AA 0 SpoolFeedForvvardFromMaster FLOAT32 rw Y FLOAT32 DSV ProportionalGain Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 101 7 Pump functions Controller 7 2 10 Local holding pressure switchover When running a RKP D in the device mode setpoint via bus setpoint data is typically transferred from the machine s controller to the pump with a fixed cycle time The ideal time for the switchover from position control to hold pressure control lays in between the cycle period and may vary from shot to shot Caused by the tiny but unavoidable jitter the repeatability of the injection process decreases which may impact the product qual ity To counteract this phenomenon the local holding pressure switchover function has been incorporated into the RKP D This function manages the transition from the velocity control phase to holding pressure phase in almost real time without getting the machine controller involved This way the transmission delay between the device and the machine controller has no influence This function is only needed for injection machines and fieldbus operated RKP D pumps Operation Local
85. NI ne q poyy lA q 2 jnejeq p40MJ0J1U02 620 1 9LLNIRQ oDueij onjeA eouejsisJa8d Z 9LLNID d4A ejeg P10MI01U09 2907 eoieq euieu JojouieJed euieu MOO uoneoyi2ods oolho Buiddew Odd gt 0 0 x0 151 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary Le Jo 81 ped Aueuonolp i lqo S eiqe 1 6099 0 c amp LNIN GEINT peddenego11elqo uogeouddyvuiNeu 4048uiddejNopd 1ajeuweie4Buiddenopaens2ox NVOIE901 pz deuupdoo 6099 0 8LNIN opdulsio lqouolmneorddyp ddeyyios qumnN Buiddenopasassenuit NV918907 g umudeuwupdoo 6099 0 c amp LNIN c amp LNIn peddejyego n lqo uomneoiddyuiNeu j404BuiddejNopd 4ejeurejeqgBuiddejqopgoeAre2eH NVOlE 071 ez deuupdoo c09GX0 4099 0 c amp LNIN c amp LNIN peddejyego n lqo uomneoiddyuiNeu j404BuiddejNopd 4ejeurejegBuiddejqopgeAre2eH NVOlEo071 9 deuupdoo c09GX0 8LNIN opdulsio lqouomneorddyp ddeyios qumnN Sulddeyyopd Al Hpie NVOlEoo71 zg uunudeuupdoo 4099 0 c amp LNIN c LNID peddejyego 11oefqo uoneoiddyuiNoeu j404BuiddejNopd 4ejeurejegBuirdde qopgeAreoeH NVOlEoo c i deuupdoo l 1098 0 1095 0 c amp LNIN c amp LNIN paddewagojioala0 uomneoiddyuiNoeu j404BuiddejNopd 4ejeurejegBui
86. NIeues 20 ellqoepi 8101 0 c amp LNIN JequinNUOISIA9H yalqoAiuap zllqo p 8101 0 c amp LNIN yalqoAiuap 1 lqoep 8101 0 c amp LNIN PIMOPUSA 20 ollqo pi 8101 0 9LINIn aul He qle Hs npold eeqieuoid ZLOLXO 9LLNIN ayu 9101 0 1 02 400 qoobswbwe 101 0 c amp LNIN gt dwejsewl uonnjoseduBiH 05115 gt ELOLXO 1 02 enjeA eouasisied gt 2 d4A ejeg Bess yyduselS uul Iplqoo U D D 3 o c 2 D 3 o eujeu yoojg uoneoyi2odsg qoofsuudsi Buiddeui Odd z cLOLXO 137 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary 9S0208T LOL et INIn LE Jo p Wed Areuonoip eloo 5 eiqe L p ddeyy g o r1oefqouoreorddy uiNeu L1046uddewopd JejeurejeqBuidde qopgdeAre2eH Io deuupd 091 0 opdusysefqouoneoddypeddenoiequnn Sulddeyyopd Al Hpie z uunudeuupd d091X0 c amp LNIN peddenegorselqouoneonddyuneu1104Buiddenopd JejeurejeqBuidde qopgdeAre2eH si deuupd 1091 0 1091 0 950 087 191 c amp LNIN p ddeyy go
87. NT8 rw DecelerationTimePositive UINT16 rw Unit UINT8 DecelerationTimePositive Prefix INT8 DecelerationTimeNegative UINT16 Unit UINT8 DecelerationTimeNegative Prefix INT8 1 2 3 1 2 3 1 2 3 1 2 3 lt z lt lt z lt lt z lt lt z Chapter 1 6 2 Definition of unit and prefix page 5 AccelerationTimePositive This parameter defines the output signal s maximum rate of change on the positive side The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 96 The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt DecelerationTimePositive gt This parameter defines the output signal s maximum rate of change on the positive side The deceleration time corresponds to the time that the signal needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt AccelerationTimeNegative gt This parameter defines the output signal s maximum rate of change on the negative side The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt DecelerationTimeNegative gt This parameter defines the output signal s maximum rate of change on the negative side The deceleration time corresponds to the time that the signal
88. Persis Value Index Subindex Name Data type Access tence range Default 0x2120 0 LeakageCompensation FLOAT32 rw Y FLOAT32 1 DSV 7 2 5 Pressure control open loop n the pressure open loop mode control mode 3 the behavior is the same as in control position closed loop The pressure demand value is handed to the position controller The povver limitation is located parallel to the position controller and can be active This control type is meant to be used only for start up or diagnostic purposes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 83 Controller 7 Pump functions 0669x0 enjeApueuleq 00 x0 uonisod 1869 0 enjeAjenio v uoneyuu BAIA 1O d Jemod 0092x0 lt uinuulxeW 2ewog minimum 1069 0 enjeAjenio v 1092x0 enjeAuoneiurieMog uomnisod gs Lexo 0s 9x0 jndinojejouo2 1069 0 enj eAjenioy Joje1ouoB pueulep ejnsseJd juiodies einsseid Figure 36 Pressure control open loop Description of the power limitation function gt Chapter 7 2 8 Power limitation page 95 84 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 7 Pump functions Controller 7 2 6 Pressure control closed loop In the pressure control closed loop mode con
89. USER MANUAL FIRMWARE RADIAL PISTON PUMP RKP D WITH CAN BUS INTERFACE B99224 DV007 CE400 Version 1 1 09 08 WHAT MOVES YOUR WORLD Copyright 2008 Moog GmbH Hanns Klemm SiraBe 28 71034 B blingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 191 E mail sales moog com Internet http www moog com Industrial 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 distributed with electronic systems without our prior written con sent Offenders will be held liable for the payment of damages Subject to change without notice Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Table of Contents Table of Contents E BUD een ut A istot Tables yu a a MR dam ee y a u aQ V LISTOM FIQUICS uit ie au REI ga Soe E eS uuu E vii 1 General information etui 1 1 1 ADout IS manuel ull u ARAR AA ERA NANE A R Yaa i 1 1 1 1 Reservation of changes and validity an ke AA KANAKA AA R en 1 121 2 Gompletenesss aaa s ns n dual E 1 URB Plase Ol Storage siet nag SANG e ree ne EE 1 1 1 4 Warranty and liability nn nn nennen nnne 1 1 1 5 Typographical conventi ris u itti t tette i tent tete tege 2 1 2 Selection and qualification of personnel
90. added to the scaled input value Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 69 7 Pump functions Demand Value Generator 7 1 3 5 Ramp The ramp function limits the rate at which the input signal changes The type parameter is used to activate a one quadrant two quadrant or four quadrant ramp or to deactivate the ramp function Whether the ramping function is running is indicated by the status word bit 9 Bit 15 of the status word is set if the ramp function was stopped Status word bit 9 Bit 9 1 If ramp input is limited Status word bit 15 Bit 15 1 The output of the ramp is held Description of the status vvord gt Chapter 5 3 5 Object 0x6041 Status word page 29 Control vvord bit 15 VVhether the output of the ramp is to be frozen is set vvith the control vvord bit 15 Control word bit 15 1 Ramp output frozen Description of the control vvord Chapter 5 3 1 Object 0x6040 Control word page 27 input lt ControlWord gt status lt Type gt ramp function ramp running parameters output Figure 27 Ramp function ValvePressureControl DemandValueGenerator Ramp Persis ndex Subindex Data type Access tence Value range Default 0x63B0 0 INT8 rw Y 0 3 0 lt Type gt This parameter defines the progression of the ramp Meaning Ramp deactivated Linear ramping time the same for all quadrants gt Chapter 7 1 3 5 1 Ramp type 1 one qua
91. age 29 Control vvord bit 15 VVhether the output of the ramp is to be frozen is set vvith the control vvord bit 15 Control word bit 15 1 Ramp output frozen Description of the control vvord Chapter 5 3 1 Object 0x6040 Control word page 27 input lt ControlWord gt status lt Type gt ramp function ramp running parameters output Figure 18 Ramp function ValvePositionControl DemandValueGenerator Ramp Persis ndex Subindex Data type Access tence Value range Default 0x6330 0 INT8 rw Y 0 3 0 lt Type gt This parameter defines the progression of the ramp Meaning Ramp deactivated Linear ramping time the same for all quadrants gt Chapter 7 1 2 5 1 Ramp type 1 one quadrant ramp page 60 Linear ramping times for acceleration and deceleration gt Chapter 7 1 2 5 2 Ramp type 2 two quadrant ramp page 61 Linear ramping times for acceleration and deceleration separated for positive and negative sides gt Chapter 7 1 2 5 3 Ramp type 3 four quadrant ramp page 62 Table 45 Possible ramp type values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 59 7 Pump functions Demand Value Generator Status ramp running The status indicates a ramp that is running This information is mapped to the corresponding bit in the status word Chapter 5 3 5 Object 0x6041 Status word page 29 Status Meaning The ramping functio
92. age will be sent onto the bus The hold set point of the device is controlled The device must be re enabled in order to return into normal operation Reserved Stop operation switch to device status NOT READY If a malfunction for the monitored fault is detected the device enters the NOT_READY state and an emer gency message will be sent onto the bus The power stage of the device is switched off while almost all device functions are stopped The device must be serviced Table 64 Fault reaction settings The device always sends an emergency message for fault reaction types greater than 0 The following figure shows which fault reaction takes place depending on the value assigned to the subindex of 0x2830 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 115 8 Diagnostics Fault reaction fault reaction N contains the fault code occurs subindex N of 0x2830 No holds value 0 considered subindex N of 0x2830 Yes holds value gt send emergency message subindex N of 0x2830 holds value 127 subindex N of 0x2830 holds value 3 NOT READY no status change subindex N of 0x2830 holds value 2 No FAULT HOLD FAULT Figure 46 Fault reaction behavior Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 116 8 Diagnostics Fault reaction 8 2 2 Emergency message
93. ameter set number The pressure controller contains parameters to influence the control behavior A parameter setup of the pres sure controller is called pressure controller parameter set For the pressure controller 16 parameter sets can be saved The switching is done by the parameter lt ActiveParameterSetNumber gt 0x2350 ValvePressureControl Index Subindex Name Data type Default 0x2350 0 ActiveParameterSetNumber UINT8 1 The following table shows all pressure controller parameters The lt ActiveParameterSetNumber gt 0x2350 sets the subindexes of the controller parameters Pressure controller parameter set 0x2304 lt ProportionalGain gt gt Chapter 7 2 6 2 1 Objects 0x2304 0x2311 Proportional gain page 89 0x2305 lt lntegratorGain gt gt Chapter 7 2 6 2 2 Objects 0x2305 0x2307 0x2310 Integrator page 89 0x2307 lt lntegratorControlRange gt gt Chapter 7 2 6 2 2 Objects 0x2305 0x2307 0x2310 Integrator page 89 0x2308 lt DifferentiatorGain gt gt Chapter 7 2 6 2 4 Objects 0x2308 0x2309 0x2312 0x2314 Differentiator page 90 0x2309 lt DifferentiatorT1 gt gt Chapter 7 2 6 2 4 Objects 0x2308 0x2309 0x2312 0x2314 Differentiator page 90 0x230A lt UpperOutputLimit gt gt Chapter 7 2 6 2 3 Objects 0x230A 0x230B Upper lower output limit page 90 0x230B lt LowerOutputLimit gt gt Chapter 7 2 6 2 3 Objects 0x230A 0x230B Upper lower output limit page
94. ameterSetNumber gt 0x2350 List of possible controller parameters gt Table 55 page 92 Description of active parameter set Chapter 7 3 Analog parameter set switching page 105 Description of lt PressureSetSelector gt 0x2142 Chapter 7 3 1 Objects 0x2141 0x2146 0x2148 Active parameter set page 107 lt PressureSetSelector gt 0x2142 lt ActiveParameterSetNumber gt pressure controller 0x2350 parameters Figure 45 Assignment of lt PressureSetSelector gt subindex to active parameter set number Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 106 7 Pump functions Analog parameter set switching 7 3 1 Objects 0x2141 0x2146 0x2148 Active parameter set lt SourceTransducer gt Selection of the interface that is assigned to an analog input Interface definition Chapter 6 3 3 1 Interface definition page 49 AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 0x2143 0 SourceTransducer UINT8 rw Y 1 4 DSV lt Enable gt Activates the analog parameter set switching function AnalogParameterSetSwitching Index Subindex Data type Access Persistence Value range Default 0x2145 0 UINT8 rw Y 0 1 DSV lt ActiveParameterSet gt Indicates the currently active control parameter set AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 0x21
95. ansition TR Device control command Activate DISABLED Activate HOLD Activate DEVICE MODE Deactivate DEVICE MODE Deactivate HOLD Deactivate DISABLED Reset FAULT disabled Reset FAULT HOLD Table 20 Device control commands 5 2 2 2 State transitions through internal events The following events will lead automatically to status changes Transition Meaning Switch on supply voltage Device initialization completed Fault detected Fault reaction executed fault hold Fault reaction executed fault Electrical enable signal on digital input release low Electrical enable signal on digital input release low Electrical enable signal on digital input release low Table 21 Status transitions through internal events Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 26 5 Device control Object descriptions 5 3 Object descriptions The objects described in this chapter are Object number hex Page lt ControlWord gt lt LocaIControlWord gt lt LocalControlWordDefault gt Local lt StatusWord gt 5 3 1 Object 0x6040 Control word The bit coded control word controls the device status where bits 0 3 of the object form the device control command i e the command which causes a status change The control word is only effective if the parameter lt Local gt is set to 0
96. arameter defines the output signal s maximum rate of change on the positive side The deceleration time corresponds to the time that the signal needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt AccelerationTimeNegative gt This parameter defines the output signal s maximum rate of change on the negative side The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms lt DecelerationTimeNegative gt This parameter defines the output signal s maximum rate of change on the negative side The deceleration time corresponds to the time that the signal needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 63 7 Pump functions Demand Value Generator 7 1 2 6 Zero correction The zero correction enables shifting of the input signal up and down by any desired offset The offset set with the parameter 0x6324 is added to the input signal according to the following formula output input Offset input Offset 0x6324 zero correction output Figure 22 Zero correction ValvePositionControl DemandValueGenerator ZeroCorrection Persis Index Subindex Name Data
97. are properly trained experts with the required knowledge and experience In particular these experts must have the authorization to bring into operation systems and power circuits in accordance with safety engineering standards Those people working on a project must be familiar with safety concepts common in automation 1 3 Further documentation for the device The manual is part of the complete documentation for the device which includes the following CA57130 User Manual Mounting and Installation Notes CA53461 001 User Manual RKP II e CA57626 User Manual RKP II Explosion Proof e CA63420 Benutzerinformation Elektrische Schnittstellen Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 2 1 General information References 1 4 References CANopen Application Layer and Communication Profile CiA Draft Standard 301 Version 4 1 August 15 2006 CANopen Device Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions CiA Draft Standard Proposal 408 Version 1 5 2 April 30 2005 CANopen Layer Setting Services and Protocol LSS CiA Draft Standard Proposal 305 Version 1 1 1 November 5 2002 Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions Version 1 5 1 5 Definitions Internal resolution iR The internal resolution is 16384 4000 hex at 100 and 16384 C000 hex at 100 of the value range Position Position
98. are recorded in chronological order 8 1 Error information 8 1 1 Object 0x1001 Error register The error register displays the error status of the device in bit coded form Bit 0 is set as soon as an error oc curs on the device The exact cause of the error can be determined by means of the lt PreDefinedErrorField gt object 0x1003 The error code of the error occurred last is stored to subindex 1 of the lt PreDefinedErrorField gt object The number of actual errors recorded is written to subindex 0 of the lt PreDefinedErrorField gt ErrorRegister Index Subindex Name Data type Persistence Value range Default 0x1001 0 ErrorRegister UINT8 UINT8 0x00 The error register specifies the error type according to the following table where a 1 indicates the specific er ror type pt Generic error This bit is set every time an error occurs on the device Current error Voltage error Temperature error Communication error Device profile Reserved Reserved Table 62 Bit coding of error register value Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 109 8 Diagnostics Error information 8 1 2 Object 0x1003 Predefined error field Every time an error occurred which triggered a fault reaction an error code is stored to the lt StandardError Field gt object The lt StandardErrorField gt contains a list of up to 16 entries This error
99. art 3 of 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 114 8 Diagnostics Fault reaction The fault reaction type for each fault event can be configured between options 0 to 3 if not predefined to op tion 127 non removable error In case option 127 is predefined the fault reaction type cannot be changed to another fault reaction Values description Fault reaction type dec Fault reaction if error occurs No fault reaction error is ignored Independent whether a malfunction for the monitored fault is detected the device does not react on this event The device continuous to operate Special care must be taken as the malfunction may have an im pact to the device functions Send emergency message If a malfunction for the monitored fault is detected an emergency message will be sent onto the bus The device continuous to operate Special care must be taken as the malfunction may have an impact to the device functions Enter FAULT state If a malfunction for the monitored fault is detected the device enters the FAULT state and an emergency message will be sent onto the bus The power stage of the device is switched off while all device functions are still alive The device must be re enabled in order to return into normal operation Enter FAULT_HOLD state If a malfunction for the monitored fault is detected the device enters the FAULT HOLD state and an emergency mess
100. ate the hybrid mode Each pressure parameter set has a hybrid mode Writing the value 1 to one of the parameter s subindexes means hybrid mode is active for the corre sponding parameter set 0 means hybrid mode is deactivated for the selected parameter set Description hybrid mode correction gt Chapter 7 1 2 7 Hybrid mode correction page 65 AnalogParameterSetSwitching Index Subindex Data type Access Persistence Value range Default 0x2148 1 16 UINT8 rw Y 0 16 DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 108 8 Diagnostics Error information 8 Diagnostics If the RKP D recognizes a malfunction a self diagnosis is performed The fault reaction is dependent on the identified malfunction and the fault reaction parameter setting 0x2830 If an error occurs and a fault reaction is activated an emergency object is sent out The emergency object contains information about the occurred error The error register holds information about the last occurred er ror The predefined error field 0x1003 further allows a more detailed analysis on the occurred failures where er rors are recorded chronologically The diagnostics chapter describes the diagnostic capabilities of the RKP D Various faults are detected A list of all detected faults is shown in Table 63 There is the possibility to assign a fault reaction The different fault reactions are listed in Table 64 The occurred faults
101. ature failure sse eene 127 Table 70 Monitoring description for analog input types 128 Table 71 Cable break monitoring assignment input to fault code 129 Table 72 Behavior of savable and volatile parameters 131 Table 73 Parameter groups store command 131 Table 74 Parameter groups restore command 133 Table 75 Object dictionaries nt tt ette etre ptt vc o detect Ia e ck debe det raz 135 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 vi List of Figures List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 DENI GOTONG isa ne d s ul tS S pa e Lumu itd 9 Name plate of a valve uu asua ga da WA a a aaa a aa ue a an uae dpt 14 The device s logical structure ss 15 Device conttol block n et cte AA KA AKA RA AN EL AA iet edes Kan q ice ne S R ag AD KRA 23 Device Slate Machine eret e bed a Ka a se Ka TE KRA Pr ER n 24 Signal routing oie icd d tto e e c eet du eh egt dete a A eed 33 Access
102. ault code Analog inputs lt MonitoringCurrent gt Each lt MonitoringCurrent gt parameter enables disables the cable break detection for the according analog in put A value of 1 enables the monitoring current A value of 0 disables the monitoring current Analoglnput Index Subindex Name Data type Value range Default 0x3217 MonitoringCurrent UINT8 0 1 DSV 0x3228 MonitoringCurrent UINT8 ka DSV 0x3227 MonitoringCurrent UINT8 S DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 129 8 Diagnostics Cable break monitoring For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 130 9 Storing restoring parameters Storing parameters 9 Storing restoring parameters Parameters are stored and restored in accordance with the procedure described in the DS 301 9 1 Storing parameters The electronics of our radial piston pump provide a non volatile memory which allows to store parameters Also restoring is possible where all factory settings can be recalled The actual values of all parameters declared as non volatile can be stored in a non volatile memory on the de vice Storing is proceeded when the signature save is written to the correspond subindex of the object 0x1010 in the Object Dictionary Volatile parameters have either a constant value which can not be modified or an associated default value parameter These default
103. brid mode is selected through the parameter lt Mode gt 0x2148 Writing the value 1 to the parameter activates the hybrid mode 0 means hybrid mode is deactivated The hybrid mode can be activated deacti vated for every parameter set by writing the corresponding value 0 or 1 to the subindexes 1 16 of 0x2148 Description of parameter set switching gt Chapter 7 3 Analog parameter set switching page 105 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 65 7 Pump functions Demand Value Generator 7 1 2 7 1 Object 0x2147 Hybrid flow This parameter holds the flow of the hybrid pump constant pump The unit is relative to the nominal flow of the servo pump Example The servo pump has a nominal flow of 140 l min This corresponds to a set signal of 16384 The constant pump has a flow of 80 I min On the scale of the servo pump this corresponds to 16384 x 9362 3 AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 7 1 3 Pressure demand value generator The pressure demand value generator comprises the following functions Limit limits the demand signal gt Chapter 7 1 3 3 Limit function page 68 Scale multiplies the set signal by a definable slope c Chapter 7 1 3 4 Scaling page 69 lt Ramp limits the rate at which the input signal changes Chapter 7 1 3 5 Ramp page 70 The following figure shows the inne
104. ccess tence Value range Default 0x2601 0 Power_ FLOAT32 rw Y 0 inf DSV ProportionalGain lt Power_PT1Gain gt The gain of the PT1 element PumpController Index Subindex Name Data type Value range Default 0x2602 0 Power_PT1Gain FLOAT32 0 DSV lt Power_PT1TimeConstant gt The time constant of the PT1 element in seconds PumpController ndex Subindex Name Data type Value range Default 0x2603 0 Power FLOAT32 0 inf DSV PT1TimeConstant Power PT1Shift The Power PT1Shift defines the threshold above which the power deviation is passed through PumpController Persis Subindex Name Data type Access tence Value range Default 0 Power PT1Shift INT16 rw Y 0 32767 DSV lt Power_DifferentialGain gt The differentiator gain of the power limitation controller PumpController Persis Subindex Name Data type Access tence Value range Default 0 Power_DifferentialGain FLOAT32 rw Y 0 inf DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 96 7 Pump functions Controller Power DifferentialTimeConstant The time constant of the povver limitation controller s differentiator in seconds PumpController Subindex Name Persis Data type Access tence Value range Default 0 Power DifferentialTime Constant Power Value Actual power value PumpController FLOAT32 rw Y 0 inf
105. ce mode c Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Control mode c Chapter 7 2 1 1 Object 0x6043 Control mode page 76 Device status c Chapter 5 3 5 Object 0x6041 Status word page 29 Values description Bit 31 24 23 16 15 8 7 0 Meaning Index LSB Index MSB Subindex Parameter bit length Table 35 Definition of the pressure setpoint source Index Subindex The lt SetpointParameter gt carries the index and subindex of the input where the pressure set values are com ing from For example the parameter can carry the index and subindex of analog input 1 0x320C Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 43 6 Signal routing and scaling Command value path 6 2 1 6 Object 0x6394 Pressure hold setpoint This parameter defines the pressure hold setpoint that is transferred via the bus in the control modes Control pressure closed loop Control pressure open loop p Q closed loop It corresponds to the position setpoint in the device states HOLD and FAULT HOLD ValvePressureControl DemandValueGenerator Persis Index Subindex Name Data type Access tence Default 0x6394 HoldSetPoint INT16 0x6394 Unit UINT8 0x6394 Prefix INT8 Chapter 1 6 2 Definition of unit and prefix page 5 Whether this parameter will affect the control is influenced by the following lt Device mode c Chapter 6 2 1 7 Object 0x6042 Device mode pa
106. ce value 4 lt ActualValue3 gt 0x61 12 transducer interface value 3 lt ActualValue2 gt 0x61 11 transducer interface value 2 lt ActualValue1 gt 0x6110 transducer interface value 1 Sign 0x6103 interface definition and scaling interface type 0x3264 holds value parameter of analog input N related parameters Figure 12 Actual value conditioning analog input N These parameters indicate the output values of the transducer interface Valve ActualValueConditioning Index Subindex Name Data type Default 0x6110 ActualValue1 INT16 None 0x6111 ActualValue2 INT16 None 0x6112 ActualValue3 INT16 None 0x6113 ActualValue4 INT16 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 48 6 Signal routing and scaling Actual value path 6 3 3 1 Interface definition The assignment of an actual value source to an interface has to be started with the selection of the interface number This is done by writing a value to the parameter lt InterfaceNo gt 0x6101 All interface parameters that are specified afterwards are attributes to the parameter lt InterfaceNo gt i e they always relate to the in terface set with lt InterfaceNo gt All parameters configuring the interface only apply to the interface selected by the parameter 0x6101 The parameterization is stored in an internal data structure representation in the parameter lt ValveTransducerStructure gt 0x3270 The
107. ciated sub components have rw access otherwise ro 1 6 2 1 Unit representation Name of unit International symbol Notation index hex none dimensionless or iR metre m second hertz litre minute time hour day year bar meter per square second Table 4 Code table for units 1 The symbol L can be used as an alternative to the symbol l 1 6 2 2 Prefix representation 00 d m Table 5 Code table for prefixes 1 7 Abbreviations Abbreviation ADG Analog Digital Converter CAN Controller Area Network CAN_GND CAN Ground CAN_H CAN High CAN bus signal dominant high CAN L CAN Lov CAN bus signal dominant lovv CANopen Device and manufacturer independent description language for communication over the CAN bus char Characters C A CAN in Automation e V international organization of CAN users http www can cia org Communication Object a unit of transportation on a CAN network Data is sent across a network inside a COB The COB ID is the object specifying the CAN identifier and function code Central Processing Unit Digital Interface Valve Table 6 Abbreviations part 1 of 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 5 1 General information Abbreviations Abbreviation DOMAIN Explanation Arbitrary large block of data DS 301 CANopen
108. code provides informa tion about the cause of the error Table 63 lists the possible errors vvith the corresponding error code Subindex 0 in the lt StandardErrorField gt object holds information about the number of actual errors recorded Every nevv error is stored at subindex 1 the older ones move dovvn the list Thus a chronological order of er rors is produced If the maximum number of entries 16 is reached the error code stored to subindex 16 is deleted Writing the value 0 to the subindex 0 deletes the entire error code list PreDefinedErrorField ndex Subindex Name Data type Value range Default 0x1003 0 NumberOfErrors UINT32 UINT32 0 0x1003 1 16 StandardErrorField UINT32 UINT32 Byte Contents Additional information Error code Reserved Fault code Error code list gt Table 65 page 118 Fault code list gt Table 63 page 112 Example The parameter 0x1003 holds the value 0x305530 corresponds to 3167536 dec The coding of the value is as follovvs Byte Contents Reserved Fault code Error code Result Error code 0x5530 EEPROM error gt Table 65 page 118 Fault code 0x30 Internal nonvolatile memory gt Table 63 page 112 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 110 8 Diagnostics Error information 8 1 3 Objects 0x2832 0x2833 Fault reaction description Fault history number While the error code is stored to the predefined
109. dicated by param eter 0x2146 and the interface input range Description of analog input types gt Chapter 6 1 1 Analog inputs 0 and 1 page 34 gt Chapter 6 1 2 Analog inputs 2 3 and 4 page 36 Analog input type Analog input type Analog input type 1 3 2 4 7 10 5 8 100 corresponds to 0 100 corresponds to 0 100 corresponds to Val f 77 10 V or 10 mA 0 10 V or 0 10 mA 4 20 mA lt ActiveParameterSet gt 0x2146 Low limit High limit Low limit High limit Low limit High limit Table 61 Relation between value of lt ActiveParameterSet gt and interface input range part 1 of 2 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 105 7 Pump functions Analog parameter set switching Analog input type Analog input type Analog input type 1 3 2 4 7 10 5 8 100 corresponds to 0 100 corresponds to 0 100 corresponds to Val f 77 10 V or 10 mA 0 10 V or 0 10 mA 4 20 mA lt ActiveParameterSet gt 0x2146 Low limit High limit Low limit High limit Low limit High limit Table 61 Relation between value of lt ActiveParameterSet gt and interface input range part 2 of 2 The lt PressureSetSelector gt 0x2142 assigns an active parameter set to the desired pressure controller pa rameter set This means each subindex of 0x2142 holds a value of 1 16 which is written into the parameter lt ActivePar
110. dool cOVGX0 8LNIN opduys oalqgquoijeajddypeddepyjQuequinn Buiddejyopgiriusuei pug NVOlE o71 zluunudeunpd o cOVGX0 c amp LNIN c amp LNin paddewagol 1o lqouoneolddyulyN u 404Buiddejqopd sejowese qBurdde Aop qiwsues NVOlEoo7 si deunpdool L0VSx0 L0VSX0 c amp LNIN c amp LNIN peddeyjego 1o lqouoneolddyulyN u 140 15ulddeyyopd sejowese qBurdde Aop qiwsued NVOlEoo7 g deunpdool LOWSXO 8LNIN opqujsioefqouorneoiddypeddeyyioJequnN Buiddeyyjopd iwsued puz NVOlEoo7 lumnudeunpd oo LOWSXO c amp LNIN GEINT peddenegol pelqouonesyddyuneu110 Buiddenopda 1e1eurege qBuiddeyyop qirusuei NVOlEoo7 deunpdool 00VSXO 00VSX0 c amp LNIN GEINT paddewagol joefqouoneoiddyuiNeu sajewese yBuiddeyyopqyiwisuel NVOI 20 o deunpdool 00V3X0 gt 8LNIN opqujsioefqouoneoiddypeddeyyoJ4equnwN Sulddeyyopdiluisuei s NVOlEoo71 oluunudeunpd o z 00V3X0 9LININ Bueu onjeA a0ua sisidd gt 9LLNID d4A ejeg jeu UAT opgiusueu ui NVOlE o7 uipu JojouieJed euieu yoo uoneoyi2odsg uumpdooj Bulddeul Odd z 6089 0 154 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 9LININ 9LININ LE Jo La Hed Meuonoip alqo 5 pioMsniels 29118q pJMSIS Vz09X0 9LININ
111. drant ramp page 71 Linear ramping times for acceleration and deceleration gt Chapter 7 1 3 5 2 Ramp type 2 two quadrant ramp page 72 Linear ramping times for acceleration and deceleration separated for positive and negative sides gt Chapter 7 1 3 5 3 Ramp type 3 four quadrant ramp page 73 Table 49 Possible ramp type values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 70 7 Pump functions Demand Value Generator Status ramp running The status indicates a ramp that is running This information is mapped to the corresponding bit in the status word Chapter 5 3 5 Object 0x6041 Status word page 29 Status Meaning The ramping function is deactivated or the ramping function does not influence the output signal The ramping function influences the output signal Table 50 Ramp status indicated in the status word 7 1 3 5 1 Ramp type 1 one quadrant ramp This function limits the input signal s rate of change to a definable acceleration time Activated with ramp type 0x63B0 1 Chapter 7 1 3 5 Ramp page 70 input 100 100 output lt AccelerationTime gt H 1 100 100 1 1 1 1 1 1 T 1 1 1 H 1 Figure 28 Ramp type 1 ValvePressureControl DemandValueGenerator Ramp Persis Value Index Subindex Name Data type Access tence range Default
112. dress UINT32 UINT32 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 111 8 Diagnostics Fault reaction 8 2 Fault reaction 8 2 1 Fault reaction settings The fault reaction lt Type gt parameter 0x2830 is used to assign a specific fault reaction to an error Each sub index 1 118 of the parameter stands for a specific fault The value assigned to the subindex describes the reaction to take place if the fault occurs FaultReaction Index Subindex Data type Persistence Value range Default 0x2830 1 118 INT8 Y INT8 DSV Subindex The subindex of the Type parameter defines for which fault the reaction is set Each subindex has its accord ing error as shown in the following table For example writing the value 2 to the subindex 6 the device will send an emergency message and switch to the device status FAULT if the fault Power supply voltage too high occurs on the device The following table lists the Type parameters for each fault reaction event and the fault code Error microprocessor core Error digital signal processor Error DSP program download Error DSP realtime data transmission Power supply voltage too low Power supply voltage too high Internal supply voltage too low Internal supply voltage too high Internal reference voltage too low Internal reference voltage too high Internal current too low Internal current too
113. e Access Default 0x6056 0 ParameterSetCode UINT8 rw Values description lt ParameterSetCode gt Meaning 0 No parameter set has been transferred to the device 1 254 The device was parameterized The parameter set identification can be set to a freely definable number within the range of 1 254 Table 17 Value definition of the parameter set identification 4 1 13 Object 0x6057 Vendor name Indicates the name of the device vendor Device Persis Index Subindex Name Data type Access tence Default 0x6057 0 VendorName STRING ro N MOOG GmbH Hanns Klemm Strasse 28 D 71034 Boeblingen Germany Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 20 4 Device identification Object descriptions 4 1 14 Object 0x605F Capability This object provides information on the capabilities of the used device i e it displays the device s capability with the supported control types Device Persis Index Subindex Name Data type tence Value range Default Ox605F 10 Capability UINT32 N 16777216 0x3F009000 1057001472 Values description lt Capability gt MSB Additional information Specific information Reserved Table 18 lt Capability gt data structure Bit Meaning Bit 16 21 Reserved Bit 24 1 Hydraulic valve or hydraulic pump Bit 25 1 Supports the position open loop control type Bit 26 1 Supports the position closed lo
114. e amp LNIN Jejeurejeqiuiodies JO1JUOYUONISOYENIBA Jedids OZEEXO 0100902640 c amp LNIN c amp LNIN Jejeurejeqiuiodies 03u058JnSS8Jdg9A eA Jedsid OLEEXO uoN 9LINI 9LLNI lolideAeAjeniov JOMUOQUOIISO gale ydjeAjds 1062 0 uoN 9LINI 9LLNI lolidexeApueueq Jo3yuo2uoriisodaA eA ydw pjds 00 X0 s l q 001 NIVINOQ eunjonujS4eonpsueJ LONLA BuiuonipuogenjeAjeniov AeA OISPHAIA 0 22 0 9LINI 9LINI Buieos undino6oyeuy zl ep S9c X0 9LLNI 9LLNI Buieos Lindinoboyeuy ijoi ep 4926 0 9LINI 9LINI Buieos Lindinoboyeuy loh rep S9c X0 c amp LNIN GEINT Yo queonpsuel BuiuonipuogenjeAjeniov eA eA JedpulAjA v9cEx0 9LINI 9LINI Buieos QindinoBojeuy 9LINI 9LINI bulleos QindinoBojeuy Les0ep vrcEex0 9LINI 9LINI bulleos ondnoboreuy o jeuoep Yyieex0 9LINI z 9LLNI pesyObulpeosuawojsny LAA TIeus8 x3 2 LEZEXO 9LINI Bueiu onjeA Su lsISi d Z 9LINI d4A ejeg Joyeu wousqojoe4Huljeossawojsng LOA lEus lxq v D 3 e 5 2 p 3 euieu yoo uolnsoui5 ds Buiddeui Odd z LECEXO 150 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object d
115. e interface parameterization in an internal data structure representation t is to be used to transfer or store a configuration only Hence only values which were once obtained by this parame ter are to be vvritten into this parameter Valve ActualValueConditioning ndex Subindex Name Data type Value range 1 Default 0x3270 0 ValveTransducerStructure DOMAIN 100 bytes DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 51 6 Signal routing and scaling Actual value path 6 3 3 2 Object 0x230D Pressure controller active transducer interface This parameter selects the transducer interface that is to be used as actual pressure value input The pres sure signal source is defined with the actual value routing Each subindex of this parameter stands for a control parameter set e g subindex 1 stands for control param eter set 1 subindex 2 for control parameter set 2 etc The value of the subindex holds the actual transducer interface Example Subindex 1 of 0x230D holds the value 4 This means control parameter set 1 uses interface 4 as actual value input ValvePressureControl Persis Subindex Data type Access tence Value range Default 0x230D 1 16 PressureControllerActiveTransducer INT8 rw Y 1 4 DSV nterface Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 52 6 Signal routing and scaling Actual value path 6 3 3 3 Objects 0x
116. e of the hold pressure enable lt ControlWord gt bit 13 0 lt ControlWord gt bit13 1 lt ControlWord gt bit 13 and lt ControlWord gt bit 14 lt ControlWord gt bit 14 1 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 103 7 Pump functions Controller 7 2 10 1 Objects 0x2107 0x2109 Local holding pressure switchover lt HoldPressureTrigger gt This parameter sets the holding pressure trigger level at which the internal holding pressure setpoints param eters lt PressureSetpoint gt and SpoolPositionSepoint are activated by the RKP D when the local holding pressure switchover is activated see Figure 42 HoldPressureControl Index Subindex Name Data type Persistence Value range Default 0x2107 1 HoldPressureTrigger INT16 Y INT16 16384 lt PressureSetpoint gt The pressure setpoint is activated by the RKP D when the holding pressure trigger level lt HoldPressureTrigger gt 0x2107 is reached see Figure 42 This pressure is held until a new pressure set point is transmitted or the trigger is disabled HoldPressureControl Index Subindex Name Data type Access Persistence Value range Default 0x2108 1 PressureSetpoint INT16 rw Y INT16 DSV SpoolPositionSetpoint The position setpoint is activated by the RKP D when the holding pressure trigger level lt HoldPressureTrigger gt 0x2107 is reached see figure 42 This position is
117. e parameter 0x200F lt PowerOnDelay gt allows to delay the bootup procedure before establishing the communication and pump function The power on delay time is provided in seconds System Persis Index Subindex Name Data type Access tence Default 0x200F 0 PowerOnDelay UINT8 rw Y Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 30 5 Device control Status display LEDs 5 5 Status display LEDs The valve s operating mode and the network status are displayed on multicolor light emitting diodes status display LEDs on the electronics housing After the valve s power supply is switched on the valve electronics perform a self test indicated by red and green blinking LEDs Network status LED lt NS gt The network status LED displays the status of the CAN network Network status LED lt NS gt Description Network Management State NMT according to CANopen No supply power or in state Stopped No supply power or in state Stopped Blinking green This status is reached after bootup SDO communication Pre Operational is possible Green This status has to be demanded by the CANopen mas Operational ter SDO and PDO communication is possible Table 25 Network status LED NS Module status LED MS The module status LED displays an available power supply and possible operational and error states Module status LED MS Description Valve State Machine sta
118. ed an according event is triggered Node Guarding 0x1792 Node ID Checks if master and slave are allive and con nected Table 14 Node Guarding object The objects 0x100C and 0x100D indicate the configured guard time respectively the life time factor The life time factor multiplied with the guard time gives the life time for the life guarding protocol The guard time is given in multiple of ms the value 0x0000 disables the life guarding Guard time Life time factor Index Subindex Name Data type Value range Default 0x100C 0 GuardTime UINT16 UINT16 DSV 0x100D 0 LifeTimeFactor UINT8 UINT8 DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 13 2 Access over CANopen The device Layer Setting Services LSS 2 9 The device Layer Setting Services LSS The device supports LSS according the DSP 305 The necessary data to perform the LSS switch mode selec tive service can be read from the name plate of the device see figure 2 The LSS offer the possibility to change the node ID bit timing of the CAN module and the inquiry of the LSS address via remote access The LSS functionality is modelled using two objects LSS master The module that configures other modules via a CAN network is called the LSS master There may be only one LSS master in a network LSS slave The module that is configured by the LSS master via a CAN Network is called the LSS slave Our valves and pumps act as
119. ents too low Device hardware Hardware power supply Internal power supply error Device control Measurement circuits Pressure 24 Internal LVDT 17 18 19 Analog input 0 36 Analog input 1 37 Analog input 2 38 Analog input 3 39 Analog input 4 40 External LVDT 22 Microprocessor core Table 65 Error codes part 1 of 4 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 118 8 Diagnostics Fault reaction Error code hex Sensors Pressure 23 25 Encoder SSl Local CAN 41 42 43 44 Analog input 0 26 31 Analog input 1 27 32 Analog input 2 28 33 Analog input 3 29 34 Analog input 4 External LVDT Local input device Power electronics Driver Data memory RAM EPROM EEPROM Device software Software reset watchdog Internal software Error handler Interrupt time exceeded Task time exceeded Out of memory User software Event handler Data set Parameter loss Node identifier data User data Restore data Factory data Calibration data Diagnosis data Parameter error Additional modules Sensor Pressure sensor Monitoring Closed loop control monitoring Position control monitoring Pressure control monitoring Position control Velocity contro
120. equomeorunuiuo2opglIlsuei o qooipd 0081X0 c LNID p ddeyy g o n lqouoireoliddyulN q 1o 4Sulddeyyopd Jojowese a5ulddeyyopd Al H Le deuupd 091X0 091X0 9S0208T 91 e ININ p ddeyy go n lqouoneoliddy l u 1io i6uddeyyopd Jojawese qBuiddeyjopyanisoey pz deuupd 091X0 opgduisioe qouorneoiddypeddeyyo4equnw Sulddeyyopd Al z ly Jojawese qBuiddeyjopyanisoey eg unudeuupd 091X0 S ININ p ddeyy go n lqouoneoliddy l u 1io i6uddeyyopd czldeuupd 091 0 Bueiu onjeA oSu lsisi q d4A ejeg JojouleJed eujeu yoojg uolnsonui5 ds Buiddeui Odd 4091 0 139 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary c amp LNIN LE Jo 9 ped Areuonoip 1908140 S2 eige L p ddeyy go 11 efqouoneorddyuiNeu 140 15ulddeyyopci Jejeureje qBuiddeyjopgywsued J gz deunpd 40 1 0 0 LXO 6921 8 191 et INIn p ddeyy g o r1oefqouoreorddy uiNeu 1104Buiddenopd Jajowese qbulddeyyopgyiwsuel 9 deunpd cOVLXO opduisio lqouolyoliddyp ddeyyios qumn Buiddejwopgiiusuei pis Jojouese qBuiddeyyopd iwisuel zlumnudeunpd cOVLXO c amp LNIN p ddeyy g o oalqQuonjeoiddyyNey 1104Buiddenopd Jojowese qbulddeyyopgyiwisued si deunpd LOWLXO 101 0
121. er UINT8 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 47 6 Signal routing and scaling Actual value path 6 3 2 2 Object 0x6381 Actual pressure value This parameter indicates the actual pressure value returned from the pressure transducer to the controller ValvePressureControl Persis Index Subindex Name Data type Access tence Default 0x6381 ActualValue INT16 ro None 0x6381 Unit UINT8 ro 0 0x6381 Prefix INT8 ro 0 Chapter 1 6 2 Definition of unit and prefix page 5 6 3 3 Interface assignment Any of the 5 available analog inputs analog input 0 4 can be used as actual value interface from which the measured values are taken that are forwarded to the controller The following figure shows how routing and scaling of the actual value is done for the available analog inputs Analog input 0 and 1 could be used as analog setpoints gt Chapter 6 1 1 Analog inputs 0 and 1 page 34 Description on how the according interface is selected and which parameters are used Chapter 6 3 3 1 Interface definition page 49 lt ActualValue gt 0x6104 of the selected interface lt interfaceNo gt 0x6101 holds interface number 1 4 1284 lt interfaceNo gt 0x6101 4 lt interfaceNo gt 0x6101 3 lt interfaceNo gt 0x6101 2 lt interfaceNo gt 0x6101 1 Type 0x6102 lt ActualValue4 gt 0x6113 transducer interfa
122. er corresponds to the PDO channel number The counter is not prevented from overflow CAN Index Subindex Name Data type Persistence Value range Default 0x3012 1 1stReceivePdoCounter UINT32 N UINT32 0x3012 2 2ndReceivePdoCounter UINT32 N UINT32 0x3012 3 3rdReceivePdoCounter UINT32 N UINT32 0x3012 4 4thReceivePdoCounter UINT32 N UINT32 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 11 2 Access over CANopen Synchronization Object SYNC 2 5 Synchronization Object SYNC The Synchronization Object controls the time dependencies of process data By means of SYNC transmis sion the reception of PDO data can be synchronized and transmit PDOs can be triggered The Synchroniza tion Object does not contain any data and has a high priority on the bus By default the device acts as SYNC consumer The device can act also as SYNC producer SYNC 0x80 broadcast message 1005 Synchronization message which can trigger events E g send TPDO Table 11 Synchronization object SYNC 1 The COB IDs according to the predefined connection set can be changed manually 2 5 1 Object 0x3013 Synchronization timer This is the time period for the SYNC signal This has only influence if the device is a SYNC producer CAN Index Subindex Name Datatype Access Persistence Value range Default 2 6 Emergency Object EMCY The Emergency Obiect is a high priority message triggered by the event
123. erature values lt PCB temperature lt 20 C PCB temperature gt 85 G PCB temperature gt 105 C The following fault reactions are thrown Fault Code hex Fault reaction PCB temperature lt 20 C Electronics temperature too low PCB temperature gt 85 G Electronics temperature too high PCB temperature gt 105 C Electronics temperature exceeded Table 69 Fault reactions for PCB temperature failure Hardware DiagnosticData Index Subindex Name Data type Access Persistence Value range Default 0x2805 0 PcbTemperature INT16 ro N INT16 None The PCB temperature should not exceed the range of 20 85 C to ensure proper operation The electronics temperature has a big impact on the electronics lifetime For a long life the device should be operated at lower temperatures 8 2 5 4 Object 0x280D Operating time Subindex 1 of the parameter 0x280D counts the time the device is switched on The value is provided in minutes Subindex 2 holds the time in minutes the device is in the device status HOLD FAULT_HOLD or gt Chapter 5 2 1 Device states page 25 Hardware DiagnosticData Index Subindex Name Data type Persistence Value range Default 0x280D 1 2 OperatingTime UINT32 N UINT32 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 127 8 Diagnostics Cable break monitoring 8 3 Cable break monitoring The cable b
124. eter Meaning lt Vendorld gt Unique vendor ID 0x28 reserved for Moog lt ProductCode gt Product number lt RevisionNumber gt Revision number lt SerialNumber gt Serial number of the device Table 16 Identity object values 4 1 3 Object 0x1008 Manufacturer device name Indicates the name of the device Device Value Index Subindex Name Data type range Default 0x1008 0 ManufacturerDeviceName STRING 64 char DSV 4 1 4 Obiect 0x1009 Manufacturer hardvvare version ndicates the current hardvvare version of the device Device Value ndex Subindex Name Data type range Default 0x1009 0 ManufacturerHardvvareVersion STRING 64 char DSV 4 1 5 Obiect 0x100A Manufacturer softvvare version ndicates the current softvvare version of the device Device Value ndex Subindex Name Data type Access range Default 0x100A 0 ManufacturerSoftvvareVersion STRING ro 64 char DSV Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 18 4 Device identification Object descriptions 4 1 6 Object 0x6050 Device version Indicates the version of the device Persis Subindex Name Data type Access tence Default 0 DeviceVersion STRING ro Y DSV 4 1 7 Object 0x6051 Code number The user can enter into this parameter any value he chooses Device Persis Index Subindex Name Data type Access tence Value range Default 0
125. fset Value of this parameter is added to the actual value lt MinimumTransducerSignal gt The sensor s measured pressure signal at the minimum pressure lt MaximumTransducerSignal gt The sensor s measured pressure signal at the maximum pressure Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 53 6 Signal routing and scaling Actual value path For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 54 7 Pump functions Demand Value Generator 7 Pump functions 7 1 Demand Value Generator 7 1 1 Structure Before a setpoint reaches the controller it is preprocessed using the demand value generator Preprocessing means the input signal can be scaled and limited in order to keep it in a defined value and dynamic range The set signal position or pressure is preprocessed by one of the following demand value generators or both in case p Q mode is activate and then forwarded to the subsequent controller as shown in the following figure The used set signal is defined by the selected control mode lt Position demand value generator gt Chapter 7 1 2 Position demand value generator page 55 lt Pressure demand value generator gt Chapter 7 1 3 Pressure demand value generator page 66 demand value setpoint demand value generator controller sensor value Figure 14 Demand Value Generator 7 1 2 Po
126. g input 0 circuit failure Analog input 1 circuit failure Analog input 2 circuit failure Analog input 3 circuit failure Analog input 4 circuit failure Encoder channel a cable break Encoder channel b cable break Encoder channel z cable break SSI error Povver driver ulus sli isinir nternal random access memory Internal program memory nternal nonvolatile memory Out of memory error Software coding Software reset watchdog Interrupt time exceeded Task time exceeded Parameter initialization error Node identifier data memory corrupted User data memory corrupted N Restore data memory corrupted Factory data memory corrupted Calibration data memory corrupted o Diagnosis data memory corrupted Position control monitoring Velocity control monitoring Force control monitoring Flow control monitoring Pressure control monitoring Current control monitoring Spool position control monitoring Trajectory generator processing error Eventhandler exception Local CAN general fault Local CAN overrun Local CAN in error passive mode Local CAN recovered from bus off Local CAN RPDOT time out Local CAN RPDO2 time out Local CAN RPDOS time out epe esee eeu ege e S 2 olololololololololmlolololololo Table 63 Type subindex values part 2 of 3 Moog
127. ge 45 lt Control mode gt Chapter 7 2 1 1 Object 0x6043 Control mode page 76 lt Device status gt Chapter 5 3 5 Object 0x6041 Status word page 29 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 44 6 Signal routing and scaling Command value path 6 2 1 7 Object 0x6042 Device mode The device mode is used to switch the setpoints from local input e g an analog input to setpoint input via bus The set device mode can be stored on the device as a default value using the device mode default ob ject When restoring the default values the factory default values will be applied see parameter lt DeviceModeDefault gt 0x4042 Device Persis Index Subindex Name Data type Access tence Default 0x6042 0 DeviceMode INT8 rw N sak DeviceMode Default Values description lt DeviceMode gt Meaning 1 Setpoint input via the bus 2 Setpoint input locally 3 4 Reserved Table 36 Device mode values Setpoint input via bus n this device mode the setpoints transferred over the bus are provided to the demand value generators Chapter 6 2 1 1 Object 0x6300 Position setpoint page 41 gt Chapter 6 2 1 4 Object 0x6380 Pressure setpoint page 43 Setpoint input locally In this device mode the setpoints are defined locally i e they are taken from the analog inputs 0 and 1 gt Chapter 6 2 1 2 Object 0x3320 Position setpoint parameter
128. gency Object EMCY to indicate errors Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 9 2 Access over CANopen Communication profile area 2 2 Communication profile area The following table gives an overview over the object dictionary entries defined by the communication profile Index hex Device type gt Chapter 4 1 1 Object 0x1000 Device type page 17 Error register gt Chapter 8 1 1 Object 0x1001 Error register page 109 manufacturer status register DS 301 Predefined error field gt Chapter 8 1 2 Object 0x1003 Predefined error field page 110 COB ID SYNC DS 301 gt Chapter 2 5 Synchronization Object SYNC page 12 1006 communication cycle period DS 301 value not processed 1007 synchronous window length DS 301 value not processed 1008 Manufacturer device name gt Chapter 4 1 3 Object 0x1008 Manufacturer device name page 18 1009 Manufacturer hardware version gt Chapter 4 1 4 Object 0x1009 Manufacturer hard ware version page 18 100A Manufacturer software version gt Chapter 4 1 5 Object 0x100A Manufacturer soft ware version page 18 100B Node ID DS 301 present due to compatibility reason 100C guard time DS 301 gt Chapter 2 8 Node Guarding page 13 100D life time factor DS 301 gt Chapter 2 8 Node Guarding page 13 1010
129. h ss 47 6 3 3 Interface assignment seen 48 6 3 3 1 Interface SNG e a anga a ete ele tante EEN 49 6 3 3 2 Object 0x230D Pressure controller active transducer interface 52 6 3 3 3 Objects 0x6120 0x6125 Actual value conditioning for pressure Uie GN NK NOL Ra ar NE 53 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 ii Table of Contents 7 Pump e uuu S aaa EM 7 1 Demand Value Generator U U U u u uu uu u u u u 55 Z REIAU TEU E c 55 7 1 2 Position demand value generator u u 55 7 4 2 9 HE Te le e EE 57 1124 Scaling z e ete teta reet terae EE 58 ENIM 59 TAZ O LONG Correction u rc ee mex ne ee dr eas 64 7 1 2 7 Hybrid mode correction 65 7 1 3 Pressure demand value generator su 66 A Ne Sed HMEN CUON eee Du ten be e e t Ru san A 68 7 1 9 4 Scalirig aii tede e a eite tet e pce eere nit 69 E ul t ERE MC TIT 70 T2 usu 75 7 2 4 eet ele EE 75 pee Leere erae dae ajara ga aa ra oe e ar ag ee naga ARAL 77 7 2 2 1 Stroke ring control monitoring 5 78 7 2 2 2 Pressure control monitoring sene nene 79 7 2 3 Control position open ID0p iii 80 7 2 4 Control position
130. he transition between position controller and pressure controller automati cally Status word bits There are two status word bits which provide information whether the p Q control type is active and if a control fault is detected Bit 8 Pressure controller effective This status word bit is set if and only if the p Q control type is active Bit 11 Control error The control error bit in the status word is formed from the linking of the two controller deviations for pres sure and position If this bit is set a controller error is detected gt Chapter 5 3 5 Object 0x6041 Status word page 29 gt Chapter 7 2 2 Monitoring page 77 Description of the position and pressure controller parameters as well as the control monitoring functions gt Chapter 7 2 4 Control position closed loop page 81 Chapter 7 2 6 Pressure control closed loop page 85 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 93 Controller 7 2 7 1 Controller structure 7 Pump functions 1069x0 lt nje Nen y gt Se ZLEZXO lt d diojuonenwulqyong gt 186940 E en eAjenioy i E 8 1zcx0 oa 9x0 06 9x0 lt anjeapuewaq gt 00 x0 lt lolld AlBApueuueq gt 1 llo uoo aul 1 lodl s einsseud bun d P lt ainsseud uollisod S 1869 0 enjeAjeniov uoneNLUN 0092X0 lt w
131. held until a new pressure set point is transmitted or the trigger is disabled HoldPressureControl Index Subindex Name Data type Persistence Value range Default 0x2109 1 SpoolPositionSetpoint INT16 INT16 16384 7 2 11 Flushing mode This function is included in digital pumps with internal pressure supply The flushing mode prevents overheat ing of the pump If all relevant demand values p Q or both are below 1 96 the pump might overheat be cause there is not enough flow to cool the pump Therefore the pump goes into flushing mode after the time stored in the parameter 0x21A1 lt FlushingTime gt has elapsed The flushing time represented by the parameter 0x21A1 is stored in seconds Typically the value is 180 Hence if the relevant demand values are below 1 9 6 for the duration of 3 minutes the pump will go into flush ing mode PumpController Index Subindex Name Data type Persistence Value range Default 0x21A1 0 FlushingTime UINT16 0 300 180 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 104 7 Pump functions Analog parameter set switching 7 3 Analog parameter set switching This feature allows to choose pressure controller parameter settings through an analog input The influenced parameters build a parameter set This chapter describes how the parameter sets can be chosen via an ana log input A parameter set consists of the following parameters lt The saved c
132. high Electronics temperature too low lt 20 C Electronics temperature too high gt 85 C Electronics temperature exceeded gt 105 C Current sensor circuit failure Pilot single stage LVDT cable break Pilot single stage LVDT position out of range Pilot single stage LVDT circuit failure Main stage LVDT cable break Main stage LVDT position out of range Main stage LVDT circuit failure Internal pressure transducer cable break Internal pressure transducer circuit failure Internal pressure transducer pressure peak Analog input 0 supply cable break short circuit Analog input 1 supply cable break short circuit Analog input 2 supply cable break short circuit Analog input 3 supply cable break short circuit Table 63 Type subindex values part 1 of 3 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 112 8 Diagnostics Fault reaction Subindex Value Fault code 0x2830 gt Fault description range Analog input 4 supply cable break short circuit Analog input 0 current too low 4 20 mA ADC overflow voltage Analog input 1 current too low 4 20 mA ADC overflow voltage Analog input 3 current too low 4 20 mA ADC overflow voltage Analog input 2 current too lovv 4 20 mA ADC overflovv voltage Analog input 4 current too lovv 4 20 mA ADC overflovv voltage Analo
133. holding pressure switchover can only be activated if the RKP D is in device state ACTIVE and in control mode p Q only Once this function has been activated by setting bit 13 of the control word the RKP D starts monitoring the pressure actual value until the hold pressure trigger level parameter lt HoldPressureTrigger gt 0x2107 is reached see the following figure At this moment the RKP D activates the internal pressure setpoints lt PressureSetpoint gt 0x2108 and lt SpoolPositionSetpoint gt 0x2109 and sends an acknowledgement of the performed holding pressure switchover by setting immediately bit 14 of the status word pressure lt HoldPressureTrigger gt 0x2107 lt PressureSetpoint gt 0x2108 i o time 5 a as D D o x a du 65 32 2 a Se co 5 E o 7 2 2 o 5 5 c o Figure 42 Hold pressure setpoint behavior lt ControlWord gt bit 13 Meaning 0 Disable trigger 1 Enable trigger Table 57 Control word bit 13 values In case the holding pressure trigger level is not reached the superior controller sends a trigger signal after a certain time Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 102 7 Pump functions Controller Control word and status word bits Local holding pressure switchover can be deactivated by resetting bit 13 of the control word which results in a reset of bit
134. ictionary 8LNIN LE jo 21 ed Pafqo S elige L opduys oa qgquoiyeo ddypeddepyoQusqunn buddewopdaNnadaHIs 0 umudeuwupdoo 0099540 9LININ 9LINIn NVOlE o7 Jeu USA opge eoeuuir NVOlE o7 6079 0 8LNIN 8LNIN ed UOISSIWSUBI opdeAie eHuir NVOIE901 uuupdoo 0 Gx0 G69G8p2 Ic c NI ope Aqp snpiqo opdanadaHuli NV9I8901 e qoospdoo 6079 0 9LINIn 9LINIn J9WIJJUSAJ Dd Al S HD NVOIB907 c0 GX0 8LNIN 8LNIN ed uoissiusueJ OPASAISISHPIS NVOlEoo71 zlunupdool c0 GX0 S69S8FZTIC 1 c NI opgeweoeupig z qoo4pdoo c0 GX0 9LINIn 9LINIn NVOlE o7 Jeul 1u9 3 opgdeAieoeupuz NV2OI 20 L0rSX0 8LNIN 8LNIN ed uoissiusueJ opdeAieoeupuz NV9189071 Hluiupdoo L0rSX0 9699987 IZ c NI opd gp snpiqoO NV9I8901 L qoospdoo L0rSX0 9LINIn 9LINIn Jeu UA opdeA eoeHis NVOlE o7 0017940 8LNIN 8LNIN d uoissiusueJ DG AL H S NVOlEoo71 0 umupdoo 0017940 969987 12 c amp LNIN opd gpesnpiqoo opdeAreoeuis NV2Ie201 olqoo1pdoo 00179540 SINI ine q poyylonuoo 29110 J ppouullo vOVXO a gt SI
135. idssuddwio GLECXO II 0 CEO ss 1iduios quieoJolellu J jjiq o3u05eunsseJgdung si umpuBpsadduuo tLEZXO VLESXO Jumo c 1VO 14 ssejyduooequrieguoreiueJejq 0403u058eunssejgduing o umpubpsuddwo VLESXO 681701 c 1VO 143 uegpenuejeyiq o11u058JnssaJgeA eA Lpsiddu9 eLeexo 681401 2 c 1VO 4 HEdieuonuodold o41u028JnssaJgeA eA oudsuddwio gt LLEZXO CEO Bueu onjeA Su lsISi d Z CEO d4 ejeg Hediole16 lul 033098JnsseJg9A eA euieu JajouieJed euieu 20 uoneoyi2ods juisiddu9 Buiddeui Odd gt 01 X0 144 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary Lg jo LL ed Pafqo S elige L lugISUO9 SUWI JENUSIS JIG J9ewog Jur g 1VO134 9092X0 ureojenueJejlq 4 221 014 S092X0 WUS Lld 4eModg 1912 9LLNI sidiwdduud 092 0 JUBJSUODOWI Ld J9Mog Jur Z 3V01 Y llonuoodulmnd undawdduud 092x0 ule d 18MOd Jur 281 014 Hdimddud 2092 0 ure9jeuolodoij 1aMmod Jur Z81VO14 Jejoujuooduing u6Bdumdduid 1092 0 WNUWIKEN JOMOd 8691 0 9LINI xeuumdduid 009240 lt uturmaddn gt MUN TJASMOT 89 26 9LINI
136. ins detailed information about the detected error This code is transmitted within the emergency telegram and will be also stored in the lt ErrorRegister gt object 0x1001 Chapter 8 1 1 Object 0x1001 Error register page 109 The device supports the following error codes The fault codes assigned to the corresponding error code is shown in the last column Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 117 8 Diagnostics Fault reaction Generic Error Current Current device input side Input current too high Current inside the device Internal current 1 Internal current 2 Current device output side Voltage Mains voltage Input voltage out of range Voltage inside the device Internal voltage too high Internal voltage too low Output voltage Internal voltage Power supply voltage Power supply voltage too high Power supply voltage too low Control voltage Control voltage too high Control voltage too low Temperature Ambient temperature Ambient temperature too high Ambient temperature too low Device temperature Temperature of electronic components Temperature of electronic components too high Temperature of electronic components too low Temperature of hydraulic components Temperature of hydraulic components too high Temperature of hydraulic compon
137. jesiajawese qboyeuy 2 ZF 12 0 oDueij onjeA 2 u lsisl d d4A ejeg JegJejeureJe qeAnoy euieu JajouieJed euieu yoo uoneoyi2ods unujesJed Bulddeul Odd z 9v L2X0 142 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary LE Jo 6 Hed Aupuonolp 1908140 S eige L eoejieju Jeonpsuei eAnoy4e onuooeunsseJd J04ju09eunsseJqeA eA s Ilnisidduro 006240 006240 l oplu lulu 99npsue1u eA y4e onuogeunsseJd Io33u09eunssaJgeA eA o nisidduio 006240 ur nd no ddn 897c wurmndingjewo 011U0981NSS2148AI2A s 1 wojsadduuo goezxo 8062 0 yu nd no ddn g92c wurmndinogjewo 01JU0981NSS8148AI2A o mojsiddwo 8062 0 194c nur jndingJewo1 yurmndinojeddn jo41u05eunssaJgeA eA c L ddnsiddwo 062 0 062 0 19126 4191 jndjnQJ eMmo7 gt 9LLNI 0210029 85 o Jddnsuddwo 062 0 jurt 0 CEO LiolenueJ jiiq IOo luoo nss id A BA c juapsadduuo 6062 0 60 2X0 ZE IO Lioyenuaseyiq Ioluoo inss id A BA olwpsidduo 60 2X0 ZE IO ureoJorenuejojiiq I031u098unssaJgeA eA 5 u6psiudduo 8062 0 8062 0
138. l Force control Flow control Current control Moog GmbH Trajectory generation Table 65 Error codes part 2 of 4 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 119 8 Diagnostics Fault reaction CAN communication Local CAN communication CAN overrun objects lost Local CAN overrun objects lost CAN in error passive mode Local CAN in error passive mode Life guard error or heartbeat error CAN recovered from bus off Local CAN recovered from bus off CAN transmit COB ID collision Local CAN transmit COB ID collision Protocol Error PDO not processed due to length error PDO length exceeded RPDO1 time out RPDO2 time out PDO3 time out RPDO4 time out TPDO1 time out TPDO2 time out TPDO3 time out TPDO4 time out SYNC producer time out SYNC consumer time out RPDO1 data RPDO2 data RPDO3 data RPDO4 data TPDO1 data TPDO2 data TPDOS3 data TPDO4 data Local RPDO1 time out Local RPDO2 time out Local RPDO3 time out Local RPDO4 time out Local TPDO1 time out Local TPDO2 time out Local TPDO3 time out Local TPDO4 time out Local RPDO1 data Local RPDO2 data Local RPDO3 data Table 65 Error codes part 3 of 4 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 120 8 Diagnostics Fault reaction Loca
139. l RPDO4 data Local TPDO1 data Local TPDO2 data Local TPDO3 data Local TPDO4 data Table 65 Error codes part 4 of 4 8 2 3 Object 0x2831 Fault reaction status The bit coded fault reaction status indicates which errors are currently reported for the device Each bit of the fault status array built with the subindexes 1 4 stands for a specific error gt Table 66 page 122 FaultReaction Index Subindex Name Data type Access Persistence Value range Default 0x2831 1 4 Status UINT32 ro N UINT32 DSV Example Subindex 1 of 0x2813 holds the value 0x7000000 hex The binary coding is as follows This means the errors Analog input 2 supply cable break short circuit bit 28 Analog input 3 supply cable break short circuit bit 29 and Analog input 4 supply cable break short circuit bit 30 have occurred as listed in the following table The following table shows the bits of the subindexes 1 4 and the assigned errors Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 121 8 Diagnostics Fault reaction Subindex of Fault code 0x2831 hex Fault description 1 00 No fault 01 Error microprocessor core 02 Error digital signal processor 03 Error DSP program download 04 Error DSP realtime data transmission 05 Power supply voltage too low 06 Power supply voltage too high 07 Internal supply voltage too low 08 Internal
140. lding pressure switchover function gt Chapter 7 2 10 Local holding pressure switchover page 102 RKP D specific Hold pressure forced Enables disables externally forcing of the holding pressure switchover Chapter 7 2 10 Local holding pressure switchover page 102 RKP D specific O Moog GmbH Ramp stop If this bit is activated ramp output is frozen gt Chapter 7 1 Demand Value Generator page 55 Table 22 Control word value definition USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 RKP D specific 27 5 Device control Object descriptions 5 3 2 Object 0x4040 Local control word The functionality of the local control word and the lt ControlWord gt needs to be distinguished In local mode the local control word is applied In bus mode the lt ControlWord gt is applied Local mode is typically chosen to run the device without bus The local control word default 0x403F defines the status after startup Device Index Subindex Data type Default 0x4040 LocalControlVVord UINT16 rw N UINT16 LocalControl WordDefault gt 5 3 3 Object 0x403F Local control word default The parameter lt LocalControlWordDefault gt can be used to save the set control word on the device as default value Default values are always applied when starting the device Device Persis Value Index Subindex Name Data type Access tence range Default 0x403F 0 LocalCon
141. lues sise 70 Table 50 Ramp status indicated in the status word 71 Table 51 Control mode values nere ee nete e adt eit rei Ela eve e ee Eua ode 76 Table 52 Control deviation indicated in status word 77 Table 53 Control monitoring fvpes sisi 78 Table 54 Control monitoring 5 2 issues 79 Table 55 Pressure controller parameter set 92 Table 56 Master slave selection ss 100 Table 57 Control word bit 13 values issus 102 Table 58 Control word and status word bits for local holding pressure switchover 103 Table 59 Control word DilSz reete tiu oce e tede arie eee stet eet NSA NGE KANEA aeter rt ined ern 103 Table 60 Stat s word Me CEET 103 Table 61 Relation between value of lt ActiveParameterSet gt and interface input range 105 Table 62 Bit coding of error register value 109 Table 63 Type subindex values tete Gg GG ak a ENNEN EEN ty ERR ERR 112 Table 64 Fault reaction settings usines 115 Table 652 Error COGS inet e et dia seca DR ti rient a BERAG NA aa suska sm kasa 118 Table 66 Fault reaction status bits 122 Table 67 Fault reactions for CPU supply voltage failure I 126 Table 68 Fault reactions for power supply voltage failure 126 Table 69 Fault reactions for PCB temper
142. n A CANopen device can be divided into the following parts Communication objects Object dictionary Application UO Communication object dictionary application objects application program PDO device profile CAN SDO other objects NMT objects Figure 1 Device model The access to the object dictionary is provided by the communication objects The object dictionary is the in terface to the application The application holds the device specific program Object dictionary structure ee gt 0000 Not used Not used 0001 009F Data types DS 301 00A0 OFFF Reserved for further use Not used 1000 1FFF Communication profile area According DS 301 gt Chapter 2 2 Communication profile area page 10 2000 5FFF Manufacturer specific profile area Described in this document 6000 9FFF Standardized device profile area According DSP 408 Described in this document A000 BFFF Standardized interface profile area Not used Table 7 Obiect dictionary structure CANopen defines communication objects and protocols which allow the configuration of parameter settings to process data exchange synchronization mechanisms and emergency messages Access to the object dictionary objects is done via the Service Data Objects SDO lt Exchange of real time process data via the Process Data Objects PDO lt Synchronization of process data by the Synchronization Object SYNO lt The Emer
143. n is deactivated or the ramping function does not influence the output signal The ramping function influences the output signal Table 46 Ramp status indicated in the status word 7 1 2 5 1 Ramp type 1 one quadrant ramp This function limits the input signal s rate of change to a definable acceleration time Activated with ramp type 0x6300 1 Chapter 7 1 2 5 Ramp page 59 input 100 100 BUTEUR lt AccelerationTime gt H 1 1 100 100 1 1 1 1 1 1 T 1 1 1 1 1 Figure 19 Ramp type 1 ValvePositionControl DemandValueGenerator Ramp Persis Value Index Subindex Name Data type Access tence range Default 0x6331 1 AccelerationTime UINT16 UINT16 0x6331 Unit UINT8 UINT8 0x6331 AccelerationTime Prefix INT8 4 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 60 7 Pump functions Demand Value Generator lt AccelerationTime gt This parameter defines the output signal s maximum rate of change The acceleration time corresponds to the time that the signal needs for a change of 0 to 100 as shown in the figure above The acceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms 7 1 2 5 2 Ramp type 2 two quadrant ramp This function limits the input signal s rate of change to an acceleratio
144. n time and a deceleration time Activated with ramp type 0x6330 2 c Chapter 7 1 2 5 Ramp page 59 Description of the acceleration time parameter gt Chapter 7 1 2 5 1 Ramp type 1 one quadrant ramp page 60 input 100 100 output lt AccelerationTime gt 100 lt DecelerationTime gt 100 Figure 20 Ramp type 2 Value Index Name Data type range Default 0x6334 DecelerationTime UINT16 UINT16 0x6334 Unit UINT8 UINT8 0x6334 DecelerationTime Prefix INT8 4 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 61 7 Pump functions Demand Value Generator lt DecelerationTime gt This parameter defines the output signal s maximum rate of change The deceleration time corresponds to the time that the signal needs for a change of 100 to 0 The deceleration time can be specified in seconds with the gradation 1 s 100 ms 10 ms 1 ms 7 1 2 5 3 Ramp type 3 four quadrant ramp This function limits the input signal s rate of change to an acceleration time and a deceleration time each sep arated for the positive and negative sides Activated with ramp type 0x6330 3 Chapter 7 1 2 5 Ramp page 59 input 100 100 lt AccelerationTimePositive gt output gt lt DecelerationTimePositive gt 100 96 100 96
145. nalog input 1 Other types are not to be selected lt ActualValue gt In case of lt DeviceMode gt 0x6042 2 this is the actual value for the pressure command Otherwise the an alog value can be assigned to any interface Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Chapter 6 3 3 Interface assignment page 48 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 35 6 Signal routing and scaling Physical pump interfaces 6 1 2 Analog inputs 2 3 and 4 6 1 2 1 Objects 0x3210 0x3214 Analog input 2 Analoglnput2 Persis Index Subindex Name Data type tence Value range Default 0x3210 InputType INT8 Y INT8 2 0x3214 ActualValue INT16 N INT16 None lt InputType gt Type of the analog input lt InputType gt Type of analog input 2 10 V potential free 4 10 mA potential free 20 mA potential free 10 mA grounded 20 mA grounded 10 V grounded Table 30 lt InputType gt values analog input 2 Other types are not to be selected lt ActualValue gt Actual analog input value Description of cable break monitoring Chapter 8 3 Cable break monitoring page 128 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 36 6 Signal routing and scaling Physical pump interfaces 6 1 2 2 Objects 0x3218 0x321C Analog input 3 Analoglnput3 Index Subindex Name Data type Value
146. nceValue INT16 rw 0 32767 DSV 0x6391 Unit UINT8 ro UINT8 78 0x6391 Prefix INT8 ro INT8 0 Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 67 7 Pump functions Demand Value Generator 7 1 3 3 Limit function This function limits the value range of the input signal The limit is defined by setting the upper limit and lower limit parameters Bit 10 of the status word indicates whether the input signal is being limited or not gt Chapter 5 3 5 Object 0x6041 Status word page 29 input lt UpperLimit gt status word bit 10 limit touched limit function lt LowerLimit gt output lt UpperLimit gt 0x63A0 input lt LowerLimit gt 0x63A1 Figure 25 Limit function ValvePressureControl DemandValueGenerator Limit Persis ndex Subindex Name Data type Access tence Value range Default 0x63A0 UpperLimit INT16 rw Y lt LowerLimit gt 32767 16384 0x63A0 Unit UINT8 ro UINT8 0x63A0 Prefix INT8 ro INT8 0x63A1 LovverLimit INT16 rw 32768 lt UpperLimit gt 0x63A1 Unit UINT8 ro UINT8 0x63A1 Prefix INT8 ro INT8 Chapter 1 6 2 Definition of unit and prefix page 5 The lt LowerLimit gt value cannot be greater than the lt UpperLimit gt value Status limit reached The status is used to indicate whether the input signal is being limited This information is mapped to
147. nitoring features 126 8 2 5 1 Object 0x2803 CPU supply voltage 126 8 2 5 2 Object 0x2804 Power supply 2 126 8 2 5 3 Object 0x2805 PCB temperature sess 127 8 2 5 4 Object 0x280D Operating time 127 8 3 Cable break monitoring L naa inan In elected ABA nil ili 128 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 iii Table of Contents 9 Storing restoring parameters EE ends 131 9 1 Storing UE 131 9 1 1 Object 0x1010 Store parameters r 132 9 2 Restoring default parameters u u u u u a nennen nnns 133 9 2 1 Object 0x1011 Restore default parameters 134 10 Object dictionary Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 List of Tables List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Representation Of objects eiut aaa Ba H s Sau aaa aksi sa ass Meaning of object entries
148. nstant 0x2603 Power ProportionalGain 0x2601 Power Maximum 0x2600 lt ActualValue gt lt Power_DifferentialTime 0x6301 Contstant gt lt Power_DifferentialGain gt 0x2606 0x2605 Power Value 0x2608 lt ActualValue gt 0x6381 Figure 40 Power limitation structure Enabling of the power limitation function The power limitation function is switched on and off with the bit 11 in the control word If bit 11 is set to true power limitation is enabled Chapter 5 3 1 Object 0x6040 Control word page 27 PT1 The additional low pass filter of the power difference allows a delayed controller takeover from position to power control Hence the limiting of the position is delayed by the low pass This allows the pump to exceed the power limit for a short time period depending on the time constant of the low pass element Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 95 7 Pump functions Controller 7 2 8 1 Objects 0x2600 0x2606 0x2608 Power limitation lt Power_Maximum gt If this maximum power value is reached the flow demand is reduced PumpController Persis ndex Subindex Name Data type Access tence Value range Default 0x2600 0 Power Maximum INT16 rw Y 0 16384 DSV lt Power_ProportionalGain gt The proportional gain of the power limitation controller PumpController Persis Index Subindex Name Data type A
149. ntegratorGain gt ValvePressureControl Index Subindex Name Data type Access Value range Default 0x2305 1 16 IntegratorGain FLOAT32 rw 0 inf DSV lt IntegratorControlRange gt The control range of the pressure controller s integrator If the pressure control deviation lies within this range then the integrator is working with the set integrator gain lt IntegratorGain gt Usual values 0 163 ValvePressureControl Index Subindex Name Data type Value range Default 0x2307 1 16 ntegratorControlRange 1 INT16 0 32767 DSV lt IntegratorPart gt The integral proportion of the pressure controller s integrator This parameter can be used to observe the be havior of the integrator ValvePressureControl Persis Index Subindex Name Data type Access tence Value range Default 0x2310 0 IntegratorPart FLOAT32 ro N FLOAT32 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 89 7 Pump functions Controller 7 2 6 2 3 Objects 0x230A 0x230B Upper lower output limit ValvePressureControl Persis Subindex Name Data type Access tence Value range Default 1 16 UpperOutputLimit INT16 LowerOut 16384 putLimit gt 32767 0x230B Ley LowerOutputLimit 32768 lt Upper OutputLimit gt 7 2 6 2 4 Objects 0x2308 0x2309 0x2312 0x2314 Differentiator lt DifferentiatorGain gt The pressure controller s differentiator gain that effects the
150. ntroller 7 2 6 2 6 Objects 0x2315 0x2316 0x2318 0x2319 Position feedback Description on how the following parameters act gt Figure 38 page 88 lt SpoolPositionFeedbackPart gt PumpPressureControl Index Subindex Name Data type Access Value range Default 0x2315 1 2 SpoolPositionFeed FLOAT32 ro FLOAT32 None backPart lt SpoolPositionFeedbackGain gt PumpPressureControl Index Subindex Name Data type Value range Default 0x2316 1 16 SpoolPositionFeed FLOAT32 0 inf DSV backGain lt SpoolPositionFeedbackGainHighPassFiltered gt PumpPressureControl Index Subindex Name Data type Value range Default 0x2318 1 16 SpoolPositionFeed FLOAT32 0 inf DSV backGainHighPassFil tered eSpoolPositionFeedbackHighPassTimeConstant PumpPressureControl ndex Subindex Name Data type Value range Default 0x2319 1 16 SpoolPositionFeed FLOAT32 0 inf DSV backHighPassTimeCon stant 7 2 6 2 7 Object 0x2317 Suck limitation lt SuckLimitationForPD gt This parameter limits the pressure controller output and thus ensures a minimum flow of the pump PumpPressureControl Persis Index Subindex Name Data type Access tence Value range Default 0x2317 1 16 SuckLimitationForPD INT16 rw Y 32768 0 16384 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 91 7 Pump functions Controller 7 2 6 3 Object 0x2350 Active par
151. nuixeyy Jamog gt Jowod E LOE9X0 enjeAjenioy 1092 0 enjeAuoneinurewog enjeA julodjes Jejonuoo pueuiep uonisod uonisod uonisod 0 1 9X0 enjeApueueq 8912 0 0529 0 indinojejpou1uo2 uonei eqgio1u02 uonesueduioo oDexeo 1069x0 enjeAJenjp y 0212 0 1869X0 lt uollesu duioS Beye 1 gt en eAj enjo v 94 Figure 39 p Q controller USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 7 Pump functions Controller Leakage compensation Detailed information on the leakage compensation Chapter 7 2 4 1 Leakage compensation page 82 Suck limitation Detailed information on the suck limitation Chapter 7 2 6 2 7 Object 0x2317 Suck limitation page 91 7 2 7 1 1 Object 0x2158 Controller output ValveMainStageControl Index Subindex Name Data type Value range Default 0x2158 0 ControllerOutput INT16 INT16 None 7 2 8 Power limitation The maximum flow of the pump can be limited by means of the power limitation function The limit value i e the maximum power is written to the parameter Power Maximum 0x2600 If this power limit is reached the position demand is reduced gt Figure 34 page 81 The following figure shows the structure of the power limitation function and the parameters influencing this behavior PT1 Power PT1gain 5 m 0x2602 Power PT1TimeCo
152. o uoneoyi2ods 1 uumupd Buiddeui Odd z 1071 0 138 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 9LININ LE Jo G ued Areuonoip yoalgo 87 lqe L OPdiSUEI PIE JejeurerequomeorunuiUo2opglIlsuei zluunpd d081X0 8LNIN adh LUOlSS LUSUEAT opdluusue1l pug 1J 1 uue1equoleoiunuutuooopdlltusueu l zlunpd d081X0 469987 400 pug JejeurerequomeorunuiUo2opglI lsuei L d081X0 9LLNID J ulI1u A3 OopgiiuusueJ pug Jejeurejequomeorunujuo2OpglIulsuel L Hlumpd 1081 0 9LLNID opdlltusu 1 puz Jejeurerequomeorunuiuo2opglIlsuei i uunpd 1081 0 8LNIN ed uoissiuusueJ opgiuisuei puz JejeurejequomeorunuJUo Op ql ulsuel lunpd 1081 0 469987 opeiAgp snpiqoo 5 81 1081 0 9LLNID Jeu ue OpdlluuSUEe1 1S J9lawBIEdUONEYIUNUWOTOPANWUSURAIL 0081X0 9LININ eui Liiqiuu 115 JejeureJequomeorunuuo2opgnIsue L oluunpd 0081X0 8LNIN adh juoissiusueJ opdluusuel 1S 1J 1 uue1equoleoliunuutuuooopdlltusueu 0 umpd 0081X0 S69S8v vIco opelAgp snpiqo opdywisued 1s L Jejeurer
153. o N UINT32 0x32040010 Whether this parameter will affect the control is influenced by the following lt Device mode gt Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Control mode c Chapter 7 2 1 1 Object 0x6043 Control mode page 76 Device status c Chapter 5 3 5 Object 0x6041 Status word page 29 Values description s 5 l otlu l si l o Index LSB Index MSB Parameter bit length Table 34 Definition of the position setpoint source Index Subindex The lt SetpointParameter gt carries the index and subindex of the input where the position set values are com ing from For example the parameter can carry the index and subindex of analog input 0 0x3204 6 2 1 3 Object 0x6314 Position hold setpoint This parameter defines the position hold setpoint that is transferred via the bus in the control modes Control position closed loop Control position open loop p Q closed loop It corresponds to the position setpoint in the device states HOLD and FAULT HOLD ValvePositionControl Persis Index Subindex Name Data type Access tence Default 0x6314 HoldSetPoint INT16 0x6314 Unit UINT8 0x6314 Prefix INT8 c Chapter 1 6 2 Definition of unit and prefix page 5 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 42 6 Signal routing and scaling Command value path 6 2 1 4 Object 0x6380 Pressure setpoint This parame
154. ol mode With this parameter the device s control mode is indicated or switched Depending on this setting the device will execute the control functions that are supported by the device Which control modes are available for the used device is defined by the device s capability which can be indicated using the lt Capability gt parameter gt Chapter 4 1 14 Object 0x605F Capability page 21 Device Index Subindex Name Data type Access Default 0x6043 0 ControlMode INT8 rw E lt ControlModeDefault gt Values description Control position open loop Chapter 7 2 3 Control position open loop page 80 Control position closed loop Chapter 7 2 4 Control position closed loop page 81 Pressure control open loop gt Chapter 7 2 5 Pressure control open loop page 83 Pressure control closed loop gt Chapter 7 2 6 Pressure control closed loop page 85 p Q closed loop gt Chapter 7 2 7 p Q closed loop page 93 Reserved Reserved Table 51 Control mode values 7 2 1 2 Object 0x4043 Control mode default This parameter behaves the same way as the parameter lt DeviceModeDefault gt It can be used to save the set control mode on the device gt Chapter 6 2 1 8 Object 0x4042 Device mode default page 45 Device Index Subindex Name Data type Access Default 0x4043 0 ControlModeDefault INT8 rw DSV Description on how to restore the factory default values c
155. ol mode 1 the demand value is directly passed to the pump block as shown in figure 33 This control type is meant to be used only for start up or diagnostic purposes lt ActualValue gt lt LeakageCompensation gt 0x6381 0x2120 leakage compensation lt ActualValvePilot gt 0x3301 DemandValue lt ControllerOutput gt 0x6310 0x2158 position 7 demand value pilot valve generator position lt DemandValvePilot gt lt ActualValue gt 0x3300 0x6301 Figure 33 Control position open loop 7 2 3 1 Object 0x3300 Demand valve pilot This parameter holds the positioning command for the valve piston ValvePositionControl Persis Index Subindex Name Data type Access tence Default 0x3300 0 DemandValvePilot INT16 ro N None 7 2 3 2 Object 0x3301 Actual valve pilot This parameter indicates the actual position of the valve piston ValvePositionControl Index Subindex Name Data type Access Default 0x3301 0 ActualValvePilot INT16 ro None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 80 Controller 2 position is controlled 7 2 4 Control position closed loop The parameters for the position controller are factory set and cannot be changed In the position closed loop mode control mode 7 Pump functions 00 x0 1869x0 enjeAjeniov uoneduu 0092x0 lt
156. ommand Chapter 6 2 1 7 Object 0x6042 Device mode page 45 gt Figure 9 page 40 6 1 1 1 Objects 0x3200 0x3204 Analog input 0 Analoglnput0 Persis Subindex Data type Access tence Value range Default 0x3200 InputType INT8 rw Y INT8 1 0x3204 ActualValue INT16 ro N INT16 None lt InputType gt Type of the analog input lt InputType gt Type of analog input 1 10 V potential free 3 10 mA potential free 5 4 20 mA potential free 0 100 4 20 mA potential free 100 Table 28 lt InputType gt values analog input 0 Other types are not to be selected lt ActualValue gt In case of lt DeviceMode gt 0x6042 2 this is the actual value for the stroke ring command Otherwise the analog value can be assigned to any interface Chapter 6 3 3 Interface assignment page 48 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 34 6 Signal routing and scaling Physical pump interfaces 6 1 1 2 Objects 0x3208 0x320C Analog input 1 Analoglnput1 Index Subindex Name Data type Value range Default 0x3208 0 InputType INT8 INT8 1 0x320C 0 ActualValue INT16 INT16 None lt lnputType gt Type of the setpoint input lt lnputType gt Type of analog input 1 10 V potential free 3 10 mA potential free 5 4 20 mA potential free 0 100 96 4 20 mA potential free 100 26 Table 29 lt InputType gt values a
157. ontrol word 0x2141 The parameter selecting the hybrid mode 0x2148 The parameter addressing a pressure controller parameter set 0x2142 The analog parameter set switching is done over an interface The interface is assigned to an analog input Depending on the analog input signal level a parameter set is activated The selection of the interface is done by the parameter lt SourceTransducer gt 0x2143 The value of the parameter ActiveParameterSet 0x2146 corresponds to a certain input range of the interface see Table 61 Description of the interface assignment c Chapter 6 3 3 Interface assignment page 48 input analog input output N N 1 16 output analog N lt ActiveParameterSet gt lt PressureSetSelector gt 0x2142 input input 0x2146 N subindex N lt ControlWord gt 0x2141 subindex N lt Mode gt 0x2148 subindex N Figure 44 Assignment of analog input value to active parameter set The analog input is quantized according Table 61 The resulting value from 1 16 is assigned to lt ActiveParameterSet gt 0x2146 The lt ActiveParameterSet gt sets the subindex of three parameters The lt PressureSetSelector gt 0x2142 defines which controller parameters will be active Description of lt PressureSetSelector gt 0x2142 gt Chapter 7 2 6 3 Object 0x2350 Active parameter set number page 92 The following table shows the relation between the currently active control parameter set in
158. op control type Bit 27 1 Supports the pressure control open loop control type Bit 28 1 Supports the pressure control closed loop control type Bit 29 1 Supports the p Q closed loop control type Bit 30 31 Reserved Table 19 Device capability values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 21 4 Device identification Object descriptions For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 22 5 Device control Structure 5 Device control 5 1 Structure The device control block controls all functions of the device It contains a state machine by which the device functions can be activated or deactivated The control word is used to control the device status and the cur rent device condition is indicated by the status word The source of the control word acting on the device state machine is set with the parameter lt Local gt 0x604F as shown in the following figure By writing the value 1 to this parameter the local control word is acting on the device state machine Setting the Local parameter to 0 the control word transferred via bus is enabled lt ControlWord gt lt LocaIControlWord gt 0x6040 0x4040 lt Local gt 0x604F 0 ControlWord from bus 1 ControlWord local device control lt StatusWord gt 0x6041 Figure 4 Device control block Moog GmbH USER MANUAL Firmware RKP D
159. program control demand value generator controller m actual value conditioning o E o c o E 5 fS controller output actual physical values Figure 3 The device s logical structure Device control The device control block controls all functions of the device and contains a state machine by which the device functions can be activated or deactivated Chapter 5 Device control page 23 Device mode and program control The device mode is used to change the mode in which the device operates i e it defines how the setpoints are put in switching from bus to local mode and how to set the control mode controller functions p Q or p Q gt Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Demand value generator The demand value generators produce the demand values for the position controller and the pressure control ler Functions within the demand value generators calculate the demand values from the setpoint signals Chapter 7 1 2 Position demand value generator page 55 Chapter 7 1 3 Pressure demand value generator page 66 Controller Depending on the device model and variant the device will have a position controller and or a pressure con troller and or a p Q controller gt Chapter 7 2 4 Control position closed loop page 81 Chapter 7 2 6 Pressure control closed loop page 85 gt Chapter 7 2 7 p Q closed loop page 93 Moog GmbH USER MANUAL Firmware RKP D
160. r structure of the pressure demand value generator with the implemented functions setpoint 5 x o o D o gt D lt Demand gt 0x6390 Figure 24 Pressure demand value generator Detailed description of the signal flow of the demand signal and the parameters influencing this behavior gt Chapter 6 2 Command value path page 39 Forwarding the demand value to the controller The pressure demand value 0x6390 is forwarded to the pressure controller in the control modes 3 4 and 5 Chapter 7 2 1 1 Object 0x6043 Control mode page 76 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 66 7 Pump functions Demand Value Generator 7 1 3 1 Object 0x6390 Demand value The demand value indicated by this parameter is generated from the setpoint by means of the functions in the demand value generator and forwarded to the pressure controller ValvePressureControl DemandValueGenerator Persis ndex Subindex Name Data type Access tence Default 0x6390 Demand INT16 ro None 0x6390 Unit UINT8 ro 0 0x6390 Prefix INT8 ro 0 Chapter 1 6 2 Definition of unit and prefix page 5 7 1 3 2 Object 0x6391 Reference value The reference value is the value that corresponds to 100 96 of the setpoint ValvePressureControl DemandValueGenerator Persis Value Index Subindex Name Data type Access tence range Default 0x6391 Refere
161. range Default 0x3218 0 InputType INT8 INT8 2 0x321C 0 ActualValue INT16 INT16 None lt lnputType gt Type of the analog input lt lnputType gt Type of analog input 2 10 V potential free 4 10 mA potential free 20 mA potential free 10 mA grounded 20 mA grounded 10 V grounded Table 31 lt InputType gt values analog input 3 Other types are not to be selected lt ActualValue gt Actual analog input value Description of cable break monitoring gt Chapter 8 3 Cable break monitoring page 128 6 1 2 3 Objects 0x3220 0x3224 Analog input 4 Analoglnput4 Index Subindex Name Data type Access Value range Default 0x3220 InputType INT8 rw INT8 2 0x3224 ActualValue INT16 ro INT16 None lt InputType gt Type of the analog input lt InputType gt Type of analog input 2 0 10 V potential free 10 0 10 V grounded Table 32 lt InputType gt values analog input 4 Other types are not to be selected lt ActualValue gt Actual analog input value Description of cable break monitoring Chapter 8 3 Cable break monitoring page 128 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 37 6 Signal routing and scaling Physical pump interfaces 6 1 3 Analog outputs An analog output provides access to a parameter value customer routed parameter analog output scaling Figure 7
162. rd control monitoring function or to switch off control monitoring Status control error Whether a controller fault is pending is indicated by the status word bit 11 If a controller fault is detected this bit is set to 1 The bit is set to 0 if no control fault is pending or the control monitoring function is deactivated Chapter 5 3 5 Object 0x6041 Status word page 29 0 No control fault detected or control monitoring is deactivated 1 Control fault detected Table 52 Control deviation indicated in status word Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 77 7 Pump functions Controller 7 2 2 1 Stroke ring control monitoring 7 2 2 1 1 Deviation monitoring ValvePositionControl_ControlMonitoring Index Subindex Name Data type Access Persistence Value range Default 0x6350 ControlDeviation INT16 ro INT16 None 0x6350 Unit UINT8 UINT8 0x6350 Prefix INT8 INT8 0x6351 Type INT8 0 1 0x6352 DelayTime UINT16 UINT16 0x6352 Unit UINT8 UINT8 0x6352 Prefix 0x6354 UpperThreshold rw 0x6354 Unit ro 0x6354 Prefix ro 0x6355 LowerThreshold rw 0x6355 Unit ro Chapter 1 6 2 Definition of unit and prefix page 5 DIOU lt ControlDeviation gt The value of this parameter corresponds to the difference between the position demand value 0x6310 and the position actual value 0x6301 Chapter 7 1 2 1 Object 0x6310 Demand value page 56
163. rdde qopgeAre2eH NVOlEoo1 g deuupdoo L09SX0 SINIR opqujsioefqouoneoiddypeddeyyjo4equnwN Buiddenopaeniesenpuz NVOlEoo1 i Juinudeuupdoo L09SX0 c NI GEINT p ddeyy qo algo uoreolddyuiN u 140 i5urddeyyopel 4ejeurejeQgBuirdde qopgeAre2eu NVOlEoo71 deuupdoo l 0099540 0099540 c NI Bueu onjeA eouasisied gt GEINT d4A ejeg p ddeyy qo algo uoreolddyuiN u j404BuiddejNopd 4ejeurejeqgBuirdde qopgeAre2eH NVOlEoo71 euieu JojouieJed euieu yoo uoneoyi2ods oldeuupdoo Buiddeui Odd z 0099 0 152 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 Moog GmbH 10 Object dictionary 9LLNID LE Jo 61 Hed Meuonaip 1 lqo S lqe L ew Hiqluul OPdYUSULI LUL 2 gluunpdool 6089 0 8LNIN ed Luolssiwusues opdlluusuBu ulr NVOlEoo7 6089 0 469987 1 opd gpesnmpiqoo OPAIILUSUEI LUI 2 gooipdoo 6089 0 9LLNID Jeull Ju9 3 OopgilusueiJ pig zluumpdool d089X0 9LININ 2 euirpugiuu 6 DI NV9I8901 z yunpdoo d089X0 8LNIN edA uolssiwsues opdjitusued pie NVOlEoo7 z uumpdoo c08SX0 4969987 1 opd gpesnpiqoo opdlluusu 11 PIE NVOlEoo7 z qoo pdoo d089X0 9LLNID Jeu 1u9 3 OPd IWSUEI puz NVOlEoo7 1 jumpdoo L08SX0
164. re 17 Scaling function ValvePositionControl DemandValueGenerator Scaling Persis ndex Subindex Name Data type Access tence Value range Default 0x6322 0 Factor UINT32 rw Y UINT32 0x00010001 0x6323 1 Offset INT16 rw Y INT16 0x6323 2 Unit UINT8 ro N UINT8 0x6323 3 Prefix INT8 ro N INT8 Chapter 1 6 2 Definition of unit and prefix page 5 lt Factor gt Factor by which the input is multiplied It is calculated from a numerator upper 16 bits of the parameter anda denominator lower 16 bits of the parameter Bit 31 16 15 0 Meaning Numerator Denominator Table 44 Data structure of the scaling factor The default value 0x00010001 corresponds to the factor 1 lt Offset gt The offset is added to the scaled input value Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 58 7 Pump functions Demand Value Generator 7 1 2 5 Ramp The ramp function limits the rate at which the input signal changes The type parameter is used to activate a one quadrant two quadrant or four quadrant ramp or to deactivate the ramp function Whether the ramping function is running is indicated by the status word bit 9 Bit 15 of the status word is set if the ramp function was stopped Status word bit 9 Bit 9 1 If ramp input is limited Status word bit 15 Bit 15 1 The output of the ramp is held Description of the status vvord gt Chapter 5 3 5 Object 0x6041 Status word p
165. reak monitoring feature is a property of the analog inputs All according fault reactions for the in puts in case of a cable break can be assigned to specific fault codes see Table 71 The following cable con nections are monitored e Internal LVDT In case of a cable break the fault reaction NOT READY is executed Description of fault reaction settings gt Table 64 page 115 WARNING The device must be serviced by our service technicians The device may behave unpredictable lt External LVDT Monitoring is only active in case of device state greater INIT In case of a cable break the fault reaction NOT READY is executed Description of the device states c Chapter 5 2 State machine page 24 WARNING The device must be serviced by our service technicians The device may behave unpredictable lt Analog input 0 1 Only the sensor wires are monitored not the supply wires The monitoring is active if the 4 20 mA type is selected set with parameter InputType 0x3200 for analog input 0x3208 for analog input 1 If the current falls below 3 mA a cable break is detected c Chapter 6 1 1 Analog inputs 0 and 1 page 34 lt Analog input 2 3 4 The sensor supply wires and the sensor wires are monitored Sensor supply wire monitoring The supply current is being monitored Currents 3 mA are interpreted as cable break The short circuit of the supply is also recognized The fault reaction is the same Each sen
166. rmally generated by the pump The pump electronics contain a leakage compensation to cancel out this effect The leakage value set with the parameter lt LeakageCompensation gt 0x2120 expresses how much leakage the pump has depending on the supply pressure The unit is eccentricity bar gt Chapter 7 2 4 1 1 Object 0x2120 Leakage compensation page 83 Affected values parameters The leakage compensation affects the demand value to the position controller as shown in the following fig ure lt ActualValue gt lt LeakageCompensation gt 0x6381 0x21 20 leakage compensation lt DemandValue gt lt ControlDeviation gt 0x6310 0x6350 position demand value generator position setpoint position controller lt ControllerOutput gt 0x2158 lt ActualValue gt 0x6301 Figure 35 Leakage compensation Enabling of the leakage compensation function The leakage compensation function is switched on and off with the bit 10 in the control word If bit 10 is set to true leakage compensation is enabled Chapter 5 3 1 Object 0x6040 Control word page 27 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 82 7 Pump functions Controller 7 2 4 1 1 Object 0x2120 Leakage compensation This parameter is used to set the leakage compensation value as described in the previous section The unit of the leakage compensation is eccentricity bar PumpController
167. romMaster INT16 rw None Description of control words gt Chapter 5 3 1 Object 0x6040 Control word page 27 gt Chapter 5 3 2 Object 0x4040 Local control word page 28 lt MasterSlaveSelector gt This parameter is used to enable the local network i e the communication between the master and slave pumps and to define a pump as the master or slave pump lt In master slave operation there must be only one active pressure controller master where the re maining pumps slaves are purely flow controlled by the master pump lt A slave pump must not be configured to be slave 2 or 3 where no other pump is already configured to slave 1 The slave pumps must have different slave numbers PumpController Persis Index Subindex Name Data type tence Default 0x21A5 0 MasterSlaveSelector INT8 1 DSV Values description Function Master Master Solo Slave 1 Slave 2 Slave 3 Table 56 Master slave selection SpoolFeedForwardFromMaster This parameter holds on the slave side the pump controller output transmitted by the master written to the pa rameter lt DemandValvePilot gt 0x3300 on master side PumpController Persis Index Subindex Name Data type tence Default 0x21A7 0 SpoolFeedForvvardFromMaster INT16 None Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 100 7 Pump functions Controller lt SpoolFeedForwardFrom
168. s Index Subindex Name Data type Access tence Value range Default 0x6041 0 StatusWord UINT16 ro N Values description lt StatusWord gt UINT16 None Specification Disabled D DS 408 mandatory Hold activated H DS 408 mandatory Device mode active enable M Ready R mandatory Local control DS 408 mandatory DS 408 DS 408 mandatory Reserved Reserved Pressure controller effective DS 408 Ramp running DS 408 Limit value reached DS 408 Control deviation DS 408 Reserved Reserved Flushing mode active RKP D Hold pressure set values active RKP D Ramp output frozen Table 24 Status vvord values Bits 0 1 2 3 Disabled Hold Device Mode Active Ready These bits indicate the status of the state machine Description of the device states and the associated bit values c Chapter 5 2 State machine page 24 Bit 4 Local control This bit is activated during local control Chapter 5 3 4 Object Ox604F Local page 28 Bit 8 Pressure controller effective This bit indicates whether the pressure controller is active in the p Q control type Bit 0 pressure controller disabled Bit 1 pressure controller enabled This bit is active if and only if the p Q control type is active Bit 9 Ramp running RKP D If this bit is activated one of the active Ramp functions has not yet
169. s executed n order to finalize the restoration of the factory settings the device must be reset by means of the NMT ser vices Reset Communication or Reset Application The interruption of the power supply will not lead to a restore of parameters Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 133 9 Storing restoring parameters Restoring default parameters 9 2 1 Object 0x1011 Restore default parameters RestoreDefaultParameters Index Subindex Name Data type Access Persistence Value range Default 0x1011 1 RestoreAllDefaultParameters UINT32 UINT32 0x1011 12 RestoreCommunicationDefaultParameters UINT32 UINT32 0x1011 13 RestoreApplicationDefaultParameters UINT32 UINT32 0x1011 14 RestoreManufacturerDefinedDefaultParameters UINT32 UINT32 lt RestoreAllDefaultParameters gt Restores the factory settings for all parameters in the device by writing the signature 0x64616F6C load See note below lt RestoreCommunicationCommunicationParameters gt Restores all communication parameters index range 0x1000 0x1FFF in the device by writing the signature 0x64616F6C load See note below lt RestoreApplicationDefaultParameters gt Restores all application parameters index range 0x6000 0x9FFF in the device by writing the signature 0x64616F6C load See note below RestoreManufacturerDefinedDefaultParameters Restores all manufacturer defined parame
170. saJgeA eA udsid z EVEOXO oDueij onjeA z 92uelsisJad 8LNIN d4A ejeg Hun IOo uoo nss id AjBA 1949WLILd euieu yoo uoneoyi2ods iunsud Buiddeui Odd z EV 9X0 163 USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 10 Object dictionary 9LINI 9LINI LE Jo og ed Meuonoip 19 qO S plous uu juedd i BuluiolluolW ojlluoS 041002984nSS9SJd9A A ddnuowsid vaeexo SINI SINI udun edqe9xo 8LNIN 8LNIN Hun junun 069 0 9LINIn 9LLNID eui Ae q GUHOJUONIOHUOD 041005984nssaJd9 eA uluouusud 069 0 SINI dAL o3uooeunsseJdgeA eA dAjuowsid LG89X0 SINI xIJ 1d Io luoo inss id A BA udsid 0d69x0 8LNIN hun Ioluoo inss iq A BA junsid 0d 9x0 9LLNI uoneiegioquo5 o33u05eJnssaJgeA eA UAD 19S4d 0d 9x0 p SINI XIJ 1d eAneDeNeuur uoneJojooeq dwey jopejeuegen eApueuje 041u098JnsseJgeA eA gd6eujopduusud 9869 0 8LNIN 8LNIN Hun junun 9869 0 9LINIn 9LINIn AMeS N ul uoneJojooaq dwey jopejeuegenjeApueujeq 041u098JnsseJgeA eA Beujopduusud 9869 0 gt SINI XIJ 1d eAnisogoeuir uoneJe eoeq dwey jopejeuegen eApueule 041u098JnsseJgeA eA udsodjopdusid gt 9869 0 Bueu onjeA 92uelsisJad z 8LNIN
171. sition demand value generator The position demand value generator comprises the following functions Limit limits the demand signal c Chapter 7 1 2 3 Limit function page 57 Scale gain and offset manipulation of the set signal c Chapter 7 1 2 4 Scaling page 58 Ramp limits the rate at which the input signal changes gt Chapter 7 1 2 5 Ramp page 59 Zero correction defines a zero offset by which the input signal is shifted c Chapter 7 1 2 6 Zero correction page 64 Hybrid mode correction the hybrid mode factor manipulates the demand value in order to compensate the flow generated by a constant pump connected to the same volume c Chapter 7 1 2 7 Hybrid mode correction page 65 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 55 7 Pump functions Demand Value Generator The following figure shows the inner structure of the position demand value generator with the implemented functions setpoint zero correction hybrid mode correction 2 5 x o c D o o lt DemandValue gt 0x6310 Figure 15 Position demand value generator Detailed description of the signal flow of the demand signal and the parameters influencing this behavior Chapter 6 2 Command value path page 39 Forwarding the demand value to the controller The position demand value 0x6310 is forwarded to the position controller in the control modes 1
172. sor has its own fault reaction A short circuit on one of the sensors leads to a fault reaction of all sensors Sensor wire monitoring Cable break monitoring can be activated separately for each of the three external analog inputs 2 3 4 Analog input type Monitoring description 5 8 4 20 mA A fault reaction is thrown by input currents below 3 mA 2 10 0 10 V The monitoring feature can be used by setting the according monitoring currents see Table 71 The sensor needs to be able to sink a current of at least 0 1 mA A fault reaction is thrown by an input voltage above 11 V Due to the monitoring current this occurs also in case of a cable break Only sensor supply wire monitored Table 70 Monitoring description for analog input types Description of analog inputs gt Chapter 6 1 2 Analog inputs 2 3 and 4 page 36 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 128 8 Diagnostics Cable break monitoring The following table shows to which fault codes the according fault reactions for the inputs can be assigned and which parameters are used to activate the monitoring feature Description of the fault codes Figure 63 page 112 Fault code lt MonitoringCurrent gt parameter Analog input 0 31 No Analog input 1 32 No Analog input 2 0x3217 Analog input 3 0x3228 Analog input 4 0x3227 Table 71 Cable break monitoring assignment input to f
173. t effec tive FAULT A fault reaction has occurred lt The actuator of the valve is turned off Depending on the device the hydraulic fail safe position is taken in FAULT This status will be assumed when the device detects a functional fault Description of the fault reaction settings gt Chapter 8 2 1 Fault reaction settings page 112 The faults will be handled appropriately Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 25 5 Device control State machine 5 2 2 State transitions State transitions are caused by device control commands or internal events which lead automatically to status changes 5 2 2 1 State transitions depending on the control word The device control commands which cause a state transition are formed by the four low order bits of the con trol word or local control word c Chapter 5 3 1 Object 0x6040 Control word page 27 c Chapter 5 3 2 Object 0x4040 Local control word page 28 Table 20 only lists the transitions depending on the control word It shows the conditions which the control word needs to fulfill Only the fields holding numbers are being verified The transitions 10 and 11 are only executed if the reset bit changes from 0 to 1 Transitions 10 and 11 are trig gered on the rising edge The bits designated with an x are irrelevant for the corresponding state transition Control word bit State tr
174. t is transferred via the bus for the control modes lt Control position closed loop lt Control position open loop p Q closed loop The setpoint takes only effect in case the device is in the device status DEVICE MODE ACTIVE and the de vice mode is set to 1 setpoint input via bus ValvePositionControl Index Subindex Name Data type Default 0x6300 Setpoint INT16 0x6300 Unit UINT8 0x6300 Prefix INT8 c Chapter 1 6 2 Definition of unit and prefix page 5 Whether this parameter will affect the control is influenced by the following lt Device mode gt Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Control mode c Chapter 7 2 1 1 Object 0x6043 Control mode page 76 Device status c Chapter 5 3 5 Object 0x6041 Status word page 29 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 41 6 Signal routing and scaling Command value path 6 2 1 2 Object 0x3320 Position setpoint parameter The position control setpoint parameter indicates the input where the set values are coming from i e that de livers the position setpoint This is a read only parameter The setpoint takes only effect in case the device is in the device status DEVICE MODE ACTIVE and the de vice mode is set to 2 setpoint input locally ValvePositionControl Persis Value ndex Subindex Name Data type Access tence range Default 0x3320 0 SetpointParameter UINT32 r
175. t parameters 9 2 Restoring default parameters In order to activate the default values the application needs to be reset The restore command sets the de fault values to factory defaults The default settings factory settings of parameters can be restored when the signature load is written to the corresponding subindex of the object 0x1011 in the object dictionary Writing to subindex 01 causes restoring of all parameters in the object dictionary For the parameter groups the following applies Parameter group Index range Restore command Communication 0x1000 0x1FFF lt RestoreCommunicationDefaultParameters gt 0x1011 subindex 2 Application 0x6000 0x9FFF lt RestoreApplicationDefaultParameters gt 0x1011 subindex 3 Manufacturer defined 0x2000 0x5FFF lt RestoreManufacturerDefinedDefaultParameters gt 0x1011 subindex 4 Table 74 Parameter groups restore command The write access to any parameter will not affect its default value The format of the signature written to the corresponding subindex of 0x1010 is as follows Signature factory settings that are restored will be only set valid after a reset in the following manner Reset Application is necessary to restore all parameters needed if restore options at subindex 01 03 and 04 are executed lt Reset Communication is necessary to restore all communication parameters needed if restore options at subindex 02 wa
176. ter corresponds the setpoint that is transferred via the bus for the control modes Control pressure closed loop Control pressure open loop p Q closed loop The setpoint takes only effect if the device is in the device status DEVICE MODE ACTIVE and the device mode is set to 1 setpoint input via bus ValvePressureControl Persis Index Subindex Name Data type Access tence Default 0x6380 Setpoint INT16 0x6380 Unit UINT8 0x6380 Prefix INT8 c Chapter 1 6 2 Definition of unit and prefix page 5 Whether this parameter will affect the control is influenced by the following Device mode c Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Control mode c Chapter 7 2 1 1 Object 0x6043 Control mode page 76 Device status c Chapter 5 3 5 Object 0x6041 Status word page 29 6 2 1 5 Object 0x3310 Pressure setpoint parameter The pressure control setpoint parameter indicates the input where the set values are coming from i e that delivers the pressure setpoint This is a read only parameter The setpoint takes only effect if the device is in the device status DEVICE MODE ACTIVE and the device mode is set to 2 setpoint input locally ValvePressureControl Persis Value Index Subindex Name Data type Access tence range Default 0x3310 0x00 SetpointParameter UINT32 ro N UINT32 0x320C0010 Whether this parameter will affect the control is influenced by the following Devi
177. ters index range 0x2000 0x5FFF in the device by writing the sig nature 0x64616F6C load In order to finalize the restoration of the factory settings after any of the above described parameters was written a reset of the device needs to be performed by means of the NMT services Reset Commu nication or Reset Application Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 134 10 Object dictionary Le ped Aupuonolip 1o lqo S eq L Bess yy uASpIq02 11867 6 01 71 qooBswous S001X0 pialjouypuepuels ZELNIN 1 Io Upuueagd 001X0 6001 0 PI81410113pIEpUES Pl811011peu9814 001X0 S40413JOJequinN pierJ40413peuyeqeJgd unuJJeeud 001X0 JeisiDeusnielsjeunjoejnue v Bous suew ZOOLXO Jaysibaysouy 1001 0 d 1 lA Qq 2 dAynep 0001X0 cECANSISN d eie zenwnp 2000X0 ed eje 9r nuinp 9000X0 n a 9LGANSISNN q n 843 019 d Leleq gonunp 4000 0 c H393 NI ed eieq 000 91H435231N ad eieq 9 sunp 000X0 SHH Z N ad eyeq g80suinp c000X0 oDueij onjeA eoueisisJad Z aweu MOO uoneoyi2odsg Duddeu Odd gt Jej oJjuoo Jejseui BU pepeo eq ueo 19e qo eui s lli Sq3 pea o Au IIQE au Seu J9 041u09 49 seuJ aul
178. th command value path position lt ActualValue gt 0x3204 analog input 0 lt Setpoint gt 0x6300 position setpoint lt DeviceMode gt 0x6042 1 setpoint input via bus 2 analog input 0 lt HoldSetPoint gt 0x6314 position hold setpoint RMHD 1111 RMHD X011 status word position demand value generator command value path pressure lt ActualValue gt 0x320C lt Setpoint gt 0x6380 pressure setpoint analog input 1 lt DeviceMode gt 0x6042 1 setpoint input via bus lt HoldSetPoint gt 0x6394 2 analog input 1 pressure hold setpoint RMHD 1111 RMHD X011 status word _ pressure demand value generator Figure 9 Command value paths position and pressure Description of the hold setpoint parameters Chapter 6 2 1 3 Object 0x6314 Position hold setpoint page 42 Chapter 6 2 1 6 Object 0x6394 Pressure hold setpoint page 44 Description of the device mode and control words Chapter 6 2 1 7 Object 0x6042 Device mode page 45 Chapter 5 3 1 Object 0x6040 Control word page 27 Chapter 5 3 5 Object 0x6041 Status word page 29 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 40 6 Signal routing and scaling Command value path 6 2 1 Object descriptions 6 2 1 1 Object 0x6300 Position setpoint This parameter corresponds to the setpoint tha
179. tialization of the device parameters with the values saved in the device The valve function is disabled DISABLED All functions necessary for control are activated lt The actuator of the valve is turned off Depending on the device the hydraulic fail safe position is taken in HOLD lt The selected control type is active gt Chapter 7 2 1 Control modes page 75 lt The specified hold setpoint is active Position hold setpoint gt Chapter 6 2 1 3 Object 0x6314 Position hold setpoint page 42 Pressure hold setpoint gt Chapter 6 2 1 6 Object 0x6394 Pressure hold setpoint page 44 lt The setpoints according to the chosen device mode set with parameter lt DeviceMode gt are not effec tive DEVICE MODE ACTIVE The device is enabled The configured setpoint of the activated controller according to the chosen de vice mode is fed through the demand value generator to the controller This is the default state after power on if local control mode is activated FAULT HOLD Afault reaction has occurred The control type selected with the parameter ControlMode is active The specified hold setpoint is active Position hold setpoint gt Chapter 6 2 1 3 Object 0x6314 Position hold setpoint page 42 Pressure hold setpoint 5 Chapter 6 2 1 6 Object 0x6394 Pressure hold setpoint page 44 The setpoints according to the chosen device mode set with parameter DeviceMode are no
180. to parameter value via analog output 38 ai se Beie e te EE 38 Command value paths position and pressure ss 40 Position actual value path u te eee a en a nee dede deae e Aa ana 46 Pressure actual value path sen pete a ana AS petet etie det er ite ies 47 Actual value conditioning seen 48 Scaling and offset of the pressure value anaa eaaa anaa aaa anana aana anaa anana nne 53 Demand Value Generator 55 Position demand value generator sise 56 Limit UNCION ices a a BA AS aga a LAA RU ee eA en Me eee et A ce 57 GANG TUNGGU ON sak aga e ete cet kayma Aa A cag nama 58 Ramo function kasi sarasa a aa bia eaaa aga a an ba MA A saa ah a 59 Ramp type EE 60 Iy DE 2 C e ac AS ass a Ban ALAA ah re 61 Rarmp type Sear et T ra sua aed add nce pip Y 62 Ate Bel Cie E 64 Transfer behavior hybrid mode solo mode AA 65 Pressure demand value generator ss 66 Limit tuia D R Una 68 ajor Mire AA a Le op AE a En 69 RAMP function Em 70 BRamb iybeb e nn tn dar net rt nat a ste 71 RAMP sty PO Saa S obtu ecu LL ELI SILLA 72 PREITY OO Sac EEUU 73 Deviation MORONG BE 77 Monitoring the control deviation s tolerance band 77 Control Dostert OPEN log u uuu oni ERC rti eda aut ERE ad Pre urea 80 Control position closed loop eb eee bea e Re e Reus Se ONERE D EE E PR HENCE 81 Leakage compensation
181. toring Trajectory generator processing error Eventhandler exception Local CAN general fault Local CAN overrun MI l ol ul S ol N o Local CAN in error passive mode Local CAN recovered from bus off Local CAN RPDOT time out Local CAN RPDO2 time out Local CAN RPDOS time out Local CAN RPDO4 time out Local CAN RPDO1 data Local CAN RPDO2 data Local CAN data Local CAN RPDO4 data Local CAN TPDOT time out Local CAN 2 time out Local CAN TPDOS time out Local CAN TPDO4 time out Local CAN TPDO 1 data Local CAN TPDO2 data Local CAN data Local CAN TPDO4 data CAN general fault CAN overrun CAN in error passive mode CAN recovered from bus off CAN RPDOT time out CAN 2 time out Table 66 Fault reaction status bits part 3 of 4 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 124 8 Diagnostics Fault reaction Subindex of Fault code 0x2831 ME Fault description CAN RPDOS time out CAN RPDO4 time out CAN RPDO1 data CAN RPDO2 data CAN RPDOS data CAN RPDOA data CAN TPDOT time out CAN TPDO2 time out CAN TPDOS time out CAN TPDOA time out CAN TPDO 1 data CAN TPDO2 data CAN data CAN TPDOA data cool l ol ul S WI MJ O CAN life guard error or heartbeat error CAN SYNC producer time out CAN SYNC cons
182. trol mode 4 the setpoint signal is converted by the demand value generator into a corresponding demand value and forwarded to the subsidiary controller The actual pressure value is fed back to the controller by way of the pressure sensor where the pressure sig nal can be chosen from the internal pressure sensor or from the 5 analog inputs the source of the pressure signal is selected with the parameter PressureControllerActiveTransducerlnterface Chapter 6 3 3 2 Object 0x230D Pressure controller active transducer interface page 52 The deviation between the provided pressure setpoint and the measured actual pressure is compensated by calculating a set signal and providing it to the pilot valve as a demand value Chapter 7 1 3 Pressure demand value generator page 66 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 85 Controller 7 Pump functions 1069x0 enjeAjenjoy ZLEZXO Qd403uoneiurppons E 186940 en eA enioy E 8Lv2xo 0qe9xo 0669x0 lt ndnO18 101U09 gt uogenegjouo enpeApueuleg 0062 0 jo dge A eApueuieq 18 04 U09 Juiodies pueuiep eJnsseJd eunsseJd eunsseJd uonisod L8 9X0 enjeAjeni y uo A PA 10j1d Jemod 00920 lt uinuuxelW 18mMod gt minimum 092 0 lt onjeAuoneywiqeaMod gt 1069 0 enj eAjenioy Figure 37 Pressure control closed loop 86 USER MANU
183. trolWordDefault UINT16 rw Y UINT16 DSV Description on how to restore the factory default values gt Chapter 9 2 Restoring default parameters page 133 5 3 4 Object 0x604F Local The device local parameter specifies the source of the control word that is affecting the status machine either local or from bus i e whether the device status shall be controlled by the lt ControlWord gt 0x6040 or the lt LocalControlWord gt 0x4040 Status word bit Bit 4 of the status word indicates whether local control is active Bit 4 1 local operation is active Bit 4 0 the control word is active via bus Chapter 5 3 5 Object 0x6041 Status word page 29 Device Persis Index Subindex Data type Access tence Default 0x604F 0 INT8 rw Values description lt Local gt Meaning 0 Control word from bus The control word is active the Control word local lt ControlWordLocal gt has no influence gt Chapter 5 3 1 Object 0x6040 Control word page 27 Control word local The local control word is active the control word lt ControlWord gt has no influence gt Chapter 5 3 2 Object 0x4040 Local control word page 28 Table 23 Local values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 28 5 Device control Object descriptions 5 3 5 Object 0x6041 Status word The bit coded status word indicates the current device status Device Persi
184. ture which has to be written to the corresponding subindex of 0x1010 is as follows po V a 76 61 ASCII e s he 65 73 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 131 9 Storing restoring parameters Storing parameters 9 1 1 Object 0x1010 Store parameters StoreParameters Index Subindex Name Data type Access Persistence Value range Default 0x1010 SaveAllParameters UINT32 rw UINT32 0x1010 SaveCommunicationParameters UINT32 rw UINT32 0x1010 SaveApplicationParameters UINT32 rw UINT32 0x1010 SaveManufacturerDefinedParameters UINT32 rw UINT32 lt SaveAllParameters gt Saves all parameters in the device s non volatile memory by writing the signature 0x657661 73 save lt SaveCommunicationParameters gt Saves all communication parameters index range 0x1000 0x1FFF in the device s non volatile memory by writing the signature 0x657661 73 save lt SaveApplicationParameters gt Saves all application parameters index range 0x6000 0x9FFF in the device s non volatile memory by writ ing the signature 0x65766173 Save lt SaveManufacturerDefinedParameters gt Saves all manufacturer defined parameters index range 0x2000 0x5FFF in the device s non volatile mem ory by writing the signature 0x65766173 save Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 132 9 Storing restoring parameters Restoring defaul
185. tus word according to VDMA profile Off No supply power Blinking green Valve standby mode INIT or DISABLED Green Normal operation HOLD or DEVICE MODE ACTIVE Blinking red Recoverable error FAULT or FAULT HOLD Fault reactions FAULT FAULT HOLD gt Chapter 8 2 1 Fault reaction settings page 112 Unrecoverable error NOT READY Fault reaction NOT READY gt Chapter 8 2 1 Fault reaction settings page 112 Table 26 Module status LED MS Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 31 5 Device control Status display LEDs For your notes Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 32 6 Signal routing and scaling 6 Signal routing and scaling The following figure shows the routing of the command values demand values and actual values This con cept applies on the position control as well as on the pressure control pressure control position control command value path analog input s n device mode hold setpoint lt TD status word demand value generator demand value actual value path actual value sensor values interns ntroller definition pilot valve Figure 6 Signal routing Description of the command value path Chapter 6 2 Command value path page 39 Description of the actual value path Chapter 6 3 Actual value path page 46 Moog GmbH USER MANUAL
186. uinuuxeW amod gt Jemod 1069x0 s niPAlEmoyo 092 0 enj eAuonejulr1ieMog uonisod A EA jolid minimum Jej onuoo Joyesoueb juiodies uonisod puewap uonisod 01 9X0 en eApueuleq 83 1zx0 0s69x0 lt ndnO1811014U09 gt lt UOI EIA9 01U09 gt uonesueduioo 1069 0 senjealenioy gt 0212 0 1869 0 uonesueduiogeDexyee en eA Jeni y 81 Figure 34 Control position closed loop USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 O Moog GmbH 7 Pump functions Controller Setpoint source selection Which setpoint is forvvarded to the demand value generator depends on the set device mode 0x6042 and the status of the device which is controlled using the control word lt ControlWord gt 0x6040 or LocalControl Word gt 0x4040 Description of the command value path and the parameters influencing this behavior Chapter 6 2 Command value path page 39 Leakage compensation The leakage compensation ensures a constant flow in case of varying pressure Chapter 7 2 4 1 Leakage compensation page 82 Power limitation Detailed information on the power limitation gt Chapter 7 2 8 Power limitation page 95 7 2 4 1 Leakage compensation Background As the pressure increases a hydraulic system will produce increasing internal leakage that will be missing from the usable volume flow that should be no
187. umer time out EtherCAT communication fault EtherCAT RPDO time out EtherCAT RPDO data EtherCAT TPDO time out EtherCAT TPDO data Reserved Table 66 Fault reaction status bits part 4 of 4 8 2 4 Fault acknowledgement Depending on the set fault reaction the device sends out an emergency message and changes into a fault state Description of the emergency message Chapter 8 2 2 Emergency message page 117 Fault reaction settings Chapter 8 2 1 Fault reaction settings page 112 In order to get out of the fault state the fault must be acknowledged This is achieved by sending the lt ControlWord gt 0x6040 or lt LocalControlWord gt 0x4040 to the device with the fault reset bit set bit 3 of the control word Another possibility is to toggle the enable signal The enable signal should stay low for at least a hundred ms gt Chapter 5 3 1 Object 0x6040 Control word page 27 gt Chapter 5 3 2 Object 0x4040 Local control word page 28 If the fault is not fixed or other faults are still present the device will fall back into the FAULT state Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 125 8 Diagnostics Fault reaction 8 2 5 Monitoring features 8 2 5 1 Object 0x2803 CPU supply voltage This parameter holds the value of the CPU supply voltage A fault reaction is thrown if the parameter is out side it s nominal range Nominal range 3 1 V
188. ump is set by the control word bit 9 either local control word or control word via bus If this bit is set for a pump it operates as a slave pump i e the slave pump gets the flow command from the master pump Description of control words c Chapter 5 3 1 Object 0x6040 Control word page 27 c Chapter 5 3 2 Object 0x4040 Local control word page 28 Values on master slave side On the master side the transmitted position is held by the parameter ActualValue 0x6301 On the slave side the received position command is held by the parameter SpoolSetPointFromMaster 0x21A4 The pa rameters 0x6301 and 0x21A4 both hold the master position gt Chapter 6 3 1 1 Object 0x6301 Actual position value page 46 The pump controller output from the master is transmitted as well This is done through the parameter lt DemandValvePilot gt 0x3300 The receive parameter on the slave side is lt SpoolFeedForwardFromMaster gt 0x21A7 Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 98 Controller 7 Pump functions 0066x0 ljo igeAeApueuieq dund uojsid ee pue eA eA od v uejsejvuoJ Jpre M10 poe Jjoods vvizxo ureojeuoniodoagiejsejquloJ Jp1e uio Jpee Jjoods pv 1zx0 jejse qujo441urogiegjoods Jejoquoo uonsod lt Sg gi
189. value stays in memory even after the device is turned off Parameters not marked as persistent N loose their settings after the device is turned off Value range Allowed value range for the object Default The value listed is a typical value It varies depending on the pump model DSV To obtain reliable infor mation on the default value read the value from the pump The default values are loaded after the restore command gt Chapter 9 Storing restoring parameters page 131 Table 2 Meaning of object entries List of data types INTn FLOAT32 char STRING UINTn 1 6 1 Representation of parameters in the object dictionary In addition to the table columns described in the chapter above the object dictionary contains the following columns PDO mapping If set to Y the parameter can be mapped into a PDO If set to N the parameter cannot be mapped into a PDO Short name Unique short name Specification Specification that contains the parameter description Possible entries DIV MOOG defined parameters DS301 parameters correspond to DS 301 DS408 parameters correspond to DSP 408 Table 3 Meaning of entries in object dictionary Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 4 1 General information Abbreviations 1 6 2 Definition of unit and prefix This chapter describes the coding of units and prefixes If unit and prefix are configurable the asso
190. viceVersion gt lt CodeNo gt SerialNo lt Description gt lt ModelDescription gt lt ModelURL gt lt ParameterSetCode gt lt VendorName gt lt Capability gt 4 1 1 Object 0x1000 Device type Indicates the code of the underlying device profile The default value 408 specifies the device profile DSP 408 DeviceType Index Subindex Name Data type Persistence Value range Default 0x1000 0 DeviceType UINT32 N UINT32 408 Values description lt DeviceType gt Meaning 0 Manufacturer specific device profile This device is a valve or a pump Device profile according to DSP 408 Table 15 lt DeviceType gt values Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 17 4 Device identification Object descriptions 4 1 2 Object 0x1018 Identity These parameters contain a code for the worldwide unique identification of the device on the CAN bus Iden tification by means of these parameters is necessary if the CAN node ID or the CAN bit rate will be transmit ted over a CAN bus with multiple nodes The transmission is done by means of LSS IdentityObject Value Index Subindex Name Data type Access range Default 0x1018 Vendorld UINT32 ro UINT32 40 0x1018 ProductCode UINT32 ro UINT32 DSV 0x1018 RevisionNumber UINT32 ro UINT32 DSV 0x1018 SerialNumber UINT32 ro UINT32 DSV Values description Subindex Param
191. x6051 0 CodeNo UINT16 rw Y 4 1 8 Object 0x6052 Serial number Indicates the serial number of the device Device UINT16 DSV Persis Index Subindex Name Data type Access tence Value range Default 0x6052 0 SerialNo STRING ro Y 4 1 9 Object 0x6053 Description The user can enter into this parameter any device description he chooses Device 64 char DSV Persis Index Subindex Name Data type tence Value range Default 0x6053 0 Description STRING Y 4 1 10 Object 0x6054 Model description This parameter contains a description of the device Device 64 char DSV Index Subindex Name Data type Value range Default 0x6054 0 ModelDescription STRING 4 1 11 Object 0x6055 Model URL 64 char DSV This parameter contains an Internet address where additional information about the device is available Device Index Subindex Name Data type Access Value range Default 0x6055 0 ModelURL STRING ro 64 char www moog com Moog GmbH USER MANUAL Firmware RKP D B99224 DV007 CE400 Version 1 1 09 08 19 4 Device identification Object descriptions 4 1 12 Object 0x6056 Parameter set code This parameter is used to identify the current device parameter set If the received device parameter values are not saved then the identification of the device parameter set will be automatically set to 0 after the device is switched on Device Index Subindex Name Data typ

(RKP-D) and CAN bus interface

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