Moog RKP-D User Manual

Moog RKP-D User Manual

Radial piston pump
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USER MANUAL
FIRMWARE
RADIAL PISTON PUMP (RKP-D) WITH CAN BUS
INTERFACE
(B99224-DV007-CE400; Version 1.1, 09/08)

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Summary of Contents for Moog RKP-D

  • Page 1 USER MANUAL FIRMWARE RADIAL PISTON PUMP (RKP-D) WITH CAN BUS INTERFACE (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 2 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)
  • Page 3: Table Of Contents

    2.5.1 Object 0x3013: Synchronization timer................12 2.6 Emergency Object (EMCY) ....................... 12 2.7 Network Management (NMT) ....................12 2.8 Node Guarding........................... 13 2.9 The device Layer Setting Services (LSS) ................14 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 4 6.3.3 Interface assignment ....................48 6.3.3.1 Interface definition ................... 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 transducer ....................53 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 5 8.2.5.1 Object 0x2803: CPU supply voltage............126 8.2.5.2 Object 0x2804: Power supply voltage ........... 126 8.2.5.3 Object 0x2805: PCB temperature ............127 8.2.5.4 Object 0x280D: Operating time ............. 127 8.3 Cable break monitoring ......................128 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 6 9 Storing / restoring parameters.............131 9.1 Storing parameters........................131 9.1.1 Object 0x1010: Store parameters ................132 9.2 Restoring default parameters....................133 9.2.1 Object 0x1011: Restore default parameters............... 134 10 Object dictionary...................135 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 7: List Of Tables

    Table 34: Definition of the position setpoint source ..................42 Table 35: Definition of the pressure setpoint source ..................43 Table 36: Device mode values ........................45 Table 37: Interface parameters ........................49 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 8 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 dictionary .......................... 135 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 9 Figure 34: Control position closed loop ......................81 Figure 35: Leakage compensation ......................... 82 Figure 36: Pressure control open loop......................84 Figure 37: Pressure control closed loop ......................86 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 10 Figure 39: p/Q controller ..........................94 Figure 40: Power limitation structure ......................95 Figure 41: RKP-D control structure with slave pump ..................99 Figure 42: Hold pressure setpoint behavior ....................102 Figure 43: Status machine of the hold pressure enable ................103 Figure 44: Assignment of analog input value to active parameter set ............
  • Page 11: General Information

    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.
  • Page 12: Typographical Conventions

    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 • CA57626 User Manual RKP-II Explosion-Proof • CA63420 Benutzerinformation Elektrische Schnittstellen © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 13: References

    Position 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)
  • Page 14: Representation Of Parameters

    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)
  • Page 15: Definition Of Unit And Prefix

    COB. COB ID 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)
  • Page 16 Service Data Object; a type of COB. Used for transmitting non time critical data, such as parameters. Synchronous Serial Interface STRING Array of Unsigned8 (ASCII coded) SYNC Synchronization object Table 6: Abbreviations (part 2 of 3) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 17 Integer value, value range: 0…2 Uniform Resource Locator VDMA 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)
  • Page 18 1 General information Abbreviations For your notes. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 19: Access Over Canopen

    • Exchange of real-time process data via the Process Data Objects (PDO). • Synchronization of process data by the Synchronization Object (SYNC). • The Emergency Object (EMCY) to indicate errors. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 20: Communication Profile Area

    DS 301 TPDO communication parameter 1800…1803 TPDO communication parameter DS 301 TPDO mapping parameter 1A00…1A03 TPDO mapping parameter DS 301 Table 8: Object entries in the communication profile area © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 21: Service Data Objects (Sdos)

    Index Subindex Name Data type Access Persistence Value range Default 0x3012 1stReceivePdoCounter UINT32 UINT32 0x3012 2ndReceivePdoCounter UINT32 UINT32 0x3012 3rdReceivePdoCounter UINT32 UINT32 0x3012 4thReceivePdoCounter UINT32 UINT32 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 22: Synchronization Object (Sync)

    Chapter "2.9 The device Layer Setting Services (LSS)", page Object COB ID Index/Subindex (hex) Description 0 (broadcast message) None 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)
  • Page 23: Node Guarding

    (the value 0x0000 disables the life guarding). Guard time / Life time factor Index Subindex Name Data type Access Persistence Value range Default 0x100C GuardTime UINT16 UINT16 0x100D LifeTimeFactor UINT8 UINT8 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 24: The Device Layer Setting Services (Lss)

    350 bar S/N D1234 Date 03/05 Signal fieldbus Supply 24 V DC LSS 40/61/1/1234 Vendor ID: Product Code: Revision Nr.: Serial Nr.: 1234 Figure 2: Name plate of a valve © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 25: Device Structure

    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. Chapter "7.2.4 Control position closed loop", page 81 Chapter "7.2.6 Pressure control closed loop", page 85 Chapter "7.2.7 p/Q closed loop", page 93 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 26 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. Chapter "7.2.2 Monitoring", page 77 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 27: Device Identification

    0x1000 DeviceType UINT32 UINT32 Values description <DeviceType> Meaning Manufacturer-specific device profile. This device is a valve or a pump. Device profile according to DSP 408. Table 15: <DeviceType> values © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 28: Object 0X1018: Identity

    4.1.5 Object 0x100A: Manufacturer software version Indicates the current software version of the device. Device Persis- Value Index Subindex Name Data type Access tence range Default 0x100A ManufacturerSoftwareVersion STRING 64 char © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 29: Object 0X6050: Device Version

    This parameter contains an Internet address where additional information about the device is available. Device Persis- Value Index Subindex Name Data type Access tence range Default 0x6055 ModelURL STRING 64 char www.moog.com © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 30: Object 0X6056: Parameter Set Code

    Indicates the name of the device vendor. Device Persis- Value Index Subindex Name Data type Access tence range Default 0x6057 VendorName STRING 64 char 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)
  • Page 31: Object 0X605F: Capability

    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)
  • Page 32 4 Device identification Object descriptions For your notes. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 33: Device Control

    Setting the <Local> parameter to 0, the control word transferred via bus is enabled. <ControlWord> <LocalControlWord> (0x6040) (0x4040) <Local> (0x604F) 0 = ControlWord from bus 1 = ControlWord local state machine device control <StatusWord> (0x6041) Figure 4: Device control block © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 34: 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)
  • Page 35: Device States

    • This status will be assumed when the device detects a functional fault. Description of the fault reaction settings: 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)
  • Page 36: State Transitions

    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)
  • Page 37: Object Descriptions

    Chapter "7.2.10 Local holding pressure switchover", page 102 Ramp stop If this bit is activated, ramp output is frozen. RKP-D Chapter "7.1 Demand Value Generator", page 55 specific Table 22: Control word value definition © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 38: Object 0X4040: Local Control Word

    Control word local The local control word is active, the control word <ControlWord> has no influence. Chapter "5.3.2 Object 0x4040: Local control word", page 28 -1…-128 Reserved Table 23: <Local> values © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 39: Object 0X6041: Status Word

    If this bit is activated, one of the active Ramp functions has not yet reached its end value. Position demand value generator: Chapter "7.1.2.5 Ramp", page 59 Pressure demand value generator: Chapter "7.1.3.5 Ramp", page 70 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 40: Bootup Of The Device

    The power on delay time is provided in seconds. System Persis- Value Index Subindex Name Data type Access tence range Default 0x200F PowerOnDelay UINT8 0…10 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 41: Status Display Leds

    Fault reactions 'FAULT', 'FAULT_HOLD': Chapter "8.2.1 Fault reaction settings", page 112 Unrecoverable error 'NOT_READY' Fault reaction 'NOT_READY': 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)
  • Page 42 5 Device control Status display LEDs For your notes. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 43: Signal Routing And Scaling

    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 Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 44: Physical Pump Interfaces

    In case of <DeviceMode> (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)
  • Page 45: Table 29: Values Analog Input 1

    In case of <DeviceMode> (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)
  • Page 46: Analog Inputs 2, 3 And 4

    Table 30: <InputType> values analog input 2 Other types are not to be selected. <ActualValue> 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)
  • Page 47: Table 31: Values Analog Input 3

    Table 32: <InputType> values analog input 4 Other types are not to be selected. <ActualValue> 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)
  • Page 48: Analog Outputs

    × --------------------------- - output input daNref[3] daNref[2] Where: Represents the analog output number [1], [2], [3]: 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)
  • Page 49: Command Value Path

    The command received from the analog input is forwarded to the demand value generator. • Device mode = 1 or 2, device status = 'HOLD' The hold setpoint stored to the parameter <HoldSetPoint> is forwarded to the demand value generator. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 50: Figure 9: Command Value Paths Position And Pressure

    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)
  • Page 51: Object Descriptions

    Chapter "6.2.1.7 Object 0x6042: Device mode", page 45 • Control mode Chapter "7.2.1.1 Object 0x6043: Control mode", page 76 • Device status 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)
  • Page 52: Table 34: Definition Of The Position Setpoint Source

    Subindex Name Data type Access tence range Default 0x6314 HoldSetPoint INT16 INT16 0x6314 Unit UINT8 UINT8 0x6314 Prefix INT8 INT8 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)
  • Page 53: Table 35: Definition Of The Pressure Setpoint Source

    The <SetpointParameter> 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)
  • Page 54 Chapter "6.2.1.7 Object 0x6042: Device mode", page 45 • Control mode Chapter "7.2.1.1 Object 0x6043: Control mode", page 76 • Device status 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)
  • Page 55: Table 36: Device Mode Values

    Default values are always applied when starting the device. The restore command sets the default values to factory defaults. Device Persis- Value Index Subindex Name Data type Access tence range Default 0x4042 0x00 DeviceModeDefault INT8 1…2 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 56: 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.
  • Page 57: Pressure Actual Value Path

    Chapter "6.3.3.1.1 Objects 0x6100 - 0x6104: Actual value routing", page 49 ValvePressureControl Persis- Value Index Subindex Name Data type Access tence range Default 0x23F2 ActualPressureFilterCutoff- FLOAT32 0…5000 Frequency 0x23F3 ActualPressureFilterOrder UINT8 1…3 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 58: Interface Assignment

    Index Subindex Name Data type Access tence range Default 0x6110 ActualValue1 INT16 INT16 None 0x6111 ActualValue2 INT16 INT16 None 0x6112 ActualValue3 INT16 INT16 None 0x6113 ActualValue4 INT16 INT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 59: Interface Definition

    6.3.3.1 relate to the interface defined with this parameter. The following interfaces are available on the device: <InterfaceNo> Connection 0, 5…255 Reserved referenced interface referenced interface referenced interface referenced interface Table 38: <InterfaceNo> values © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 60: Table 39: Interface Types

    Meaning Positive Negative Reserved Table 40: Interface sign values <ActualValue> 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)
  • Page 61: Table 41: Analog Inputs With Value Parameters

    Hence, only values, which were once obtained by this parame- ter, are to be written into this parameter. Valve_ActualValueConditioning Persis- Index Subindex Name Data type Access tence Value range Default 0x3270 ValveTransducerStructure DOMAIN 100 bytes © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 62: Object 0X230D: Pressure Controller Active Transducer Interface

    This means, control parameter set 1 uses interface 4 as actual value input. ValvePressureControl Persis- Index Subindex Name Data type Access tence Value range Default 0x230D 1…16 PressureControllerActiveTransducer- INT8 1…4 Interface © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 63: Objects 0X6120 - 0X6125: Actual Value Conditioning For Pressure Transducer

    Value of this parameter is added to the actual value. <MinimumTransducerSignal> The sensor's measured pressure signal at the minimum pressure. <MaximumTransducerSignal> 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)
  • Page 64 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)
  • Page 65: Pump Functions

    • 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. 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)
  • Page 66: Figure 15: Position Demand Value Generator

    Name Data type Access tence range Default 0x6311 ReferenceValue INT16 INT16 16384 0x6311 Unit UINT8 UINT8 0x6311 Prefix INT8 INT8 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)
  • Page 67: Limit Function

    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)
  • Page 68: Scaling

    Numerator Denominator Table 44: Data structure of the scaling factor The default value 0x00010001 corresponds to the factor 1. <Offset> The offset is added to the scaled input value. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 69: Ramp

    Linear (ramping times for acceleration and deceleration, separated for positive and negative sides) 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)
  • Page 70: Table 46: Ramp Status Indicated In The Status Word

    Subindex Name Data type Access tence range Default 0x6331 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)
  • Page 71: Figure 20: Ramp Type 2

    Subindex Name Data type Access tence 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)
  • Page 72: Figure 21: Ramp Type 3

    Activated with ramp type (0x6330) = 3. Chapter "7.1.2.5 Ramp", page 59 input + 100 % - 100 % <AccelerationTimePositive> output <DecelerationTimePositive> + 100 % - 100 % <AccelerationTimeNegative> <DecelerationTimeNegative> Figure 21: Ramp type 3 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 73 100 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)
  • Page 74: Zero Correction

    Subindex Name Data type Access tence range Default 0x6324 Offset INT16 INT16 0x6324 Unit UINT8 UINT8 0x6324 Prefix INT8 INT8 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)
  • Page 75: Hybrid Mode Correction

    (0 or 1) to the subindexes (1…16) of 0x2148. Description of parameter set switching: Chapter "7.3 Analog parameter set switching", page 105 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 76: Pressure Demand Value Generator

    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)
  • Page 77 Subindex Name Data type Access tence range Default 0x6391 ReferenceValue INT16 0…32767 0x6391 Unit UINT8 UINT8 0x6391 Prefix INT8 INT8 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)
  • Page 78: Limit Function

    The status is used to indicate whether the input signal is being limited. This information is mapped to 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)
  • Page 79: Scaling

    Numerator Denominator Table 48: Data structure of the scaling factor The default value 0x00010001 corresponds to the factor 1. <Offset> The offset is added to the scaled input value. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 80: Ramp

    Linear (ramping times for acceleration and deceleration, separated for positive and negative sides) 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)
  • Page 81: Table 50: Ramp Status Indicated In The Status Word

    Subindex Name Data type Access tence range Default 0x63B1 AccelerationTime UINT16 UINT16 0x63B1 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)
  • Page 82: Figure 29: Ramp Type 2

    Subindex Name Data type Access tence 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)
  • Page 83: Figure 30: Ramp Type 3

    Activated with ramp type (0x63B0) = 3. Chapter "7.1.3.5 Ramp", page 70 input + 100 % - 100 % <AccelerationTimePositive> output <DecelerationTimePositive> + 100 % - 100 % <AccelerationTimeNegative> <DecelerationTimeNegative> Figure 30: Ramp type 3 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 84 100 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)
  • Page 85: Controller

    Description of the power limitation function: Chapter "7.2.8 Power limitation", page 95 Description of the control word: 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)
  • Page 86: Table 51: Control Mode Values

    Subindex Name Data type Access tence range Default 0x4043 ControlModeDefault INT8 1…5 Description on how to restore the factory default values: Chapter "9 Storing / restoring parameters", page 131 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 87: Monitoring

    Chapter "5.3.5 Object 0x6041: Status word", page 29 Status word bit 11 Meaning No control fault detected or control monitoring is deactivated. 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)
  • Page 88: Stroke Ring Control Monitoring

    This parameter defines the upper threshold of the control deviation’s tolerance band. <LowerThreshold> This parameter defines the upper threshold of the control deviation’s tolerance band. The <LowerThreshold> value cannot be greater than the <UpperThreshold> value. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 89: Pressure Control Monitoring

    This parameter defines the upper threshold of the control deviation’s tolerance band. <LowerThreshold> This parameter defines the upper threshold of the control deviation’s tolerance band. The <LowerThreshold> value cannot be greater than the <UpperThreshold> value. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 90: Control Position Open Loop

    7.2.3.2 Object 0x3301: Actual valve pilot This parameter indicates the actual position of the valve piston. ValvePositionControl Persis- Value Index Subindex Name Data type Access tence range Default 0x3301 ActualValvePilot INT16 INT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 91: Control Position Closed Loop

    In the position closed loop mode (control mode = 2), position is controlled. The parameters for the position controller are factory set and cannot be changed. minimum Figure 34: Control position closed loop © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 92: Leakage Compensation

    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)
  • Page 93: Pressure Control Open Loop

    The pressure demand value is handed to the position controller. The power 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)
  • Page 94: Figure 36: Pressure Control Open Loop

    7 Pump functions Controller minimum Figure 36: Pressure control open loop Description of the power limitation function: Chapter "7.2.8 Power limitation", page 95 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 95: Pressure Control Closed Loop

    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)
  • Page 96: Figure 37: Pressure Control Closed Loop

    7 Pump functions Controller minimum maximum Figure 37: Pressure control closed loop © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 97: Controller Structure

    <ActiveParameterSetNumber>, 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)
  • Page 98: Figure 38: Pressure Controller Structure

    7 Pump functions Controller minimum maximum Figure 38: Pressure controller structure © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 99: Controller Parameters

    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 IntegratorPart FLOAT32 FLOAT32 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 100 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 ControllerOutput INT16 INT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 101 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 -32768…0 -16384 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 102: Object 0X2350: Active Parameter Set Number

    Chapter "7.2.6.2.6 Objects 0x2315 - 0x2316 / 0x2318 - 0x2319: Position feedback", page 91 0x2319 <SpoolPositionFeedbackHighPassTimeConstant> 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)
  • Page 103: P/Q Closed Loop

    Description of the position and pressure controller parameters as well as the control monitoring functions: 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)
  • Page 104: Controller Structure

    7 Pump functions Controller 7.2.7.1 Controller structure minimum maximum Figure 39: p/Q controller © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 105: Power Limitation

    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)
  • Page 106 0x2604 Power_PT1Shift INT16 0…32767 <Power_DifferentialGain> The differentiator gain of the power limitation controller. PumpController Persis- Index Subindex Name Data type Access tence Value range Default 0x2605 Power_DifferentialGain FLOAT32 0…+inf © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 107 Value range Default 0x2606 Power_DifferentialTime FLOAT32 0…+inf Constant <Power_Value> Actual power value. PumpController Persis- Index Subindex Name Data type Access tence Value range Default 0x2608 PowerValue INT16 INT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 108: Master/Slave Operation

    (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.
  • Page 109: Figure 41: Rkp-D Control Structure With Slave Pump

    7 Pump functions Controller minimum maximum Figure 41: RKP-D control structure with slave pump © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 110: Table 56: Master Slave Selection

    This parameter holds on the slave side the pump controller output transmitted by the master (written to the pa- rameter <DemandValvePilot> (0x3300) on master side). PumpController Persis- Value Index Subindex Name Data type Access tence range Default 0x21A7 SpoolFeedForwardFromMaster INT16 INT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 111 Proportional gain for the pump controller output transmitted by the master (on slave side held by the parame- ter <SpoolFeedForwardFromMaster>, 0x21A7). PumpController Persis- Value Index Subindex Name Data type Access tence range Default 0x21AA SpoolFeedForwardFromMaster- FLOAT32 FLOAT32 ProportionalGain © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 112: Local Holding Pressure Switchover

    Local 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 <HoldPressureTrigger>, 0x2107) is reached (see the following figure).
  • Page 113: Table 58: Control Word And Status Word Bits For Local Holding Pressure Switchover

    14 = 1 <ControlWord> bit 14 <ControlWord> bit 14 = 1 trigger reached local dwell pressure setpoints active Figure 43: Status machine of the hold pressure enable © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 114: Flushing Mode

    16384 <PressureSetpoint> The pressure setpoint is activated by the RKP-D when the holding pressure trigger level (<HoldPressureTrigger>, 0x2107) is reached (see Figure 42). This pressure is held until a new pressure set- point is transmitted or the trigger is disabled.
  • Page 115: Analog Parameter Set Switching

    -2,8 9,44 9,76 -2,2 -1,8 10,24 10,56 -1,2 -0,8 11,04 11,36 -0,2 11,84 12,16 Table 61: Relation between value of <ActiveParameterSet> and interface input range (part 1 of 2) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 116: Figure 45: Assignment Of Subindex To Active Parameter Set Number

    Chapter "7.3.1 Objects 0x2141 - 0x2146 / 0x2148: Active parameter set", page 107 <PressureSetSelector> (0x2142) subindex value 1...16 1...16 <ActiveParameterSetNumber> pressure controller 1...16 (0x2350) parameters 1...16 Figure 45: Assignment of <PressureSetSelector> subindex to active parameter set number © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 117: Objects 0X2141 - 0X2146 / 0X2148: Active Parameter Set

    (<ActiveParameterSetNumber>, 0x2350). AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 0x2142 PressureSetSelector UINT8 1…16 0x2142 PressureSetSelector UINT8 1…16 … 0x2142 PressureSetSelector UINT8 1…16 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 118 0 means hybrid mode is deactivated for the selected parameter set. Description hybrid mode correction: Chapter "7.1.2.7 Hybrid mode correction", page 65 AnalogParameterSetSwitching Index Subindex Name Data type Access Persistence Value range Default 0x2148 1…16 Mode UINT8 0…16 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 119: 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.
  • Page 120: Object 0X1003: Predefined Error Field

    Byte Contents Reserved Fault code Error code Result: Error code 0x5530: EEPROM error ( Table 65, page 118) Fault code 0x30: Internal nonvolatile memory ( Table 63, page 112) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 121: Objects 0X2832/0X2833: Fault Reaction Description / Fault History Number

    ErrorHandler Index Subindex Name Data type Access Persistence Value range Default 0x2822 1…5 Address UINT32 UINT32 0x2823 1…5 Time UINT32 UINT32 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 122: Fault Reaction

    Analog input 1 supply cable break/short circuit 0…3 Analog input 2 supply cable break/short circuit 0…3 Analog input 3 supply cable break/short circuit 0…3 Table 63: Type subindex values (part 1 of 3) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 123 Local CAN recovered from bus-off 0…3 Local CAN RPDO1 time out 0…3 Local CAN RPDO2 time out 0…3 Local CAN RPDO3 time out 0…3 Table 63: Type subindex values (part 2 of 3) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 124 EtherCAT RPDO time out 0…3 EtherCAT RPDO data 0…3 EtherCAT TPDO time out 0…3 EtherCAT TPDO data 0…3 PROFIBUS general fault 0…3 Table 63: Type subindex values (part 3 of 3) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 125: 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)
  • Page 126: Figure 46: Fault Reaction Behavior

    0x2830 holds value 127? subindex N of 'NOT_READY' 0x2830 holds value 3? (no status change) subindex N of 'FAULT_HOLD' 0x2830 holds value 2? 'FAULT' Figure 46: Fault reaction behavior © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 127: Emergency Message

    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)
  • Page 128: Table 65: Error Codes

    Analog input 2 5216 Analog input 3 5217 Analog input 4 5218 External LVDT 5220 Microprocessor core 1, 2, 3, 4 Table 65: Error codes (part 1 of 4) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 129 Pressure control monitoring 8303 Position control 8304 Velocity control 8305 Force control 8306 Flow control 8307 Current control 8308 Trajectory generation Table 65: Error codes (part 2 of 4) © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 130 Local TPDO3 time out 8258 Local TPDO4 time out 8261 Local RPDO1 data 8262 Local RPDO2 data 8263 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)
  • Page 131: Object 0X2831: Fault Reaction Status

    (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)
  • Page 132: Table 66: Fault Reaction Status Bits

    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)
  • Page 133 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)
  • Page 134 CAN overrun CAN in error passive mode CAN recovered from bus-off CAN RPDO1 time out CAN RPDO2 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)
  • Page 135: Fault Acknowledgement

    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)
  • Page 136: Monitoring Features

    Power supply voltage too high Table 68: Fault reactions for power supply voltage failure Hardware_DiagnosticData Index Subindex Name Data type Access Persistence Value range Default 0x2804 PowerSupplyVoltage UINT16 UINT16 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 137: Object 0X2805: Pcb Temperature

    Subindex 2 holds the time (in minutes) the device is in the device status 'HOLD', 'FAULT_HOLD' or 'ACTIVE'. Chapter "5.2.1 Device states", page 25 Hardware_DiagnosticData Index Subindex Name Data type Access Persistence Value range Default 0x280D 1…2 OperatingTime UINT32 UINT32 None © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 138: Cable Break Monitoring

    4, 7 (0…10 mA) Only sensor supply wire monitored. Table 70: Monitoring description for analog input types Description of analog inputs: 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)
  • Page 139: Table 71: Cable Break Monitoring (Assignment Input To Fault Code)

    A value of 1 enables the monitoring current. A value of 0 disables the monitoring current. AnalogInput Persis- Index Subindex Name Data type Access tence Value range Default 0x3217 MonitoringCurrent UINT8 0, 1 0x3228 MonitoringCurrent UINT8 0…1 0x3227 MonitoringCurrent UINT8 0…1 © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 140 8 Diagnostics Cable break monitoring For your notes. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 141: Storing / Restoring Parameters

    0x2000…0x5FFF <SaveApplicationParameters> (0x1010, subindex 4) Table 73: Parameter groups (store command) The signature, which has to be written to the corresponding subindex of 0x1010, is as follows: Signature ASCII © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 142: Object 0X1010: Store Parameters

    Saves all application parameters (index range 0x6000…0x9FFF) in the device's non-volatile memory by writ- ing the signature 0x65766173 ("save"). <SaveManufacturerDefinedParameters> 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)
  • Page 143: Restoring Default Parameters

    In 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)
  • Page 144: Object 0X1011: Restore Default Parameters

    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)
  • Page 145: Object Dictionary

    10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 146 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 147 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 148 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 149 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 150 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 151 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 152 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 153 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 154 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 155 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 156 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 157 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 158 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 159 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 160 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 161 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 162 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 163 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 164 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 165 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 166 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 167 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 168 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 169 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 170 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 171 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 172 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 173 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 174 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 175 10 Object dictionary © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 176 10 Object dictionary For your notes. © Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
  • Page 178 Sweden 31 680 060 info.sweden@moog.com Switzerland 71 394 5010 info.switzerland@moog.com United Kingdom 1684 296600 info.unitedkingdom@moog.com 716 652 2000 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.

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