Device Structure; Figure 3: The Device's Logical Structure; Figure 14: Demand Value Generator - Moog RKP-D User Manual

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.
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).
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.
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
analog I/O
device control
device mode and program control
controller
controller output

Figure 3: The device's logical structure

USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
CANBus
digital I/O communication
interface
general functions
demand value generator
actual value conditioning
actual physical values
15