Using Moog Valves with EtherCAT

This procedure describes using Moog D636 and D637 EtherCAT valves with the RMC200. This procedure was developed based on a Moog D636-293-0001, rev F.

Quick Settings

To skip the detailed procedure, just use these settings:

EtherCAT Network

Add the ESI file

Add the device to the network

No changes to PDO mapping or INIT commands

Axis Definitions

Local Control axis

Control Loops and Feedback type: as required

Control Output: ECAT module, as a Valve

Feedback Inputs: As required (via EtherCAT as Generic, or from an RMC200 module)

Axis Parameters

Output SubDevice: Choose the SubDevice

Setpoint Index: 0x6300:01

Output Type: Counts Bi

Output at 100%: 16384

Output at 0%: 0

Output at -100%: -16384

Invert Output Polarity: Check if direction must be changed

Setting up the Valve

The Moog valve comes already configured to be used with EtherCAT and does not require any setup.

If you do wish to configure settings in the valve, use the Moog configuration software available from https://www.moogsoftwaredownload.com/. The Moog software requires a USB to CAN converter. Consult the Moog documentation for details.

Setting up RMCTools

This procedure describes the most common scenario of setting up an EtherCAT Moog valve controlling a hydraulic cylinder with a position sensor.

Install the ESI File

On the Moog website, download the ESI file for your valve and save the file to your PC. The ESI file is usually a .xml or .zip file.
In RMCTools, on the Tools menu, choose EtherCAT ESI Manager.
Click Add File, browse to the file you saved and click Open.
After the file is added, it will appear in the ESI Files list. Close the EtherCAT ESI Manager.

Add the Valve to the EtherCAT Network

In the EtherCAT Editor, determine where you wish to add the valve to the network, then right-click a device and choose Add SubDevice After.
In the SubDevices box, browse to the Moog valve, choose it, then click OK. The valve will now appear in the EtherCAT Explorer.

Alternatively, if you have not yet configured the EtherCAT network, physically connect all the devices, then, in the EtherCAT Editor, on the toolbar, click the Configure Using Network Scan button, and all the devices in the network will be added.

Review the Valve PDO Mapping

In the EtherCAT Editor, click the Moog device.
On the PDO Mapping tab, expand the Inputs and Outputs PDOs and review the data items. The SplSetpoint is the object that an axis’ Control Output will be sent to.
On the Process Data tab, you may wish to add the spool position feedback (SplActualValue) to the RMC’s EtherCAT Data Map so that it can be accessed by plots for troubleshooting.

Define an Axis

In the RMCTools Project View, expand Axes, then double-click Axis Definitions.
Click New, choose Control Axis, then click Next.
Choose Local Control (PID in RMC), then click Next.
Choose the required number of loops and the feedback types, then click Next.
For Control Output, choose ECAT [slot 2] and Valve. For Position Input, if using an EtherCAT device, choose ECAT [slot 2] and Generic. Otherwise, choose the input module as required.
Click Finish, then OK. The RMC will restart.

Set the Axis Parameters

In the RMCTools Project View, expand Axes, then double-click Axis Tools.
In the Axis Parameters, on the Setup tab, set the following:
- Control Word Index: 0x6040:00
- Status Word Index: 0x6041:00
- Output SubDevice: choose the Moog valve
- Setpoint Index: 0x6300:01
- Output Type: Counts Bi
- Output at 100%: 16384
- Output at 0%: 0
- Output at 100%: -16384
  
  Note: If the Setpoint Index axis parameter does not exist, make sure that in the Axis Definitions, the Output is set to EtherCAT and Valve. A common mistake is to choose Drive instead of Valve.
Also make sure the feedback is configured on the Setup tab. If using an EtherCAT device, set the following axis parameters:
- Input SubDevice: choose the position sensor
- Counts Index: choose the actual position object of the device

Verify the Axis Moves

Enable the axis by sending the Enable/Disable Axis (97) command, the Enable Controller (7) command, or by entering Run mode. In the Axis Tools, in the Status Registers, the Valve State should be Active.
Use the Direct Output (9) command to move the axis.
When a positive output signal is given to the valve, the position units should increase. If not, check the Invert Output Polarity axis parameter, then ensure a positive signal causes the position units to increase.

Scale and Offset and Tuning

In the Axis Parameters, set the Position and Negative Travel limits.
Set the feedback Scale and Offset parameters as usual.
Tune the axis as usual.