Related Manuals for Danfoss PVED-CL
Summary of Contents for Danfoss PVED-CL
- Page 1 MAKING MODERN LIVING POSSIBLE Technical Information Steering PVED-CL Communication Protocol, version 1.38 powersolutions.danfoss.com...
- Page 2 10 February, 2010 Two new positions 11176,77 in the table - minor change. 08 February, 2010 Position 11152 in the table - minor change. 28 January, 2010 First edition. For PVED-CL software release version 1.38 11079551 • Rev BA • July 2014...
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Page 3: Table Of Contents
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Contents Introduction Purpose of the document ................................5 Conventions ...................................... 5 Reference documents..................................5 Definitions and abbreviations..............................5 Communications J1939/ISOBUS compliance................................6 Network Management Protocol (NMP)..........................6 Identification....................................6 Application layer..................................6 Diagnostics....................................6 Proprietary messages ................................7 11bit ID messages.................................. - Page 4 Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Contents DisableSteeringDevice Response.............................32 Guidance GuidanceSystemCommand............................... 33 GuidanceMachineStatus................................33 Diagnostics (proprietary) GetErrorEntry....................................35 GetErrorEntryResponse ................................35 ClearErrorEntries.....................................36 Commit Error Code..................................37 11079551 • Rev BA • July 2014...
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Page 5: Purpose Of The Document
This document has been created in order to present the communication protocol implemented in PVED- CL – a controller in the Electro-hydraulic Power Steering system. The document describes the CAN messages which enables the PVED-CL and relevant sensor to be connected to a J1939 network. Conventions •... -
Page 6: Communications
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Communications J1939/ISOBUS compliance Network Management Protocol (NMP) To make PVED-CL able to work in CAN J1939 networks, the following parts of NMP have been implemented: • Address Claimed • Request for Address Claimed response PVED-CL claims it address on power-on, after any won address arbitration and when requested to do so. -
Page 7: Proprietary Messages
GetCurrentMode and GetCurrentModeResponse messages, whereas PDU2 format is used for broadcast status messages. PVED-CL uses a separate CAN buffer for receiving data from each node it can communicate with. This means there’s no dependency between messages with pgn61184 sent from different nodes. -
Page 8: 11Bit Id Messages
EHPS system only. 11bit ID messages Most of the communication between PVED-CL and sensors/steering devices is performed with 11bit ID messages. This makes the sensors simpler and allows them to be used in networks with other protocols. -
Page 9: Proprietary Protocol
A sensor is expected to periodically broadcast the data. A lack of data from the mapped sensor (with exception for high priority set-point controller) causes PVED-CL to fail silent or enter the reduced mode, depending on the configuration data. The timeouts are as follows:... -
Page 10: Secondary Configuration Device
However, this device’s rights are limited to only reading the configuration settings. Status The information about control and sensor variables as well as PVED-CL’s current time and mode can be found in periodically broadcast status messages. For further details see chapter Status on page 22. -
Page 11: Guidance
Guidance Engage and Disengage State Machine below. Please note that the state machine is executed only when PVED-CL is in the operational mode, or reduced mode and the high priority external set-point controller is mapped. - Page 12 High priority set-point controller disabled (device disable functionality available in PVED-CL). If other steering device is selected, PVED-CL follows set-points from this device PVED-CL requests the high priority set-point controller for a message reset. It waits for at least one GuidanceSystemCommand message not intended for steering...
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Page 13: Diagnostics
The configuration/diagnostic tool has an access to the event logs maintained by PVED-CL’s software, which is intended to make the debugging easier as well as to help an OEM or a support team to tune the system. Detailed information about the interface is provided in the chapter Diagnostics (proprietary) on page 35. -
Page 14: Communication With Sensors And Steering Devices
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Communication with sensors and steering devices Steering wheel absolute angle and speed The message data represents the absolute position of the steering wheel and the position change. CAN message 0x301 (11bit) CAN id. -
Page 15: Primary Steered Wheel Angle/Position
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Communication with sensors and steering devices Data field Bytes Encoding Value/Range Description 1, 2 UNSIGNED16 0 – 4095 Position: – left end lock 2047 – neutral position 4095 – right end lock... - Page 16 Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Communication with sensors and steering devices CAN message Priority 65265 every 100 ms Occurrence vehicle speed sensor Sent by Data field Bytes Encoding Value/Range Description – – ignored by PVED-CL 2, 3 UNSIGNED16 0 –...
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Page 17: Configuration
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Configuration GetParameter This message is used to retrieve a value of a given parameter. If an unknown parameter value is requested, no response will be sent back. Timeout policy shall be applied. -
Page 18: Setparameterresponse
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Configuration CAN message Priority 61184 0x0FA2 (MSB first) when required Occurrence operational, reduced, calibration Modes configuration tool Sent by PVED-CL Sent to Data field Bytes Encoding Value/Range Description 1, 2 UNSIGNED16... -
Page 19: Restoredefaultsresponse
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Configuration CAN message (continued) 61184 0x0FA4 (MSB first) when required Occurrence operational, reduced, calibration Modes configuration tool Sent by PVED-CL Sent to Data field Bytes Encoding Value/Range Description 1, 2 UNSIGNED16... -
Page 20: Commitdataresponse
Commit Error Code on page 37. EnterCalibrationMode This command is used to force PVED-CL to enter the calibration mode, for further information see PVED- CL User Manual, 11079550 and shall be sent within 200ms after PVED-CL transmits its Address Claimed message. - Page 21 Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Configuration CAN message Priority 61184 0x0FA8 (MSB first) if required, within 200ms after PVED-CL’s Address Claim Occurrence only during start-up Modes configuration tool Sent by PVED-CL Sent to Data field Bytes...
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Page 22: Getcurrentmode
(XID) UNSIGNED8 0x55 current mode: 0x0AA – calibration 0x0AF – operational 0x0FF – reduced – fault StartStopStatus This command is used to make PVED-CL start/stop sending status information. Power-on state: status disabled. 11079551 • Rev BA • July 2014... -
Page 23: Status
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Status CAN message Priority 61184 0x0FAB (MSB first) when required Occurrence operational, reduced, calibration Modes configuration tool Sent by PVED-CL Sent to Data field Bytes Encoding Value/Range Description 1, 2 UNSIGNED16... -
Page 24: Startstopoperationstatus
PVED-CL temperature [deg. C] 7, 8 UNSIGNED16 13 – 35534 Battery supply voltage [mV] StartStopOperationStatus The command is used to make PVED-CL start/stop sending operation status information. Power-on state: operation status enabled. CAN message Priority 61184 0x0FAC (MSB first) 11079551 • Rev BA • July 2014... -
Page 25: Operationstatus
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Status CAN message (continued) when required Occurrence operational, reduced, fault Modes configuration tool Sent by PVED-CL Sent to Data field Bytes Encoding Value/Range Description 1, 2 UNSIGNED16 0x0FAC (MSB first) extended message identifier (XID) -
Page 26: Timereport
– yes TimeReport This message is used to provide other nodes with an absolute measure of time since the PVED-CL was booted. It can be used for diagnostic purposes and for resolving any rollover ambiguities in the timestamp information available in the Status message – set no. 3. -
Page 27: Control
SetFlow Used for transmitting a flow request to the PVED-CL. The flow request is converted to a spool position with dead-band compensation. Use the SetFlow command for black-box testing the PVED-CL flow characteristic in operational mode without knowledge to the actual dead-band settings. -
Page 28: Startvalveautocalibration
Used for performing an auto-calibration of the PVED-CL to the valve. The valve dead-bands are automatically found and stored in the PVED-CL. Auto-calibration may be useful for fine-tuning the PVED-CL and the valve when installed in its final environment. This ensures optimum open-loop and closed-loop steering performances. -
Page 29: Valveautocalibrationstatus
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Control Data field (continued) Bytes Encoding Value/Range Description The spool position set-point unit is a scaled value in the range -1000 to 1000, corresponding from -7 to 7 mm nominally. The scaled steering actuator position/steered wheel position (Yact) range is -1000 to 1000, corresponding to the steered wheel end-lock positions. -
Page 30: Selectprogram
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Control A typical successful valve auto-calibration message sequence: MMI.StartValveAutoCalibration → PVED-CL PVED-CL.ValveAutoCalibrationStatus.auto-calibration in progress → MMI PVED-CL.ValveAutoCalibrationStatus.auto-calibration in progress → MMI PVED-CL.ValveAutoCalibrationStatus.auto-calibration in progress → MMI PVED-CL.SetParameterResponse.right dead-band value (index 738) → MMI PVED-CL.ValveAutoCalibrationStatus.auto-calibration in progress →... -
Page 31: Selectprogramresponse
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Control SelectProgramResponse The message is transmitted upon the SelectProgram command to inform whether the program transition was successful. If the transition has not been allowed, the active program number will point at the previous and still valid program. -
Page 32: Disablesteeringdevice Response
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Control Data field (continued) Bytes Encoding Value/Range Description SIGNED16 Command: 0x53 – arm high priority steering device enabling/ 0x03 disabling 0x0A3 – enable high priority steering device 0x54 – disable high priority steering device 0x04 –... -
Page 33: Guidance
Negative curvature values will cause the vehicle to drive left. CAN message Priority 44288 when required, every 100 ms or faster. PVED-CL sample period is 20 ms Occurrence operational, reduced Mode high priority external set-point controller... - Page 34 – not available 4 – 8 – all ones Reserved Please note that when PVED-CL requests the GPS reset (byte 3, bits 8-7), it waits for at least one GuidanceSystemCommand message not intended for steering. 11079551 • Rev BA • July 2014...
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Page 35: Diagnostics (Proprietary)
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Diagnostics (proprietary) GetErrorEntry The command is used to retrieve the data stored in error buffers. CAN message Priority 61184 0x0FB3 (MSB first) when needed Occurrence operational, reduced, calibration and fault Modes... -
Page 36: Clearerrorentries
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Diagnostics (proprietary) Data field (error identification data) (continued) Bytes Encoding Value/Range Description 6–7 UNSIGNED16 0 – 0xFFFE – error code 0xFFFF – wrong index or information not available Data field (timestamp) -
Page 37: Commit Error Code
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Diagnostics (proprietary) Commit Error Code Commit Error codes from CommitDataResponse message Commit Error Parameter Consistency Check Fail Code Vehicle speed dependant parameter conflict. 11150 One or more steering wheel programs do not comply with the rule sts0 ≤ sts1 ≤ sts2 ≤ sts3 ≤ sts4 ≤... -
Page 38: Rev Ba • July
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information Diagnostics (proprietary) Commit Error codes from CommitDataResponse message (continued) Commit Error Parameter Consistency Check Fail Code AD1/AD2 analogue input compensation error. The 5V ext reference stored for compensation is out 11169 of range. - Page 39 Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information 11079551 • Rev BA • July 2014...
- Page 40 Phone: +86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed..