Danfoss PVED-CLS User Manual
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Danfoss PVED-CLS User Manual

Controller for electrohydraulic steering
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MAKING MODERN LIVING POSSIBLE
PVED-CLS Controller
For Electrohydraulic
Steering
User Manual
For SW1.96

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Summary of Contents for Danfoss PVED-CLS

  • Page 1 MAKING MODERN LIVING POSSIBLE PVED-CLS Controller For Electrohydraulic Steering User Manual For SW1.96...
  • Page 2 Important User Information Danfoss is not responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included for illustration purposes. Due to the many variables and requirements associated with any particular installation, Danfoss cannot assume responsibility or liability for the actual used bases on the examples and diagrams.
  • Page 3 July 2016 Updated according to internal review (#1597) 1.2.1 Document references Literature PVED-CLS communication protocol OSPE Steering valve, SASA sensor, Technical information PVED-CLS KWP2000 protocol PVED-CLS Technical Information PVED-CLS Safety manual EHPS Steering Valve, PVE Actuation, OSPCX CN Steering Unit...
  • Page 4 Scaled value with a unit denotation x100msec times 100 milliseconds dDeg Deci degrees file format extension for files to be used by PLUS+1 SERVICE TOOL AD1-AD3 Analogue Input 1-3 on PVED-CLS Pulse-Width Modulation mAmp Milliamps Electro-Hydraulic x10mSec times 10 milliseconds...

  • Page 5: Table Of Contents

    OSPE system ..................................11 EHPS System..................................12 PVED-CLS FUNCTIONAL OVERVIEW ....................14 PVED-CLS system overview ........................... 14 PVED-CLS steering mode selection state machine ................15 Steering wheel state machine ..........................16 AUX steering state machine ..........................17 Auto-guidance steering state machine ......................18 State transition requirements description ....................
  • Page 6 ENGINEERING TOMORROW 7.1.7 Vehicle speed setup ............................ 38 7.1.8 Vehicle geometry ............................39 Setup a steering device ............................. 41 EXTERNAL SENSORS ..........................43 Wheel angle sensor ............................... 43 Speed sensor..................................43 SASAIID sensor................................43 CALIBRATION .............................. 44 Wheel angle sensor calibration ........................... 45 9.1.1 Automatic adjusted maximum steer angles and cylinder stroke volume ..
  • Page 7 ENGINEERING TOMORROW 12.1 Block diagram ..................................94 12.2 GPS config .................................... 94 12.3 Vehicle speed dependent wheel angle limitation ................. 95 12.4 Vehicle speed dependent closed loop control ..................97 12.5 Vehicle speed dependent flow command limitation ................98 SAFE ON-ROAD MODE ........................... 101 FDA .................................
  • Page 8 ENGINEERING TOMORROW 16.5.4.2.4 Closed loop dead-band calibration .............142 16.5.4.2.5 Open loop dead-band calibration ..............143 16.5.4.2.6 Determining TL and TR for a specific vehicle type ......143 16.5.4.3 Post conditions ..........................144...

  • Page 9: General Information

    OEM. Important The OEM is fully responsible for making and document their own hazard and risk assessment and can only use the Danfoss documentation as input for their own hazard and risk assessment.

  • Page 10: Power-Up

    Missing curvature commands are exceptions and does not put PVED-CLS to safe state. A reset may be either a power cycle sequence or a soft reset CAN message. CAN BUS PROTOCOL The PVED-CLS conforms to CAN bus standard J1939.

  • Page 11: System Overview

    When the PVED-CLS is mounted on an OSPE the cut-off valve is always present, therefore P3072 needs to be 255 and the valve type needs to be set to OSPE/EHI by setting P3081 to 0. Furthermore OSP displacement, given in ccm, needs to be entered in P3084.

  • Page 12: Ehps System

    Main spool position tool PVED-CLS Figure 2 In a standard EHPS with PVED-CLS-system, a wheel angle sensor (Danfoss recommend a redundant sensor like illustrated on Figure 2, to meet category 3 according to ISO13849) either analogue or CAN-based, a Danfoss SASAIID...
  • Page 13 CAN bus for enabling auto-guidance-steering and auxiliary-device-steering. When the PVED-CLS is mounted on an EHPS the cut-off valve is not present, therefore P3072 needs to be 0 and the valve type needs to be set to EHPS by setting P3081 to 1. Furthermore, as the flow direction in an EHPS compared to OSPE/EHI is inverted, the PVED-CLS need to be provided with this information, which can be done by setting P3080 to 255.

  • Page 14: Pved-Cls Functional Overview

    - Speed sensor, chapter 8.2 Configuration & Adjustment and PVED- - SASAIID sensor, chapter 8.3 CLS Communication Protocol Sensor sub-systems Auto-calibration - PVED-CLS Safety manual PVED-CLS - Chapter 9.3 Safety functions Safe on-road mode - PVED-CLS Safety manual - Chapter 13...

  • Page 15: Pved-Cls Steering Mode Selection State Machine

    ENGINEERING TOMORROW PVED-CLS STEERING MODE SELECTION STATE MACHINE Figure 3 shows the high level steering mode selection state machine. The state transition requirements are described in detail in chapter 3.6. PVED-CLS Steering mode selection Safe ON-Road Steering: see chapter 7.1.2...

  • Page 16: Steering Wheel State Machine

    Figure 4 shows the steering wheel algorithm state machine. OFF-Road reaction and OFF-Road non-reaction are pure hydraulic steering and the EH-Valve is inactive. In Steering wheel program 1 5, the EH-Valve is active and the PVED-CLS behavior can be configured individually. Find additional information on how to setup the programs in chapter 10.

  • Page 17: Aux Steering State Machine

    Figure 5 shows the AUX steering device state machine. When the AUX device is configured to be a steering wheel, PVED-CLS offers 5 individually configurable steering programs. If the AUX device is configured to be a joystick, only 1 program is available. Find more information regarding AUX devices and the configuration in chapter 11.

  • Page 18: Auto-Guidance Steering State Machine

    The PVED-CLS detects the AUX open loop device to be in use when, The AUX steering device is present in the system P3239 set to 255 The AUX steering device is enabled see flags in the MMI messages in PVED-CLS communication protocol, 1.
  • Page 19 The AUX steering device is a closed loop joystick P3240 set to 1 The closed loop joystick is enabled see flags in the AUX messages in PVED-CLS communication protocol  AUX_CL_NO_ERR (For being able to switch to AUX closed loop joystick when a higher priority...
  • Page 20 Joystick - Max. CL steady state error threshold) for at least the time specified threshold value for P3731 (AUX Joystick - Min. Time for CL steady state error threshold) The closed loop joystick is inactive see flags in the AUX messages in PVED-CLS communication protocol Auto-guidance related conditions ...
  • Page 21 ENGINEERING TOMORROW Steering device changes are allowed when, threshold value for P3250 (Max vehicle speed for selecting auto-guidance or AUX steering device)  PRG_CHANGE_EN (Steering program change allowed) Steering program change is allowed when, threshold value for P3251 (Max vehicle speed for program changes) Other conditions ...

  • Page 22: Parameter Configuration

    Controlling the spool manually for diagnostic purposes  Extracting diagnostic data from the PVED-CLS (error history, temperature histograms etc.) PARAMETER SETUP PROCEDURE GOOD PRACTICE When booting up a PVED-CLS for the very first time, it is good practice to follow this procedure:...
  • Page 23 Test Automatic spool calibration and verify safety setup of vehicle For learning more of how the PLUS+1 SERVICE TOOL works, please go to the Danfoss Power Solution home page. For using other tools than PLUS+1 SERVICE TOOL to manually changing parameters and updating sector- and o the Danfoss document: PVED-CLS KWP2000 Protocol.

  • Page 24: Installation

    ENGINEERING TOMORROW Installation CONNECTOR INTERFACE The PVED-CLS is only available with one connector variant: 12 pin Deutsch DT04-12PA-B016 connector Figure 6 Important Deutsch assembly and installation guidelines must be followed for connector and harness. Accordingly, Danfoss recommends the use of lubricant (e.g. Nyogel 760G) on low-voltage electrical Connector contacts to further enhance the robustness against wear (e.g.

  • Page 25: Pved-Cls Led Diagnostic

    ENGINEERING TOMORROW PVED-CLS LED DIAGNOSTIC The PVED-CLS is equipped with a LED (see Figure 7). The LED behavior will inform about the state of the PVED-CLS: State LED behavior Main µC in the bootloader mode Blinking between or Main µC detects the Safety µC in the bootloader mode...

  • Page 26: Mapping A Steering Device/Sensor

    ENGINEERING TOMORROW Mapping a steering device/sensor In a steering system with an OSPE/EHI or EHPS + PVED-CLS, some sensors and steering devices are mandatorily mapped, therefore these sensors need to be present on the CAN bus:  SASAIID  Speed sensor sub-system ...
  • Page 27 P3295 J1939 Source Address of the MMI SASA sensor source P3296 J1939 Source Address of the SASAIID sensor address PVED-CLS source P3297 J1939 Source Address of the PVED (avoid using 127 and 241) address Wheel Angle Sensor P3298 J1939 Source Address of the WAS...

  • Page 28: Hydraulic And Peripherals Config

    7.1.1.1 Principle This PVED-CLS monitors the current being delivered to the cut-off valve and applies the selected current control algorithm. In closed loop mode, the current is kept constant regardless the battery voltage what makes it possible to use the same solenoids in all systems/machines.
  • Page 29 (P3072 set to 255), the PVED-CLS will go into fail state, as some safety checks cannot be performed. Warning If the PVED-CLS is mounted on a Danfoss OSPE/EHI-valve, Danfoss insistently recommends that the Cut-off valve is set to P3072 set to 255).
  • Page 30 , two different control methods are available; ON-OFF control mode (P3073 set to 0) and closed loop control mode (P3073 set to 255). Danfoss recommends using closed loop control mode. In ON-OFF control-mode the PWM signal to the cut-off valve will be: ...

  • Page 31: Cut-Off Valve Monitoring

    Important If PVED-CLS is commanded to go to off-road mode before pump pressure is available, PVED-CLS will not be able to perform this self-test and hence fail after the specified timeout set by P3078.

  • Page 32: Road Switch

    Important Not all combinations of these 3 parameters are valid. If an invalid condition is detected by PVED-CLS, it will enter safe state and notify the operator about an invalid EEPROM configuration of the Peripherals sector. See truth table in Table 11.

  • Page 33: Road Switch Monitoring

    When PVED-CLS is in Safe on-road state, this function slowly increases the duty-cycle on the cut-off output. If the current raises above the parameter threshold, specified by P3243, the PVED-CLS goes to safe, because it has detected that the Cut-off coil was not disconnected on the transition to Safe on-road thus reports a relay switch failure.
  • Page 34 ENGINEERING TOMORROW Figure 10 A: valid for spools for nominal cylinder flow CQ = 12 l/min B: valid for spools for nominal cylinder flow CQ = 20 l/min C: valid for spools for nominal cylinder flow CQ = 30 l/min D: valid for spools for nominal cylinder flow CQ = 40 l/min E: valid for spools for nominal cylinder flow CQ = 50 l/min...

  • Page 35: Lvdt Compensation And Spool Threshold At Boot-Up

    D: valid for spools for nominal cylinder flow CQ = 80 l/min Furthermore, if the PVED-CLS is mounted on a EHPS, then the flow direction needs to be inverted (P3080 set to 255) and the turns lock-to-lock on the steering wheel (when the electronics are not activated, hence pure hydraulic steering) needs to be entered in P3082 (resolution is 0.01 turns).

  • Page 36: Analogue Interface

    ENGINEERING TOMORROW OSPE/EHI, the PVED-CLS will go into safe state. If the PVED-CLS is mounted on an EHPS, further checks are done to see if the spool has moved outside the dead-band, a confidence counter level has to be reached before PVED-CLS will go into safe state.

  • Page 37: Sensor Supply Test

    P3248 set to 1 will shut down the sensor supply but not the monitoring of it. So if an operator chooses to disable this (e.i. P3248 set to 1), the operator has to set an external 5V supply to PVED-CLS sensor supply pin (pin 11) else PVED-CLS will go to safe state.

  • Page 38: Vehicle Speed Setup

    P3253 indicates at which vehicle speed, the PVED-CLS should go into safe state, if this vehicle speed is exceeded. Important If the PVED-CLS is in Safe ON-Road mode, the PVED-CLS will not go into safe state (SVB and cut-off valve are already de- energized)! Important This parameter is valid for all programs (i.e.

  • Page 39: Vehicle Geometry

    Resolution: 1 damph = 10 meter pr. hour Safe state vehicle speed P3253 Kmph The vehicle speed at which the PVED-CLS shall enter the safe state threshold Table 19 7.1.8 Vehicle geometry P3421 indicates the steering geometry of the vehicle; Ackermann/two wheel steering geometry or articulated steering geometry.
  • Page 40 ENGINEERING TOMORROW For Ackermann, P3426 and P3428 indicate the maximum steering angle (left and right) for the center point, in center of the front axle, given in degrees, each with reference to straight ahead (see Figure 13). For Ackermann model, the algorithm uses the center point of the front axle. The maximum steer angles can be determined by steering the vehicle into the smallest circle possible (steering to end stop).

  • Page 41: Setup A Steering Device

    ENGINEERING TOMORROW Range Name Description of parameter Vehicle steering type Vehicle steering type P3421 OEM, Dealer Valid Values: 1 (TWO WHEEL/ACKERMANN); 2 (ARTICULATED) Distance between the axles (front or rear wheel steered vehicle only) or Wheel base A P3422 OEM, Dealer 1000 10000 4000...
  • Page 42 Table 21 Additionally, the operator also needs to calibrate any additional applied sensors. For more detailed description on how to setup sensors and steering devices and changing parameters, please see the Danfoss documents, PVED-CLS Communication Protocol and PVED-CLS KWP2000 Protocol.

  • Page 43: External Sensors

    Redundant WAS present (P3245) and WAS interface type (P3244). The wheel angle sensors allow the PVED-CLS to perform closed loop position control on the steered wheels of the vehicle, auto-guidance steering, anti-drift function as well as soft end stop features.

  • Page 44: Calibration

    ENGINEERING TOMORROW Calibration A PVED-CLS shall always be calibrated to the valve it is controlling (OSPE, EHPS or EHI). This allows cancellation of mechanical, electrical and environmental dependent tolerances. Spool calibration also compensates for the mechanical dead-bands designed into the EH spool. Spool calibration is only required at first installation or after PVED- CLS replacement.

  • Page 45: Wheel Angle Sensor Calibration

    WHEEL ANGLE SENSOR CALIBRATION As per default, a PVED-CLS will boot up in WAS calibration service mode. From here the operator can chose to use the WAS auto-calibration routine from the Danfoss PLUS+1 SERVICE TOOL or perform a manual WAS calibration (see 16.5) General guidelines: •...

  • Page 46: Automatic Adjusted Maximum Steer Angles And Cylinder Stroke Volume

     If P3426 is set to a value > 89 and if P3428 is set to a value > 89, that forces the PVED-CLS to calculate and use automatic adjusted values for Maximum steer angle, Left (i.e. P3193 or P3223 will be updated after WAS calibration, depending on WAS-type, by lookup in Table 25), and forces the PVED-CLS to calculate and use automatic adjusted values for Maximum steer angle, Right (i.e.
  • Page 47 ENGINEERING TOMORROW Range Name Description of parameter Automatically adjusted Automatically adjusted cylinder stroke volume, for using CAN WAS, cylinder stroke volume P3191 OEM, Dealer 65535 65535 found during WAS auto-calibration (CAN WAS) Automatically adjusted Automatically adjusted maximum steer angle to left side, for using CAN maximum steer angle P3193 OEM, Dealer...
  • Page 48 ENGINEERING TOMORROW Important Mapping of the look-up tables has to be done, when maximum possible steer angles can be achieved. Has to support maximum achievable voltages between neutral and right most as well as between neutral and left most. Add some tolerance.
  • Page 49 ENGINEERING TOMORROW Mapped cyl. str. vol. (steering right) at 33% P3823 Mapped cylinder stroke volume (steering right) at 33% voltage base OEM, Dealer 10000 Mapped cyl. str. vol. (steering right) at 67% P3825 Mapped cylinder stroke volume (steering right) at 67% voltage base OEM, Dealer 10000 Mapped cyl.
  • Page 50 ENGINEERING TOMORROW The operator needs to map the sensor characteristics, according to Figure 17. The operator should map the steer angles @ 33% (P3831), 67% (P3832) and 100% (P3833) of the voltage base (P3834), where voltage base is: The absolute voltage [mVolts] from the WAS, going from neutral to left most position, when maximum possible steer angles can be achieved on the vehicle + some tolerance.

  • Page 51: Spool Calibration

    Figure 18 SPOOL CALIBRATION As per default, a PVED-CLS will boot up in spool calibration service mode after a successful WAS calibration has been completed. From here the operator can choose to use the spool auto-calibration routine from the Danfoss PLUS+1 SERVICE TOOL or perform a manual spool calibration, using the direct output control function.

  • Page 52: Spool Calibration Overview

    ENGINEERING TOMORROW Valve calibration shall be done when the PVED-CLS is in service mode, either 9.2.2 Spool calibration overview Flow, Q (L/min) (P3162) (P3164) (P3088) Maximum flow Closed-loop mode (P3166) (P3168) Open-loop mode Spool displacement Flow range Hydraulic deadband Flow range...
  • Page 53 Important Danfoss recommends that the manual spool calibration (Direct Output control) is used for calibrating the dead-band of a spool on a single vehicle, and the findings for a specific vehicle type should be used as input for defining an auto-calibration parameter set, to be used on a production line.

  • Page 54: Auto-Calibration

    Prioritization is as follows: A. If P3244 is set to 0, P3773 is set to 0 and P3774 is set to 255, the PVED-CLS will boot into WAS calibration B. If P3244 is set to 1, P3775 is set to 0 and P3776 is set to 255, the PVED-CLS will boot into WAS calibration service mode.

  • Page 55: Initial Setup

    P3797. Before automatic spool calibration can be started, the operator has to arm the steering wheel. This is to tell the PVED-CLS, that grapping the steering wheel can be detected, and thus can be used to disengage ongoing spool calibration.

  • Page 56: Auto-Calibration Parameter Plausibility Check

    ENGINEERING TOMORROW Spool calib max time P3806 and P3808 indicate the target sweep time for the spool calibration for acceptable CL DB P3806 x100msec function, to find an acceptable closed loop dead-band edge. That OEM, Dealer edge maximum given time is defined by P3806 P3806 and P3808 indicate the target sweep time for the spool calibration Spool calib min time for P3808...
  • Page 57 Before automatic spool calibration can be started, the operator has to arm the steering wheel. This is to tell the PVED- CLS, that grabbing the steering wheel can be detected, and thus can be used to disengage ongoing spool calibration. In the operation status message, byte 4 (see PVED-CLS communication protocol, chapter 7.10), the Spool calibration status can be observed.
  • Page 58 ENGINEERING TOMORROW First in 110 110 110 115 110 115 110 First out Figure 21 The above figure shows an example how and acceptable dead-band value of 110 could be achieved using default values for P3810 = 7, P3811 = 5. The vector will keep the last seven acceptable attempts, using FIFO-principle.

  • Page 59: Execute Was Auto-Calibration From The Plus+1 Service Tool

    1 until a successful spool dead-band calibration has been achieved. EXECUTE WAS AUTO-CALIBRATION FROM THE PLUS+1 SERVICE TOOL Open the PLUS+1 service tool and execute the matching .P1D.-file (SW in PVED-CLS needs to match the pages in the .P1D-file).
  • Page 60 (Capture L, Capture N and Capture R) respectively. It Danfoss recommends to capture straight position while driving the vehicle slowly, aiming at a spot far away.
  • Page 61 ENGINEERING TOMORROW Whenever one of the capture-buttons has been pushed, a green bar will light up beneath it. Figure 25...
  • Page 62 ENGINEERING TOMORROW -CLS will now store the values in the EEPROM for the following addresses: Range Name Description of parameter Primary WAS max left P3205 mVolts Primary wheel angle sensor voltage output for leftmost position OEM, Dealer 6000 position (Analogue) Primary WAS max right P3207 mVolts...

  • Page 63: Execute Spool Auto-Calibration From The Plus+1 Service Tool

    ENGINEERING TOMORROW EXECUTE SPOOL AUTO-CALIBRATION FROM THE PLUS+1 SERVICE TOOL Open the PLUS+1 service tool and execute the matching .P1D.-file (SW in PVED-CLS needs to match the pages in the .P1D-file). pages   In the system navigator Figure 26...
  • Page 64 ENGINEERING TOMORROW Now the operator can choose to start the spool calibration with the values stored in the EEPROM (P3797 P3811), spool button. Figure 27 The 4 parameters listed below have the following values per default (in hex 0xFF, 0xFFFF, 0xFF, 0xFF): ...
  • Page 65 ENGINEERING TOMORROW Figure 28 When a successful spool calibration has been achieved, press -CLS will now store the values in the EEPROM for the following addresses: Range Name Description of parameter Max Spool Position, Left P3162 x10u Meter Spool left most position OEM, Dealer -1000 1000...
  • Page 66 To use this method the desired parameter changes to P3162, P3164 and P3170 in the valve calibration sector is configured in the hydraulic configuration sector. The PVED-CLS spool auto-calibration routine will copy P3091, P3093 and P3095 to P3162, P3164 and P3170, respectively and calculate the Valve Calibration Data sector CRC.

  • Page 67: Fine-Tuning Of Parameters For Spool Calibration

    ENGINEERING TOMORROW Important A spool auto-calibration must be executed for effectuating the change in the Valve Calibration Data sector. In this case the below parameters shall be configured (shown with default values). P3091 set to -420 for OSPE/EHI or -700 for EHPS, P3093 set to 420 for OSPE/EHI or 700 for EHPS and P3095 set to 25. 9.5.1 Fine-tuning of parameters for spool calibration The operator can tune the following parameters when the calibrated dead-band values give, either in Auto-guidance-...

  • Page 68: Steering Wheel Programs

    Steering wheel programs When the PVED-CLS is in Off-road steering mode (see Figure 3) the operator can choose from 5 different programs which can be set with some individual parameters for the steering ratio, and some parameters which are common for all 5 programs such as soft-stop, anti-jerk etc.
  • Page 69 Furthermore, the operator can disengage any other steering devices and return to STW mode (only hydraulic steering) by activating/turning the steering wheel. The PVED-CLS detects that the steering wheel is in use when both the threshold P3583 and P3584 are being exceeded. An operator is not able to transition to the Auto-guidance-program if both the steering wheel velocity and steering wheel position change are higher than the values in P3583 and 3584.

  • Page 70: Vehicle Speed Dependent Quick Steer

    ENGINEERING TOMORROW 10.4 VEHICLE SPEED DEPENDENT QUICK STEER The PVED-CLS has 5 different steering wheel programs, where the operator can setup the wanted number of turns lock-to-lock, on the steering wheel at a given vehicle Quick steer The range is from 1 to 100 kmph for the parameters named - Vehicle speed @ Point and from 10 to 800 dec [Resolution = 0.01;...
  • Page 71 ENGINEERING TOMORROW Range Name Description of parameter Program1 - Number of steering wheel turns lock to lock at the vehicle STW 1 - No of turns @ P3522 speed of 0 kmph Point A Resolution = 0.01; 1turn = 100 Program1 - Number of steering wheel turns lock to lock at the vehicle STW 1 - No of turns @ P3524...

  • Page 72: Anti-Drift (Efu)

    The range is from 1° to 160° for P3568, in steps of 1°. For P3569 the range goes from 0% to 100% in steps of 1%. The values recommended by Danfoss are P3568 set to 20 and P3569 set to 15 i.e. anti-drift will be enabled all the...

  • Page 73: Anti-Jerk

    10.6 ANTI-JERK Jerk is a common unpleasant feeling/phenomenon which can be experienced on large, articulated vehicles. To minimize these jerks, the PVED-CLS has a built-in anti-jerk algorithm which can be enabled and parameterized by the operator. Briefly, the Anti-jerk algorithm has two sets of parameters to choose from, one set for when moving away from neutral position and one set for moving towards neutral position.
  • Page 74 ENGINEERING TOMORROW A set of parameter consist of a relative set-point change parameter (P3572 or P3573 measured in [%]) and an absolute set-point change parameter (P3574 or P3576 measured in [IR]). For the relative set-point parameters, the value will change depending on the actual spool position. For the absolute set-point change parameters, the value will always be a fixed set-point value.
  • Page 75 ENGINEERING TOMORROW crossover start (P3578) and crossover stop (P3580). Furthermore, the low pass filter in the function is configurable by P3582 (default cut-off frequency is 10Hz, i.e. P3582 set to 100). Range Name Description of parameter Defines the type of the anti-jerk functionality to use 0 -> Anti Jerk type STW Anti-jerk enable P3571 NONE 1 ->...

  • Page 76: Soft-Stop

    The range is from 0 to 1000 [IR] for P3562, P3564 and P3566 (i.e. relative wheel angle and soft-stop flow limit, respectively). The values recommended by Danfoss are P3562 set to 400, and P3564 and P3566 set to 0. Important For absolute wheel angles lower than the one specified at Point A maximum flow is available.
  • Page 77 ENGINEERING TOMORROW Range Name Description of parameter STW Soft-stop wheel Defines the wheel angle region start, from the max possible wheel angle P3562 1000 angle region start towards 0, in which the soft stop has to be applied STW Soft-stop max flow P3564 Oil flow to deliver at the max possible wheel angle 1000...

  • Page 78: Aux Steering

    P3647.  In closed loop mode, the PVED-CLS detects that by enabling the joystick by setting the flag (byte 5 set to 01) in the AUX message (see PVED-CLS communication protocol), that the joystick is used and will perform a...
  • Page 79 P3583 and P3584. The PVED-CLS detects that the steering wheel is in use when both the threshold P3583 and P3584 are being exceeded. An operator is not able to make a transition to the AUX-program if both the steering wheel velocity and steering wheel position changes are higher than the values in P3583 and 3584.

  • Page 80: Open Loop Filter

    ENGINEERING TOMORROW 11.3 OPEN LOOP FILTER As a risk mitigation method, Danfoss wants to avoid unintended spool actuation, etc. when driving on bumpy-ground, therefore an open loop joystick and open loop mini-steering wheel signal filter has been applied to the PVED- steering wheel control algorithm.

  • Page 81: Open Loop Mini-Wheel Vehicle Speed Dependent Quick Steer

    ENGINEERING TOMORROW 11.4 OPEN LOOP MINI-WHEEL VEHICLE SPEED DEPENDENT QUICK STEER The PVED-CLS has five different open loop mini-steering wheel programs, where the operator can setup the desired number of turns lock-to-lock on the mini-steering wheel at a given vehicle fast steer .
  • Page 82 ENGINEERING TOMORROW Range Name Description of parameter Program1 - Number of steering wheel turns lock to lock at the vehicle AUX mini-steering 1 - P3650 speed of 0 kmph No of turns @ Point J Resolution = 0.01; 1turn = 100 Program1 - Number of steering wheel turns lock to lock at the vehicle AUX mini-steering 1 - P3652...

  • Page 83: Open Loop Mini-Wheel Anti-Drift (Efu)

    The range is from 1° to 160° for P3706, in steps of 1°. For P3705 the range goes from 0% to 100% in steps of 1%. The values recommended by Danfoss are P3706 set to 20 and P3705 set to 15 i.e. anti-drift will be enabled all the...

  • Page 84: Open Loop Anti-Jerk

    Jerk is a common unpleasant feeling/phenomenon which can be experienced on large, articulated vehicles. To minimize these jerks, the PVED-CLS has a built-in anti-jerk algorithm which can be enabled and parameterized by the operator. The anti-jerk function applies to all AUX Open Loop steering devices.
  • Page 85 ENGINEERING TOMORROW A set of parameter consist of a relative set-point change parameter (P3700 or P3699 measured in [%]) and an Absolute set-point change parameter (P3703 or P3701 measured in [IR]). For the relative set-point parameters, the value will change depending on the actual spool position. For the Absolute set-point change parameters, the value will always be a fixed set-point value.

  • Page 86: Open Loop Soft Stop

    ENGINEERING TOMORROW Range Name Description of parameter Defines if the anti-jerk function is enabled or disabled AUX Anti-jerk function P3698 BOOL Valid Values: 0 (DISABLED); 1 (ENABLED) AUX Relative set-point Relative set-point change allowed to apply when ramping the spool change, In towards P3699 position set-point out, i.e.
  • Page 87 The range is from 100 to 1000 [IR] for P3708 (i.e. relative soft-stop flow limit). The range is from 0 to 1000 [IR] for P3710 and P3712 (i.e. relative wheel angle). The Danfoss recommended values are P3708 set to 200, and P3710 and P3712 set to 0. Important For wheel angles lower than the one specified at Point A, maximum flow is available.

  • Page 88: Open Loop Joystick Vehicle Speed Dependent Flow Scaling

    If the flow limit at a given vehicle speed is calculated to 400 IR and the joystick position is 700 IR, the resulting flow command calculated by PVED-CLS will be 700 IR * (400IR/1000IR) = 280IR. The flow scaling function is configured by following parameters: P3696 and P3697 set the vehicle speed (range from 0 to 100 kmph) and P3690, P3692 and P3694 set the maximum flow (range from 0 to 1000 IR).
  • Page 89 ENGINEERING TOMORROW AUX - open loop joystick vehicle speed dependent flow scaling 1000 Point M Point N Point O Vehicle speed [kmph] Figure 43 Warning Failure to comply with the above rules may render this function inoperable or lead to undesirable steering behavior! Range Name Description of parameter...

  • Page 90: Closed Loop Joystick Vehicle Speed Dependent Wheel Angle Limitation

    ENGINEERING TOMORROW 11.9 CLOSED LOOP JOYSTICK VEHICLE SPEED DEPENDENT WHEEL ANGLE LIMITATION As a risk mitigation method, when using a Closed Loop Joystick function, the PVED- Closed Loop Joystick control algorithm can limit the maximum allowed angle, that the wheels can be moved to, in proportion to the vehicle speed (i.e.
  • Page 91 Failure to comply with the above rules may render this function inoperable or lead to undesirable steering behavior! After a desired max wheel angle has been found by the PVED-CLS, in terms of the vehicle speed, the PVED-CLS will scale and interpolate to that max wheel angle, see example in Figure 45.

  • Page 92: Closed Loop Joystick - Vehicle Speed Dependent Closed Loop Control

    Table 46 11.10 CLOSED LOOP JOYSTICK VEHICLE SPEED DEPENDENT CLOSED LOOP CONTROL As each application is different, Danfoss has implemented a speed dependent closed loop control gain, configurable for Closed Loop Joystick. When using a Closed Loop Joystick function, the PVED- Closed Loop Joystick-control algorithm can vary the closed loop gain, dependent on the vehicle speed.
  • Page 93 ENGINEERING TOMORROW AUX - closed loop joystick vehicle speed dependent closed loop control Point A Point B Point C Vehicle Speed [kmph] Figure 46 Warning Setting the closed loop gain at a too high level could give unwanted aggressive steering behavior in AUX closed loop joystick mode, especially in combination with a low vehicle speed this could lead to unwanted aggressive steering behavior.

  • Page 94: Auto-Guidance Steering

    P3584. The PVED-CLS detects that the steering wheel is used when both the threshold P3583 and P3584 are being exceeded. An operator is not able to perform a transition to the Auto-guidance program if both the steering wheel velocity and steering wheel position changes are higher than the values in P3583 and 3584.

  • Page 95: Vehicle Speed Dependent Wheel Angle Limitation

    ENGINEERING TOMORROW Range Name Description of parameter GPS - Flow command P3484 Auto-guidance flow command filter cut-off frequency filter frequency STW in use velocity P3583 dRpm Steering wheel velocity threshold threshold STW in use angle Steering wheel position change threshold, from last detected position at P3584 threshold 0 RPM...
  • Page 96 ENGINEERING TOMORROW GPS - Vehicle speed dependent wheel angle limitation Point G Point H Point I Vehicle speed [kmph] Figure 48 Warning Failure to comply with the above rules may render this function inoperable or lead to undesirable steering behavior! Range Name Description of parameter...

  • Page 97: Vehicle Speed Dependent Closed Loop Control

    ENGINEERING TOMORROW 12.4 VEHICLE SPEED DEPENDENT CLOSED LOOP CONTROL As each application is different, Danfoss has implemented a speed dependent closed loop control gain, configurable for each Auto-guidance controller (hence individual parameters for both GPS and GPS2). When using an auto-...

  • Page 98: Vehicle Speed Dependent Flow Command Limitation

    ENGINEERING TOMORROW Warning Setting the closed loop gain at a to high level could give unwanted aggressive steering behavior in auto-guidance mode, especially in combination with a low vehicle speed this could lead to unwanted aggressive steering behavior when acquiring a line! Range Name Description of parameter...
  • Page 99 ENGINEERING TOMORROW The range is from 0 to 100 kmph for P3453 and P3457 and from 0 to 1000 IR for P3451, P3455 and P3459. Important This function applies to both GPS and GPS2. These parameters represent the three points on the curve below (Point D, E and F). The auto-guidance algorithm will make linear interpolation in between each of the three points.
  • Page 100 ENGINEERING TOMORROW Range Name Description of parameter GPS - Max flow @ Point Auto-guidance mode - Maximum allowed flow at the vehicle speed of 0 P3451 1000 1000 kmph GPS - Vehicle speed Auto-guidance mode - Vehicle speed at which the flow should be limited P3453 Kmph limiting flow @ Point E...

  • Page 101: Safe On-Road Mode

    PVED-CLS. If powering off the PVED-CLS is not feasible for the OEM, Danfoss has implemented an option for the operator to use the PVED-CLS to broadcast wheel angle position on the CAN bus. This functionality will do a soft shut down of the PVED-CLS, to fulfill that the PVED-CLS is active for broadcasting signals on the CAN bus, when driving on road, but no controlling of the EH is available (hence SVB and Cut-off valve are off).

  • Page 102: Fda

    10ms). If the system is in a good condition, the confidence counter is decremented by 10ms*P3125. If the confidence counter hits the roof specified by P3126, the fault condition flag is set and PVED-CLS enters safe state (unless disabled by parameter P3132). The fault condition flag is found in status message 5, byte 2, bits 2 1.
  • Page 103 Event triggered CAN loggers are useful here, in field testing. They can be used to obtain only data when FDA is failing or close to failing, so additional training can be done on those situations. At present the training tool is not released, therefore contact your local technical support at Danfoss Power Solutions.
  • Page 104 ENGINEERING TOMORROW Range Description of parameter Name Fault Detection Algorithm - Steering Steering wheel angle velocity threshold used in the Fault Detection P3122 dRpm wheel activation Algorithm to detect the steering wheel activation velocity threshold Fault Detection Algorithm min. wheel Minimum wheel angle difference necessary to observe in order to make P3123 angle movement...

  • Page 105: Diagnostics And Troubleshooting

    Parameter configuration is If the fault is related to the sensors or CAN bus cable tree, these faults should be resolved and the PVED-CLS should be powered up again. If the fault requires parameters to be changed, the operator must bring the PVED-CLS in - mode before re-configuring the parameters.

  • Page 106: Troubleshooting Typical Faults

    Operational 1. Hoses between valve and steering actuator are swapped 2. Parameter; Invert Flow Direction; (P3080), is set to 255 and PVED-CLS is mounted on a OSPE/EHI or P3080 is set to 0 and PVED-CLS is mounted on a EHPS...

  • Page 107: Appendix

    Safety Functions: This Section lists all failures caused by Safety functions and externally triggered safe state Diagnostic functions: This section lists all failures detected by diagnostic functions Internal Hardware: This section lists all failures found on the internal PCB in PVED-CLS Software: This section lists all failures detected inside the software...
  • Page 108 ENGINEERING TOMORROW Shortcut to Vbat 3 - Voltage above normal Severe DOUT short-circuited to Vbat or short-circuit to high source Dutycycle differs from 8 - Abnormal frequency or Severe Internal Failure expected value pulse width or period Open circuit 5 - Current below normal Severe No load connected to DOUT or open circuit...
  • Page 109 ENGINEERING TOMORROW Switch state crosscheck 25 - Signal crosscheck Severe If P3072 = 255: failed failed Internal failure If P3072 = 0 & P3242 = 255: Mismatch in Road switch states between DOUT resistance and AD3 voltage signal Safety 520207 Road switch resistance Switch state undefined 2 - Data erratic,...
  • Page 110 Monitoring 520214 Flow command crosscheck failure 25 - Signal crosscheck Severe Flow command calculation by PVED-CLS Main controller crosscheck failed and PVED-CLS Safety controller. This can happen if fx. Gain parameters are not equal in Main and Safety controller.
  • Page 111 Executed steering cross-check failure 25 - Signal crosscheck Severe P3237, P3238, P3239, P3241, P3250 or P3251 are set to device/program failed different values in PVED-CLS Main and Safety controller crosscheck (application state) Monitoring 520224 MMI flag crosscheck cross-check failure 25 - Signal crosscheck...

  • Page 112: Fmi List

    ENGINEERING TOMORROW 16.2 FMI LIST In PVED-CLS the standard FMI from J1939-73 Appendix A page 130 are used as much as possible. However, in some PVED-CLS is found below: Index Failure mode 0 - Data valid, but above normal operational range - Most severe level...

  • Page 113: Parameter List

    Resolution: 0.01 turns OSP displacement, number of cubic centimeters per revolution OSP displacement P3084 Note: When the PVED-CLS is mounted on an EHPS this parameter 1200 must be set equal to 0! Cylinder stroke volume. Acceptable values: 100-10000. Cylinder stroke volume...

  • Page 114: Sehs Fda

    ENGINEERING TOMORROW 16.3.2 SEHS FDA Range Name Description of parameter Fault Detection Algorithm - Steering Steering wheel angle velocity threshold used in the Fault Detection P3122 dRpm wheel activation Algorithm to detect the steering wheel activation velocity threshold Fault Detection Minimum wheel angle difference necessary to observe in order to make Algorithm min.

  • Page 115: Valve Calibration Data

    ENGINEERING TOMORROW 16.3.3 Valve calibration data Range Name Description of parameter Max Spool Position., P3162 x10u Meter Spool left most position OEM, Dealer -1000 -300 -420 Left Max Spool Position., P3164 x10u Meter Spool right most position OEM, Dealer 1000 Right Closed loop dead-band P3166...

  • Page 116: Can Wheel Angle Sensor Calibration Data

    ENGINEERING TOMORROW 16.3.4 CAN wheel angle sensor calibration data Range Name Description of parameter WAS max left position P3185 mVolts Wheel angle sensor voltage output for leftmost position over CAN OEM, Dealer 5000 (CAN) WAS max right position P3187 mVolts Wheel angle sensor voltage output for rightmost position over CAN OEM, Dealer 5000...

  • Page 117: Analogue Wheel Angle Sensor Calibration Data

    ENGINEERING TOMORROW 16.3.5 Analogue wheel angle sensor calibration data Range Name Description of parameter Primary WAS max left P3205 mVolts Primary wheel angle sensor voltage output for leftmost position OEM, Dealer 6000 position (Analogue) Primary WAS max right P3207 mVolts Primary wheel angle sensor voltage output for rightmost position OEM, Dealer 6000...

  • Page 118: Peripherals Config

    Resolution: 1 damph = 10 meter pr. hour Safe state vehicle speed P3253 Kmph The vehicle speed at which the PVED-CLS shall enter the safe state threshold Table 62 Important For the Peripherals sector some rules apply to P3072, P3241 & P3242. See list of rules in Table 11.

  • Page 119: Sehs Communication Protocol Data

    P3295 J1939 Source Address of the MMI SASA sensor source P3296 J1939 Source Address of the SASAIID sensor address PVED-CLS source P3297 J1939 Source Address of the PVED (avoid using 127 and 241) 19, 90* address Wheel Angle Sensor P3298...
  • Page 120 Valid Values: GMS Message Layout as 0 (Layout according to ISO11783-7:2009); P3326 BOOL per ISO11783 255 (Layout according to ISO11783-7:2015) See PVED-CLS communication protocol for clarification Table 63 *The value should not be the same in the Main- and Safety-controller!

  • Page 121: Internal Monitoring

    ENGINEERING TOMORROW 16.3.8 Internal monitoring Range Name Description of parameter Channel cross-check Maximum allowable time for which wheel angle readings between MAIN monitoring - max wheel P3351 x10msec and SAFETY micro-controllers are allowed to be out of specified value angle divergence time Channel cross-check Max allowable wheel angle reading difference between MAIN and monitoring - Max wheel...
  • Page 122 ENGINEERING TOMORROW Spool monitoring - Min 'spool out of control' P3378 x10mSec Minimum timeout value used by spool monitoring algorithm tolerance time Spool monitoring - Max 'Spool out of control' P3379 x10mSec Maximum timeout value used by spool monitoring algorithm tolerance time Spool monitoring confidence time...

  • Page 123: Vehicle Geometry

    ENGINEERING TOMORROW 16.3.9 Vehicle geometry Range Name Description of parameter Vehicle steering type Vehicle steering type P3421 OEM, Dealer Valid Values: 1 (TWO WHEEL/ACKERMANN); 2 (ARTICULATED) Distance between the axles (front or rear wheel steered vehicle only) or Wheel base A P3422 OEM, Dealer 1000...

  • Page 124: Gps Config

    ENGINEERING TOMORROW 16.3.10 GPS config Range Name Description of parameter GPS - Max flow @ Point Auto-guidance mode - Maximum allowed flow at the vehicle speed of 0 P3451 1000 1000 kmph GPS - Vehicle speed Auto-guidance mode - Vehicle speed at which the flow should be limited P3453 Kmph limiting flow @ Point E...

  • Page 125: Stw Config

    ENGINEERING TOMORROW Important For the GPS sector some rules apply to the parameter settings of the vehicle speed dependent functions. See list of rules in section 12. 16.3.11 STW config Range Name Description of parameter STW - Steering wheel Min steering angle velocity value below which the angle velocity of 0 is P3521 dRpm no-activation threshold...
  • Page 126 ENGINEERING TOMORROW STW 5 - Vehicle speed Program5 - Vehicle speed at which lock to lock steering wheel turns = P3560 kmph @ Point B "STW 5 - STW 5 - Vehicle speed Program5: Vehicle speed at which lock to lock steering wheel turns = P3561 kmph @ Point C...

  • Page 127: Aux Config

    ENGINEERING TOMORROW 16.3.12 AUX config Range Name Description of parameter AUX mini-steering in P3646 dRpm AUX mini-steering velocity threshold to declare that the steering is in use use - velocity threshold AUX joystick in use flow command P3647 AUX Joystick flow command threshold to declare that joystick is in use threshold AUX Joystick no- Min Flow command from AUX joystick below which the flow command...
  • Page 128 ENGINEERING TOMORROW AUX mini-steering 5 - Program5 - Vehicle speed at which lock to lock steering wheel turns = P3688 kmph Vehicle speed @ Point K "AUX program 5 - No of turns @ Point K AUX mini-steering 5 - Program5: Vehicle speed at which lock to lock steering wheel turns = P3689 kmph...

  • Page 129: Production/Calibration Flag

    ENGINEERING TOMORROW Important For the STW sector some rules apply to the parameter settings of the vehicle speed dependent functions. See list of rules in section 11. 16.3.13 Production/calibration flag Range Name Description of parameter Calibration counter - P3771 Calibration counter - Spool calibration Spool calibration Bit inverted value for "Calibration counter -...

  • Page 130: Auto Calibration Config

    P3797. Before automatic spool calibration can be started, the operator has to arm the steering wheel. This is to tell the PVED-CLS, that grapping the steering wheel can be detected, and thus can be used to disengage ongoing spool calibration.
  • Page 131 ENGINEERING TOMORROW Mapped VB for cyl. str. P3821 mVolts Mapped voltage base for cylinder stroke volume (steering left) OEM, Dealer 6000 2000 vol. (steering left) Mapped cyl. str. vol. (steering right) at 33% P3823 Mapped cylinder stroke volume (steering right) at 33% voltage base OEM, Dealer 10000 Mapped cyl.

  • Page 132: Crc Sector

    OEM, Dealer Table 71 Warning Danfoss recommends not modifying data outside the specified address ranges shown in Table 71 as it will be detected by the PVED-CLS and lead to safe state! 16.4.2 Sector CRC calculation Upon having verified the correctness of the data in a given sector, the sector CRC shall be calculated and stored at the CRC address.

  • Page 133: Example

    Attention As a step in safe parameterization of the PVED-CLS software, the system integrator shall sign for the correctness of the data in one or more modified sectors. Signing off correctness is understood as the system integrator has verified that all values in a sector are correct.

  • Page 134: Example

    16.4.2) 5CFEA401B0FF50001900 In this example PSAC = 12AFh is used. Note that this PSAC is not valid and will be detected as an incorrect PSAC by the PVED-CLS. The signature CRC is calculated as the CRC- 5CFEA401B0FF50001900AF12 The low byte (A3h) shall be stored at P44 and the high byte (3Bh) at P45.

  • Page 135: Calibrating Analogue Wheel Angle Sensor

    ENGINEERING TOMORROW Calibration counter - P3771 Calibration counter - Spool calibration Spool calibration Bit inverted value for "Calibration counter - P3772 Bit inverted value for "Calibration counter - Spool calibration" Spool calibration" Calibration counter - Analogue WAS P3773 Calibration counter - Analogue WAS calibration Bit inverted value for "Calibration counter -...
  • Page 136 ENGINEERING TOMORROW Data sector preparation  For MAIN- and SAFETY- Analogue Wheel Angle Sensor Calibration data . Use the temporarily stored Analogue Wheel Angle Sensor Calibration data Range Name Description of parameter Primary WAS max left P3205 mVolts Primary wheel angle sensor voltage output for leftmost position OEM, Dealer 6000 position (Analogue)

  • Page 137: Calibrating Can-Based Wheel Angle Sensor

    ENGINEERING TOMORROW Range Name Description of parameter Calibration counter - P3771 Calibration counter - Spool calibration Spool calibration Bit inverted value for "Calibration counter - P3772 Bit inverted value for "Calibration counter - Spool calibration" Spool calibration" Calibration counter - Analogue WAS P3773 Calibration counter - Analogue WAS...
  • Page 138 ENGINEERING TOMORROW Read primary wheel angle via CAN message and temporarily store the value Read secondary wheel angle via CAN message and temporarily store the value  Turn wheels into neutral/straight position Read primary wheel angle via CAN message and temporarily store the value Read secondary wheel angle via CAN message and temporarily store the value ...
  • Page 139 ENGINEERING TOMORROW  Production/Calibration Flag . Update the CAN based WAS calibration counters. Increment P3775 from 0 to 1 and increment bit-wise inverted P3776 from 255 to 254 for the displayed below, Production/Calibration Flag Range Name Description of parameter Calibration counter - P3771 Calibration counter - Spool calibration Spool calibration...

  • Page 140: Manual Spool Calibration

    ENGINEERING TOMORROW 16.5.4 Manual spool calibration 16.5.4.1 Spool calibration overview Flow, Q (L/min) (P3162) (P3164) (P3088) Maximum flow Closed-loop mode (P3166) (P3168) Open-loop mode Spool displacement Flow range Hydraulic deadband Flow range P1: (P3166 + P3170) P2: (P3168 - P3170) Figure 52 P3162 and P3164 define the maximum spool stroke and are set to the stroke length where the spool is mechanically stopped by the valve.

  • Page 141: Spool Calibration Procedure

    ENGINEERING TOMORROW Range Name Description of parameter Max Spool Position, Left P3162 x10u Meter Spool left most position OEM, Dealer -1000 -300 -420 Max Spool Position, P3164 x10u Meter Spool right most position OEM, Dealer 1000 Right Closed loop dead-band P3166 x10u Meter Spool closed loop dead-band edge, Left...
  • Page 142 ENGINEERING TOMORROW The calibration algorithm applies main spool set-point ① to initiate a steering direction towards right. The time ⑤ it takes for the steered wheels to reach Calib_WA_R is measured and denoted TR. When the steered wheels reaches Calib_WA_R, the calibration algorithm applies main spool set-point ② to initiate a steering direction towards left.
  • Page 143 ENGINEERING TOMORROW PVED-CLS in service mode? Wait for new Evalution & test_cl_db_R and adjustment Captured TR and TL test_cl_db_L Init = not ok Init = ok Init = ok Init = ok PVED-CLS not in service mode or Act_WA >...
  • Page 144 ENGINEERING TOMORROW Fine-tune test_db_L and test_db_R until TR and TL are identical The values TR and TL should now be used as target set-points for subsequent valve calibration for this specific type of vehicle. 16.5.4.3 Post conditions After a successful manual spool calibration, the calibration counter and bit inverted copy for spool calibration should be updated as described below: ...

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