Only One Signal Per Analogue Channel Can Be Acquired; Analogue Interface - Danfoss pved-cl Operation Manual

Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Installation
Steering Device Signals
Steering wheel angle signal (Priority 1)
High priority steering device (Priority 2)
Low priority steering device (Priority 3)
Primary steered wheel (or actuator) signal
High priority set-point controller (Priority 4)
Redundant steered wheel sensor signal
Vehicle speed signal
OSP signal

Analogue Interface

32 | © Danfoss | May 2016
Index
65101
65102
65103
65104
65105
65107
65108
65109
When mapping the vehicle speed sensor, the CAN source address of the vehicle speed sensor shall be
configured correspondingly in the VehicleSpeedSensorSourceAddress parameter. See
Parameters on page 107.

Only one signal per analogue channel can be acquired

Mapping the OSP signal serves only the purpose to monitor the PVED for conflicting setpoints when
steering by steering wheel using the EHPS valve with hydraulic back up. Other parameter conflicts are
mentioned appendix Program Parameters
A mapped device can be de-activated by means of sending a DeviceDisableCommand as mentioned in
chapters High Priority Steering Device Enable/Disable Control
Enable/Disable Control on page 92.
The High priority set-point controller can similarly be de-activated. Please refer to PVED-CL
Communication Protocol, 11079551.
A 200 Hz first-order low-pass filter is applied before the AD sampling. Both analogue voltage signals at
AD1 and AD2 are converted into a digital value between 0 and 1023 [AD full scale]. A running average
filter, which takes 5 consecutive samples per 5 ms, removes high frequent noise. In case a redundant
steered wheel angle sensor occupies both analogue inputs, comparison between both scaled values is
made.
Block diagram of processing analogue to digital converted signals
Pre-filter
10-bit
Analogue signal
(low pass)
A/D
range: 0 to 5 V DC 200 Hz
Pull down resistor
Default Mapping Set Value
0 0 - not present
255 - present on CAN
0 0 - not present
1 - present at AD1
2 - present at AD2
4 - present at CAN
0 0 - not present
1 - present at AD1
2 - present at AD2
4 - present at CAN
0 0 - not present
1 - present at AD1
2 - present at AD2
4 - present at CAN
0 0 - not present
255 - present on CAN
0 0 - not present
255 - present on the same interface type
0 0 - not present
255 - present on CAN
0 0 - not present
255 - present hydraulically
on page 112.
on page 75 and
Init
1000 Hz 200 Hz
sampler
sampler
Running average
filter:
N = 5, dt = 1ms
System
Low Priority Steering Device
Raw analog to digital
converted signals
range: 0 to 1023
P005 222E
11025583 | AQ00000216en-US0302