Primary Steered Wheel Angle/Position; Redundant Steered Wheel Angle/Position; High Priority External Set-Point Controller; Vehicle Speed - Danfoss PVED-CL Technical Information

Technical Information
Communication with sensors and steering devices

Primary steered wheel angle/position

Redundant steered wheel angle/position

High priority external set-point controller

Vehicle speed

PVED-CL Communication Protocol, version 1.38 Technical Information
Data field
Bytes Encoding
1, 2 UNSIGNED16
The message data represents either the position of the steering actuator or the steered wheel angle
CAN message
CAN id.
Occurrence
Sent by
Data field
Bytes Encoding
1, 2 UNSIGNED16
The message data represents either the position of the steering actuator or the steered wheel angle.
CAN message
CAN id.
Occurrence
Sent by
Data field
Bytes Encoding
1, 2 UNSIGNED16
The communication with the high priority external set-point controller is performed in a special way, with
messages described in Guidance
This is a standard message used for broadcasting the information about the vehicle speed [J1939 – 71].
11079551 • Rev BA • July 2014
Value/Range Description
0 – 4095 Position:
0 – left end lock
2047 – neutral position
4095 – right end lock
0x105 (11bit)
every 40 ms or less (recommended: 10 ms)
primary steered wheel angle/position sensor
Value/Range Description
0 – 4095 Position:
0 – left end lock
2047 – neutral position (vehicle's moving straight
ahead)
4095 – right end lock
0x205 (11bit)
every 40 ms or less (recommended: 10 ms)
redundant steered wheel angle/position sensor
Value/Range Description
0 – 4095 Position:
0 – left end lock
2047 – neutral position (vehicle's moving straight ahead)
4095 – right end lock
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