Auto-Guidance Related Conditions - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW
2.
3.
3.6.3

Auto-guidance related conditions

•
GPS_ON (Auto-guidance is ready to become the active steering device):
Auto-guidance is ready to be engaged when,
An auto-guidance controller is present – P3237 (GPS) set to 255 and/or P3238 (GPS2) set to 255
AND
The corresponding auto-guidance controller is selected – see flags in the MMI messages in PVED-
CLS communication protocol,
AND
The auto-guidance reset has been done - at least one curvature command from the selected auto-
guidance-controller is marked as "not intended for steering" – see PVED-CLS Communication
Protocol.
AND
The guidance system command message from the selected auto-guidance controller is available -
The commands messages are received within the threshold specified by P3289 (Auto-guidance
message monitoring – max time difference between two messages)
AND
Commands from the selected auto-guidance controller are marked as "intended for steering"
•
GPS_OFF (auto-guidance inactive):
The auto-guidance is inactive when,
Neither GPS (P3237) nor GPS2 (P3238) is marked as being present (255) and selected by MMI – see
flags in the MMI messages in PVED-CLS communication protocol
OR
Commands from the selected auto-guidance controller are not available or have exceeded the
26 | © Danfoss | August 2018
|AUX mini-steering wheel velocity| ≤ threshold value for P3646 (AUX mini-steering in use –
Velocity threshold)
OR
The AUX steering device is an open loop joystick –
P3240 set to 0, i.e. Open Loop Joystick
OR
P3240 set to 3, i.e. Analogue Joystick
OR
P3240 set to 20, i.e. Elobau joystick
AND
The |Requested AUX joystick flow command| < threshold value for P3647 (AUX joystick in
use – Flow command threshold)
OR
The AUX steering device is a closed loop joystick – P3240 set to 1
AND
The |AUX steering device related closed loop error| < threshold value for P3730 (AUX
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)
AND
The closed loop joystick is inactive – see flags in the AUX messages in PVED-CLS
communication protocol
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