Danfoss PVED-CLS User Manual page 9

ENGINEERING TOMORROW
Open loop joystick ................................................................................................................................................ 96
11.1.2
Closed loop joystick ............................................................................................................................................. 96
11.1.3
AUX config .............................................................................................................................................................................. 96
11.2
AUX Joystick Config - Open Loop Mode ................................................................................................... 96
11.2.1
AUX Joystick Config - Closed Loop Mode ................................................................................................ 96
11.2.2
AUX Config - Mini-steering wheel ............................................................................................................... 97
11.2.3
Open loop filter ....................................................................................................................................................................... 98
11.3
Open loop mini-wheel - vehicle speed dependent Fast-steering ........................................................................... 99
11.4
Compensate steering sensitivity according to wheel angle range ....................................................... 100
11.4.1
Open loop mini-wheel anti-drift (EFU) ........................................................................................................................ 101
11.5
Open loop anti-jerk .............................................................................................................................................................. 103
11.6
Calculation of flow set-point using anti-jerk functionality ................................................................... 104
11.6.1
Open loop soft stop .............................................................................................................................................................. 107
11.7
Open loop joystick - Transfer function ........................................................................................................................ 108
11.8
Open loop joystick - vehicle speed dependent flow scaling ................................................................................. 110
11.9
Closed loop joystick - vehicle speed dependent wheel angle limitation ........................................................... 111
11.10
Closed loop joystick - vehicle speed dependent closed loop control ................................................................. 114
11.11
AUX Type - Elobau Joystick ............................................................................................................................................ 116
11.12
Validation of Elobau Joystick Position Status .......................................................................................... 116
11.12.1
Validation and Scaling of Elobau Joystick Position ............................................................................... 117
11.12.2
Time guarding on Elobau Joystick Messages: .......................................................................................... 117
11.12.3
Elobau Joystick - Parameter Configuration................................................................................................ 118
11.12.4
AUTO-GUIDANCE STEERING .................................................................................................................... 119
Block diagram ........................................................................................................................................................................ 119
12.1
Selection of GPS algorithm type ..................................................................................................................................... 119
12.2
GPS config .............................................................................................................................................................................. 121
12.3
Vehicle speed dependent wheel angle limitation ....................................................................................................... 123
12.4
Vehicle speed dependent closed loop control ............................................................................................................. 124
12.5
Vehicle speed dependent flow command limitation ................................................................................................. 128
12.6
Vehicle speed dependent wheel angle speed limitation .......................................................................................... 130
12.7
SAFE ON-ROAD MODE ................................................................................................................................ 132
FDA .................................................................................................................................................................. 133
DIAGNOSTICS AND TROUBLESHOOTING .............................................................................................. 136
Diagnostics .............................................................................................................................................................................. 136
15.1
Troubleshooting - typical faults ...................................................................................................................................... 137
15.2
ERRATA INFORMATION ........................................................................................................................ 138
APPENDIX ...................................................................................................................................................... 139
Parameter Cross Check ....................................................................................................................................................... 139
17.1
Error codes .............................................................................................................................................................................. 142
17.2
FMI list ..................................................................................................................................................................................... 148
17.3
Parameter list .......................................................................................................................................................................... 148
17.4
Hydraulic config .................................................................................................................................................. 149
17.4.1
SEHS FDA ............................................................................................................................................................ 150
17.4.2
Valve Calibration ................................................................................................................................................ 151
17.4.3
© Danfoss | August 2018 AQ00000211 | 9