Danfoss PVED-CLS Startup Manual
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Danfoss PVED-CLS Startup Manual

Danfoss PVED-CLS Startup Manual

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  • Page 1 Application Guide PVED-CLS Start-up guide www.danfoss.com...
  • Page 2 Application Guide PVED-CLS startup guide Revision history Table of revisions Date Changed October 2018 First edition 0101 © Danfoss | October 2018 AB285975085591en-000101...

  • Page 3: Table Of Contents

    Application Guide PVED-CLS startup guide Contents Introduction Overview......................................4 Downloading the required software............................5 Initial steps......................................6 Parameter setting Hydraulic configuration................................. 7 Peripherals configuration................................9 Vehicle geometry configuration...............................11 SEHS protocol data..................................13 Boot EE data..................................... 16 WAS calibration....................................17 Spool calibration.................................... 18 Valve calibration data...................................20 Production/calibration flag................................

  • Page 4: Overview

    Introduction PVED-CLS overview This application guide will detail setting parameters for configuring the PVED-CLS as well as troubleshooting when the PVED-CLS goes into safe-state mode. There are other literature references in this document and it is recommended to have them read before configuration.

  • Page 5: Downloading The Required Software

    Application Guide PVED-CLS startup guide Introduction Downloading the required software 1. Download the desired or latest firmware release package on the PVED-CLS web page 2. Optional: Request and download the PLUS+1 Service Tool under Service Tool: Request heading. ® ©...

  • Page 6: Initial Steps

    Reverting to an early revision of firmware may not be possible with the Service Tool depending on the specific revisions. Please contact the Danfoss technical representative if you have concerns about changing firmware.

  • Page 7: Parameter Setting

    Conditions for value changes P3072 Not present if there is no cut-off valve (usually with EHPS) P3078 Set to 0 if PVED-CLS is part of desk setup P3097 Set to 50 if using 12V coil on a 24V system P3080 Set to "YES"...
  • Page 8 It is mandatory to confirm that the parameters have been downloaded by the user. 3. Press Approve Parameters. The text will change to Approved and the page can then be closed. Leaving the page before parameters are accepted will cause an EEPROM fault and the PVED-CLS will go to safe-state mode. ©...

  • Page 9: Peripherals Configuration

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS peripherals configuration P3237-P3254 Navigate to the peripherals configuration section via System Navigator > Configuration > Peripherals Config Example parameter settings If the parameter change is not described below or conditions are not met, use the default values.
  • Page 10 Vehicle speed must be below this threshold to allow for switching steering wheel programs (speed measured in km/h) P3252 Vehicle speed must be above this threshold to use auto-guidance P3253 PVED-CLS will go into safe-state mode if vehicle speed is above this threshold P3241 Set to match presence of Safe On-Road Switch and electric architecture P3239...

  • Page 11: Vehicle Geometry Configuration

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS vehicle geometry configuration P3421-P3428 Navigate to the vehicle geometry configuration section via System Navigator > Configuration > Vehicle Geometry Example parameter settings If the parameter change is not described below or conditions are not met, use the default values.
  • Page 12 Application Guide PVED-CLS startup guide Parameter setting Steer angle Formula Ø = tan (WB/R) Approve the parameters by following the steps in PVED-CLS parameter acceptance on page 8. 12 | © Danfoss | October 2018 AB285975085591en-000101...

  • Page 13: Sehs Protocol Data

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS SEHS protocol data P3292-P3331 Navigate to the SEHS protocol data section via System Navigator > Configuration > SEHS Protocol Data Example parameter settings If the parameter change is not described below or conditions are not met, use the default values.
  • Page 14 Application Guide PVED-CLS startup guide Parameter setting Parameter Condition for value change P3292-P3300 Leave at default value unless source addresses conflict with other nodes on the CAN bus or another addressing scheme is desired P3301 Data is sent at the rate of "value" x 10ms P3308-P3309 Set to 0 if not using messages, otherwise data is sent at the rate of "value"...
  • Page 15 Application Guide PVED-CLS startup guide Parameter setting PVED-CLS SEHS protocol data P3311-P3333 Example parameter settings If the parameter change is not described below or conditions are not met, use the default values. Parameter Condition for value change P3311-P3317 Leave at default unless PGN's conflict with others on the CAN bus or another addressing...

  • Page 16: Boot Ee Data

    1. Download the changed parameters by pressing Download parameters 2. After changing the Boot Node ID's, cycle power on the PVED-CLS for new ID's to take affect The new ID's will show up in the ECU list; however, the Service Tool pages are still linked to the old addresses and will produce an error.

  • Page 17: Was Calibration

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS WAS calibration Navigate to the WAS calibration section via System Navigator > Auto-Calibration > WAS Calibration 1. Select Go to WAS calibration mode 2. Steer left, straight (neutral) and right (in any order) using the steering wheel and press the appropriate button when wheels are at the desired angle.

  • Page 18: Spool Calibration

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS Spool calibration Navigate to the Spool calibration section via System Navigator > Auto-Calibration > Spool Calibration Calibrate closed loop spool dead-band with the following steps. 1. Select Go to calibration mode 2. Turn the steering wheel so that Service Mode State changes to Spool Calibration Getting Armed 3.
  • Page 19 Application Guide PVED-CLS startup guide Parameter setting 4. Watch the Left move and Right move progress info. When both have completed, press the Accept and Save button. Values will automatically change in Valve Calibration Data page. If values need to be changed manually, go to Valve Calibration Data page.

  • Page 20: Valve Calibration Data

    Application Guide PVED-CLS startup guide Parameter setting PVED-CLS valve calibration data Navigate to the valve calibration section via System Navigator > Configuration > Valve Calibration Data Example parameter settings Parameter Condition for value change P3162 If using an EHPS, set the value to -700. Otherwise, use default value.
  • Page 21 It is mandatory to confirm that the parameters have been downloaded by the user. 3. Press Approve Parameters. The text will change to Approved and the page can then be closed. Leaving the page before parameters are accepted will cause an EEPROM fault and the PVED-CLS will go to safe-state mode. ©...

  • Page 22: Production/Calibration Flag

    If the PVED-CLS is used in a desktop environment, then P3771, P3773, P3775 and P3777 must be set to 1 to avoid PVED-CLS from entering calibration mode. For more details, see the PVED-CLS User Manual.

  • Page 23: Stw Configuration

    Programs, Soft-stop, Anti-jerk, and Anti-drift. Be sure to Download and approve parameters when complete with Steering Wheel configuration. PVED-CLS Steering wheel programs There are 5 steering wheel programs with identical parameters. Use the details below as a reference for all 5 programs.
  • Page 24 Application Guide PVED-CLS startup guide Parameter setting Default steering wheel program No amplification if orbital produces less than 8 turns lock-to-lock. If all parameters for turns lock-to-lock are equal, the steering wheel program will have a fixed number of turns lock-to-lock. Steering wheel programs can be set so that the number of turns lock-to-lock changes depending on the vehicle speed.
  • Page 25 Application Guide PVED-CLS startup guide Parameter setting PVED-CLS soft-stop Soft-stop can decrease flow sent from the electro-hydraulic valve the to cylinders when wheels are close to end-stop to help prevent damage and jerk. Example parameter settings Parameter Conditions for value change P3562 Distance from end-stop flow starts to decrease [0.1%]...
  • Page 26 Application Guide PVED-CLS startup guide Parameter setting PVED-CLS anti-jerk Anti-jerk can be used to decrease jerk in articulated vehicles. Changing parameters only effect jerk originating from the EH spool. Any jerk caused by the orbital will still exist, but amplified flow from variable rate steering programs will have less jerk.

  • Page 27: Aux Configuration

    Approve the parameters by following the steps in PVED-CLS parameter acceptance on page 8. PVED-CLS AUX mini-wheel programs There are 5 AUX programs for mini steering wheels that each have a similar set of parameters. These are only used if a mini steering wheel is present.
  • Page 28 Application Guide PVED-CLS startup guide Parameter setting PVED-CLS AUX— soft-stop AUX soft-stop can decrease flow to cylinders when wheels are close to end-stop to help prevent damage and jerk. This parameter is used for mini steering wheel and open loop joystick devices.
  • Page 29 PVED-CLS startup guide Parameter setting PVED-CLS AUX— flow limitation AUX Flow Limitation is used with Open Loop Joysticks to restrict the maximum flow to steering cylinders as the vehicle speed increases. This function scales all joystick flow commands based on vehicle speed.
  • Page 30 CAN logging can also be implemented to monitor vehicle speed and flow set-points from the Vehicle Speed message and Status Message 4 which are described in the PVED-CLS Communication Protocol document. Scatter plotting flow set-points vs. vehicle speed should yield a curve that can be reflected with the AUX Flow Limitation.
  • Page 31 CAN logging can also be used to monitor vehicle speed and wheel angle set-points from the Vehicle speed message and Status Message 5, which are described in the PVED-CLS Communication Protocol document. Scatter plotting wheel angle set-points vs. vehicle speed should yield a curve that can be mimicked with the AUX Wheel Angle Limitation function.
  • Page 32 Minimum time [x10ms] where steady state threshold can't be exceeded to switch device from AUX to Auto-guidance. P3732 Max closed loop error [IR, 100=10%] before closed loop joystick steering is enabled. PVED-CLS AUX— open loop joystick transfer function Open Loop Joystick transfer function scales the position of the open loop joystick to a requested flow. Parameter...

  • Page 33: Gps Configuration

    There are three subsets of GPS tuning that will need configuring if GPS is enabled. Approve the parameters by following the steps in PVED-CLS parameter acceptance on page 8. PVED-CLS example of GPS flow limitation © Danfoss | October 2018 AB285975085591en-000101 | 33...
  • Page 34 CAN logging can also be implemented to track vehicle speed and flow set-points from the Vehicle Speed message and Status Message 4, which are described in the PVED-CLS Communication Protocol document. Scatter plotting flow set-points vs. vehicle speed should yield a curve that shows the demands from the auto-guidance controller and that can be mimicked with the GPS Flow Limitation function.
  • Page 35 Parameter setting Example of GPS wheel angle limitation PVED-CLS GPS— wheel angle limitation tuning advice 1. Remove wheel angle limitation (raise all 3 wheel angle limits to maximum angle of vehicle), then steer full left or right with the steering wheel or auto-guidance controller and keep the wheel angle there.
  • Page 36 P3484: It is highly recommended that Flow Command filter is left at the default setting. P3496: GPS- Algorithm Type can be changed if desired. Please see Sections 12.2, 12.6 and 12.7 in the PVED-CLS User Manual for an overview of the benefits of both and how to set other parameters accordingly.

  • Page 37: Auto Calibration Configuration

    These do not need to be changed for CLS to function. PVED-CLS auto calibration— cylinder stroke and max steer angles Automatically adjusted cylinder stroke and max steer angle values are used for vehicles where changing tires may affect the maximum steering angles (decreasing because larger wheels or duals may impact the vehicle if the same end-stops are used).
  • Page 38 Application Guide PVED-CLS startup guide Parameter setting PVED-CLS auto calibration— spool dead-band If the parameter change is not described below, use the default values. Spool Dead-band Calibration values set the behavior of the Auto Spool Calibration routine which finds the Closed Loop dead-band edges for the spool calibration.
  • Page 39 Number of attempted spool set-points attempts kept in memory P3811 Minimum number of spool set-point attempts that must match in memory to complete calibration PVED-CLS auto calibration— spool dead-band tuning advice 1. During machine startup, use default Auto Spool Calibration parameters as described in the calibration section.
  • Page 40 Application Guide PVED-CLS startup guide PVED-CLS advanced parameter setting Read section 8 (pages 38-55) of the PLUS+1 ® Service Tool User Guide found in firmware release package under Service Tool to learn how to use the following pages: • Parameter File Interface_OEM •...

  • Page 41: Troubleshooting

    Troubleshooting Resolving safe-state mode by soft reset If the PVED-CLS is in safe-state mode, it is possible that a soft reset will resolve the underlying issue. 1. Open the Mode switch page. The Mode Switch page is used to change between Bootloader and Application modes. When a Config page is entered while in Normal View in the Service Tool, the PVED-CLS enters Bootloader mode.

  • Page 42: Resolving Safe-State Mode With Spn And Fmi Codes

    Application Guide PVED-CLS startup guide Troubleshooting Resolving safe-state mode with SPN and FMI codes In order to resolve safe-state mode with this method, SPN and FMI codes must be obtained and referred to in the User Manual. There are two ways to obtain SPN and FMI codes: through the error history pages or the error occurrence counter page.

  • Page 43: Clear Error History

    Ensure that all errors have been taken care of properly before clearing the error history. SEHS error occurrence The SEHS error occurrence page is the second method used to troubleshoot safe-mode in PVED-CLS. Go to the SEHS error occurrence page via System Navigator > Diagnostics > SEHS Error Occurrence Counter to see the total number of each error that has occurred in both controllers.

  • Page 44: Status Messages

    Application Guide PVED-CLS startup guide Troubleshooting Status messages Go to the status messages page via System Navigator > Diagnostics > Status Messages to view the contents of status messages. If a yellow or red box appears around any messages of interest, they are not currently being received or transmitted.

  • Page 45: Direct Output Control

    Application Guide PVED-CLS startup guide Troubleshooting a) Press the "10ms" or "100ms" buttons to request the messages be sent at the respective frequency. b) Press the "Off" button to request that the message stop sending. Direct output control Direct Output Control can be used to set the directional spool to a given set-point. This will send flow to the steering cylinders.
  • Page 46 Application Guide PVED-CLS startup guide 46 | © Danfoss | October 2018 AB285975085591en-000101...
  • Page 47 Application Guide PVED-CLS startup guide © Danfoss | October 2018 AB285975085591en-000101 | 47...
  • Page 48 Phone: +86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.

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