Danfoss PVED-CLS User Manual page 21

ENGINEERING TOMORROW
Steering device changes are allowed when,
steering device)

PRG_CHANGE_EN (Steering program change allowed)
Steering program change is allowed when,
Other conditions

OFF_ROAD (In Off-road steering mode)
The system is in the Normal Operation state and in the Off-road steering mode.
See additional info in chapter 7.1.6
threshold value for P3250 (Max vehicle speed for selecting auto-guidance or AUX
threshold value for P3251 (Max vehicle speed for program changes)