External Sensors; Wheel Angle Sensor; Speed Sensor; Sasaiid Sensor - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW

External sensors

For being able to start up the PVED-CLS in operational mode/off-road steering mode, the below mentioned sensors
must be connected to the PVED-CLS before start-up and the WAS and spool dead-bands must be calibrated.
Furthermore, if the system is an OSPE/EHI system, the Cut-off valve must also be connected as a boot-up check is done
on the Cut-off Valve presence.
For further information regarding sub-system requirements, please see the Danfoss document, PVED-CLS Safety
Manual.
For further information regarding protocol requirements, please see the Danfoss document, PVED-CLS
Communication protocol.
8.1

WHEEL ANGLE SENSOR

The PVED-CLS can interface to either single- or dual-channel analogue wheel angle sensors or a dual-channel CAN-
based wheel angle sensor which can be configured by parameters Redundant WAS present (P3245) and WAS
interface type (P3244). The wheel angle sensors allow the PVED-CLS to perform closed loop position control on the
steered wheels of the vehicle, auto-guidance steering, anti-drift function as well as soft end stop features.
A wheel angle sensor is required for being able to start-up the PVED-CLS.
Important
Recommended WAS specification:
WAS on CAN = 1000 counts full scale from full left to full right. Noise less than 3% full scale
WAS analogue = Minimum 3V bandwidth full left to full right. Noise less than 3% full scale.
8.2

SPEED SENSOR

Many of the PVED-
performing cross-checks on the vehicle speed signal, therefore it is also required that the OEM sends (on the CAN bus)
two independent vehicle speed signals (e.g. from two sensor sub-systems).
8.3

SASAIID SENSOR

Like with the speed sensor, the PVED-
SASAIID sensor is designed to give out a redundant CAN-message containing both steering wheel position and
steering wheel velocity. The PVED-CLS performs cross checks on both the steering wheel position and the steering
wheel velocity.
trustworthy vehicle speed signal. The PVED-CLS is
om the SASAIID sensor. The