![background image](http://html1.mh-extra.com/html/danfoss/pved-cl/pved-cl_technical-information_4068739011.webp)
Device enable/disable state transitions
Disabling
armed
Device
disabled
Enabling
armed
Device
enabled
Command data:
enable device
Command data:
arm disabling
(Command data !-
disable device)
or
(disabling timeout)
(Command data !-
enable device)
or
(enabling timeout)
Command data:
arm enabling
Command data:
disable device
4
4
3
2
2
1
Guidance
The high priority external set-point controller does not communicate with the PVED-CL the same way as
other steering devices do. The set-point controller is expected to provide PVED-CL with ISOBUS curvature
commands. This approach needs a special group of messages described in
Guidance
on page 33 and
the state machine shown on the figure
Guidance Engage and Disengage State Machine
below. Please note
that the state machine is executed only when PVED-CL is in the operational mode, or reduced mode and
the high priority external set-point controller is mapped.
Technical Information
PVED-CL Communication Protocol, version 1.38 Technical Information
Communications
11079551 • Rev BA • July 2014
11