Danfoss pved-cl, Technical Information, Page: 14 / 40

Steering wheel absolute angle and speed
The message data represents the absolute position of the steering wheel and the position change.
CAN message
CAN id.
0x301 (11bit)
Occurrence
every 5, 10 (recommended) or 20 ms
Sent by
steering wheel angle sensor
Data field
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 4095 position – reflects 0 – 359.9121 deg. with the
resolution of 0.0879 deg. Rolls over after a full turn
3 – – ignored by PVED-CL
4, 5 SIGNED16 -4095 – 4095 position change – reflects -359.9121 – 359.9121 deg.
with the resolution of 0.0879 deg
6-8 – – ignored by PVED-CL
High priority steering device position
The message data represents the position of the high priority steering device.
CAN message
CAN id.
0x304 (11bit)
Occurrence
every 80 ms or less (recommended 10 ms)
Sent by
high priority steering device
Data field
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 4095
0
2047
4095 Position:
– left end lock
– neutral position
– right end lock
Low priority steering device position
The message data represents the position of the low priority steering device.
CAN message
CAN id.
0x406 (11bit)
Occurrence
every 80 ms or less (recommended 10 ms)
Sent by
low priority steering device
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Communication with sensors and steering devices
14 11079551 • Rev BA • July 2014