Sts2 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 12.50% of the speed defined by parameter Vesm.
Sts3 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 25 % of the speed defined by parameter Vesm.
Sts4 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 50 % of the speed defined by parameter Vesm.
Sts5 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 100 % of the speed defined by parameter Vesm.
Vesm Sets the region where steering sensitivity is variable to vehicle speed.
Symbol
Index
Default
Value range
Sse
5y09
1
Must be set at 3
Sts0
5y10
1000
20 to 1200 (Amplification of 0.2 to 12.00)
Sts1
5y11
20 to Sts0
Sts2
5y12
20 to Sts1
Sts3
5y13
20 to Sts2
Sts4
5y14
20 to Sts3
Sts5
5y15
20 to Sts4
Vesm
5y16
500
1 (0.1 km/h) to 1000 (100.0 km/h)
Please note the parameter dependency of Sts.
See Mapping steering signals and J1939 Vehicle Speed to acquire “ Vehicle speed”
Magnetic Valves OFF Control
Magnetic valves off delay time Disables the magnetic valve bridge after a time specified in ms when the
flow request is 0, otherwise it remains enabled. This parameter is used when electrical energy
consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control
conflict between the OSP and the PVED-CL (implementing EHPS type 1 systems only).
The default value disables this functionality i.e. the magnetic valve bridge is enabled at all times. The
magnetic valve bridge is enabled when the PVED-CL receives a non-zero flow request.
Symbol
Index
Default
Value range
Magnetic valves Off delay time
515
30 000
1 to 30 000 (ms)
Resolving a Steering Control Conflict
On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no
steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering
wheel is being activated. A steering conflict between OSP steering and steering device steering is thus
possible. To resolve this conflict, set Tolsout to a value (typically 50 ms – 200 ms) to disable the magnetic
valve bridge when no flow request is being commanded with the steering device.
SASA disengage ability check
Disengaging auto-steering relies on the SASA sensor which transmits position changes when the steering
wheel is activated as described in Steering Device Transition, page 33. To address the risk that the SASA
steering wheel sensor should fail to deliver position changes (dx) to the PVED-CL – even if the steering
wheel is activated - and thus not be able to disengage auto-steering - a SASA disengage ability check can
be configured. The check is outlined below and will prevent auto-steering from being engaged if the
SASA sensor is failing:
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Auto-steering
©
Danfoss | May 2016
11025583 | AQ00000216en-US0302 | 97