Danfoss PVED-CLS User Manual Download

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20 | © Danfoss | August 2018

AQ00000211

ENGINEERING TOMORROW

3.3

STEERING WHEEL STATE MACHINE

Figure shows the steering wheel algorithm state machine.
The entry point in below state machine is after the successful OFF road safety checks. Based on the EH steering
disengage method parameter P3254 (SASA or IMD), the further transition of states is determined for steering with
SASA or steering with IMD.
In Steering wheel program 1 – 5, the EH-Valve is active and the PVED-CLS behavior can be configured individually.
Find additional information on how to setup the programs in chapter 10.

Entry

Point

Entry

Point

OFF-Road

non-

reaction

steering

with SASA

OFF-Road non-reaction steering

Output State

EH Valve:

OFF

Cut-off Valve:

Operation Status message

Operation status

: OFF-Road non-reaction

Lockout for EH-Steering functionality:

EH-Steering functionality

allowed

Lockout for ste ering device changes:

Controlled by P3250 and

Vehicle speed

Lockout for Program changes:

Controlled by P3251 and Vehicle

speed

Steering wheel algorithms are not executed

MMI request for

Steering Program other than

OFF-Road reaction

AND

PRG _CHAN GE_EN

MMI request for OFF-Road

Reaction steering

MMI request for

Steering Program other than

OFF-Road non-reaction

AND

PRG _CHAN GE_EN

MMI request for

OFF-Road

Non Reaction steering

MMI request

for STW Program 1-5

Entry

Point

Entry

Point

STW Program 1

STW Program 2

STW Program 3

STW Program 4

STW Program 5

MMI request for STW Program 1

MMI request for

Steering Program change

AND

PRG _CHAN GE_EN

MMI request for STW Program 2

MMI request for

Steering Program change

AND

PRG _CHAN GE_EN

MMI request for

STW P rogram 3

MMI request for

Steering Program change

AND

PRG _CHAN GE_EN

MMI request for

STW P rogram 4

MMI request for

Steering Program change

AND

PRG _CHAN GE_EN

MMI request for

STW P rogram 5

MMI request for

Steering Program change

AND

PRG _CHAN GE_EN

Steering wheel program 1-5

Output State

EH Valve:

Cut-off Valve:

Operation Status message

Operation status

: STW P rogram 1-5

Lockout for EH-Steering functionality:

EH-Steering functionality

allowed

Lockout for ste ering device changes:

Controlled by P3250 and

Vehicle speed

Lockout for Program changes:

Controlled by P3251 and Vehicle

speed

Steering wheel algorithms are executed

MMI request for

Steering Program other than

OFF-Road non-reaction

AND

PRG _CHAN GE_EN

Steering wheel Program 1-5

Steering Wheel State machine

Disengage method SASA

Entry

Point

Disengage

method

IMD

OFF-Road

reaction

steering

with IMD

MMI request the OFF

road reaction steering

MMI request the OFF road

non reaction steering or a

STW program 1-5

MMI request the OFF road

non reaction steering AND

PRG _CHAN GE_EN

MMI request the OFF road

reaction steering AND

PRG _CHAN GE_EN

OFF-Road reaction steering

Output State

EH Valve:

OFF

Cut-off Valve:

OFF

Operation Status message

Operation status

: OFF-Road reaction

Lockout for EH-Steering functionality:

EH-Steering functionality

allowed

Lockout for ste ering device changes:

Controlled by P3250 and Vehicle

speed

Lockout for Program changes:

Controlled by P3251 and Vehicle s peed

Steering wheel algorithms are not executed

NOTE!

In order to utilize the reaction-mode on a vehicle, the steering axle

geometry of the vehicle has to be prepared for reaction-mode and the

hardware (cut-off/mode select spool in OSPE) has to be of the type

“reaction/non-reaction”

Contact your Danfoss P AE for more clarification

OFF-Road non-reaction steering

Output State

EH Valve:

Cut-off Valve:

Operation Status message

Operation status

: OFF-Road non-reaction

Lockout for EH-Steering functionality:

EH-Steering functionality

allowed

Lockout for ste ering device changes:

Controlled by P3250 and

Vehicle speed

Lockout for Program changes:

Controlled by P3251 and Vehicle

speed

Steering wheel algorithms are not executed

OFF-Road

reaction

steering with

SASA

OFF-Road

non-

reaction

steering

with IMD

Figure 6

Summary of Contents for PVED-CLS

Page 1: ...ENGINEERING TOMORROW PVED CLS Controller For Electrohydraulic Steering User Manual Software version 2 01 ...

Page 2: ...ohibited The following notes are used to raise awareness of safety considerations Warning Identifies information about practices or circumstances that can cause a hazardous situation which may lead to personal injury or death damage or economic loss Attention Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention...

Page 3: ...1D file service tool page 1 14 14th of April 2016 Typos for Anti jerk default values corrected both AUX and STW Update to the Anti jerk descriptions both Out from spool neutral position and STW Missing figure 3 and added Auto guidance description 1 15 28th of April 2016 Updated for 1 96 software release 1 2 20th of July 2016 Updated according to internal review 1597 1 2 1 22nd of July 2016 Updated...

Page 4: ...chine Status GPS Global Positioning System and Danfoss short call name for Auto guidance IMD Internal Monitoring Disengage IR Internal Resolution 0 1 ISOBUS Communication Protocol ISO 11783 KWP2000 Keyword Protocol 2000 LED Light Emitting Diode LVDT Linear Variable Differential Transformer mAmp Milliamps MMI Man Machine Interface mVolts Millivolts OEM Original Equipment Manufacturer OSP Orbital St...

Page 5: ...ENGINEERING TOMORROW U16 Unsigned 16 bit U8 Unsigned 8 bit VDC Voltage Direct Current WAS Wheel Angle Sensor x 10u Meter times 10 micro meter x100msec times 100 milliseconds x10mSec times 10 milliseconds XID Extended Message Identifier ...

Page 6: ...6 Danfoss August 2018 AQ00000211 ENGINEERING TOMORROW ...

Page 7: ...tion 24 3 6 1 Steering wheel related conditions 24 3 6 2 Auxiliary steering device AUX related conditions 24 3 6 3 Auto guidance related conditions 26 3 6 4 Vehicle speed dependent conditions 27 3 6 5 Other conditions 27 PARAMETER CONFIGURATION 28 4 1 Parameter setup procedure good practice 28 INSTALLATION 30 5 1 Connector interface 30 5 2 PVED CLS LED diagnostic 31 MAPPING A STEERING DEVICE SENSO...

Page 8: ...bration 61 9 3 Spool calibration 62 9 3 1 Prerequisites 62 9 3 2 Spool calibration overview 63 9 4 Auto calibration 65 9 4 1 Initial setup 66 9 4 1 1 Auto calibration parameter plausibility check 67 9 5 Execute auto calibration from plus 1 service tool 70 9 5 1 Pre requisite 70 9 5 2 Execute WAS auto calibration from the PLUS 1 SERVICE TOOL 70 9 5 3 Execute Analogue Joystick auto calibration from ...

Page 9: ...Closed loop joystick vehicle speed dependent closed loop control 114 11 12 AUX Type Elobau Joystick 116 11 12 1 Validation of Elobau Joystick Position Status 116 11 12 2 Validation and Scaling of Elobau Joystick Position 117 11 12 3 Time guarding on Elobau Joystick Messages 117 11 12 4 Elobau Joystick Parameter Configuration 118 AUTO GUIDANCE STEERING 119 12 1 Block diagram 119 12 2 Selection of G...

Page 10: ... 168 17 5 3 Example 168 17 5 4 Signature CRC calculation 168 17 5 5 Example 169 17 6 Manual calibration of WAS Joystick and spool 170 17 6 1 Production calibration flag 170 17 6 2 Calibrating analogue wheel angle sensor 170 17 6 3 Calibrating CAN based wheel angle sensor 172 17 6 4 Calibrating Analogue Joystick 174 17 6 5 Manual spool calibration 176 17 6 5 1 Spool calibration overview 176 17 6 5 ...

Page 11: ...or electro hydraulic steering which makes the OSPE EHi and PVED CLS combination suitable for off road application for instance with typical agricultural vehicles Actual required performance level for any particular vehicle should be determined through appropriate hazard and risk assessment Important The OEM is fully responsible for making and documenting their own hazard and risk assessment and ca...

Page 12: ...ain in operation mode The validation period is configurable for each signal In case a mapped message disappears from the CAN bus analogue signals are disconnected or signal crosscheck fails the PVED CLS will enter safe state and remain non operational until a reset is completed Missing curvature commands are exceptions and does not put PVED CLS to safe state A reset may be either a power cycle seq...

Page 13: ... AD2 CAN Wheel anglesensor diagram CAN bus Steering bus Terminatewith 120 Ohms in both ends OSPE valve WAS Figure 1 OSPE System OSP Vehicle speed sensor Auto guidance MMI AUX PLUS 1 Service tool Main Micro crontroller Safety Micro crontroller WAS Solenoid valve bridge EH valve Cut off valve Solenoid valve LVDT Cut off valve output Vbat CAN_safety CAN_Main AD1 AD2 AD3 not used 5V sensor supply Sens...

Page 14: ...quisite to complete the EHi H system Depending on the application up to two auto guidance controllers and one auxiliary steering device e g mini wheel joystick can be configured together with the PVED CLS in an OSPE EHi E or EHi H system When the PVED CLS is mounted on an OSPE EHi E EHi H the cut off valve is always present therefore P3072 needs to be 255 and the valve type needs to be set to OSPE...

Page 15: ...t equal to 0 OEM 0 120 0 120 S Cylinder stroke volume P3086 U16 ccm Cylinder stroke volume Acceptable values 100 10000 Note Writing values 10000 will force to use automatic adjusted cylinder stroke volume value on WAS calibration OEM 100 655 35 500 S Table 1 For further information on how to design steering system and sensor sub systems please refer to the following OSPE Steering valve Technical i...

Page 16: ...an MMI installed for changing programs steering devices steering modes etc Additionally an auto guidance controller and or an auxiliary device e g mini wheel joystick can be connected to the CAN bus if auto guidance and or auxiliary device steering are required When the PVED CLS is mounted on an EHPS the cut off valve is not present therefore P3072 needs to be 0 and the valve type needs to be set ...

Page 17: ...steering wheel turns lock to lock without PVED CLS activated hence pure hydraulic Resolution 0 01 turns OEM 100 1000 450 S OSP displacement P3084 U16 ccm OSP displacement number of cubic centimeters per revolution Note When the PVED CLS is mounted on an EHPS this parameter must be set equal to 0 OEM 0 1200 120 S Cylinder stroke volume P3086 U16 ccm Cylinder stroke volume Acceptable values 100 1000...

Page 18: ...e speed dependent fast steering chapter 10 4 Soft stop chapter 10 7 Anti drift EFU chapter 10 5 Anti jerk chapter 10 6 Safety functions PVED CLS Safety manual External sensors Wheel angle sensor chapter 8 1 Speed sensor chapter 8 2 SASAIID sensor chapter 8 3 AUX program Up to 5 different vehicle speed dependent profiles Open Loop Mini wheel speed dependent Fast steering chapter 11 4 Open loop soft...

Page 19: ...led by P3250 and Vehicle speed Lockout for Program changes Controlled by P3251 and Vehicle speed Entry Point STW Steering Entry Point AUX Steering GPS Steering STW Steering state machine see chapter 3 3 Output State EH Valve Controlled STW algorithm Cut off Valve Controlled by STW algorithm Operation Status message Operation status Controlled by STW algorithm Lockout for EH Steering functionality ...

Page 20: ...ogram change AND PRG_CHANGE_EN Steering wheel program 1 5 Output State EH Valve ON Cut off Valve ON Operation Status message Operation status STWProgram 1 5 Lockout for EH Steering functionality EH Steering functionality allowed Lockout for ste ering device changes Controlled by P3250 and Vehicle speed Lockout for Program changes Controlled by P3251 and Vehicle speed Steering wheel algorithms are ...

Page 21: ...tate EH Valve ON Cut off Valve ON Operation Status message Operation status AUX Program 1 5 Lockout for EH Steering functionality EH Steering functionality allowed Lockout for steering device changes Controlled by P3250 and Vehicle speed Lockout for Program changes Controlled by P3251 and Vehicle speed AUX State machine AUX type is a Open Loop or Closed Loop Joystick P3240 0 or P3240 1 Figure 7 3 ...

Page 22: ...EN AND STW_ON OR AUX_ON AND NOT SAFE_STATE SAFE_STATE SAFE_STATE SAFE_STATE Guidance machine status flags to both auto guidance controllers Request reset command status Reset not required Steering input position status Not available Machine can execute commands Not available Machine system lockout Active Guidance limit status non recoverable fault Guidance exit reason Error Entry Point Auto Guidan...

Page 23: ... position Machine can execute commands System is not ready Machine system lockout Inactive Guidance limit status Not limited Guidance exit reason Normal Operation Auto Guidance inactive Auto Guidance engaged Guidance machine status flags to the selected auto guidance controller Request reset command status Reset not required Steering input position status Correct position Machine can execute comma...

Page 24: ...3583 Steering wheel Velocity threshold Or Internal disengage monitoring Inactive 3 6 2 Auxiliary steering device AUX related conditions AUX_OL_ON AUX open loop device in use The PVED CLS detects the AUX open loop device to be in use when The AUX steering device is present in the system P3239 set to 255 AND The AUX steering device is enabled see flags in the MMI messages in PVED CLS communication p...

Page 25: ...e AUX steering device is a closed loop joystick P3240 set to 1 AND The closed loop joystick is enabled see flags in the AUX messages in PVED CLS communication protocol AUX_CL_NO_ERR For being able to switch to AUX closed loop joystick when a higher priority steering device has been selected The AUX steering device related closed loop error threshold value for P3732 AUX joystick Max closed loop err...

Page 26: ...dy to become the active steering device Auto guidance is ready to be engaged when An auto guidance controller is present P3237 GPS set to 255 and or P3238 GPS2 set to 255 AND The corresponding auto guidance controller is selected see flags in the MMI messages in PVED CLS communication protocol AND The auto guidance reset has been done at least one curvature command from the selected auto guidance ...

Page 27: ... speed dependent conditions DEV_CHANGE_EN Steering device change allowed Steering device changes are allowed when Vehicle Speed threshold value for P3250 Max vehicle speed for selecting auto guidance or AUX steering device PRG_CHANGE_EN Steering program change allowed Steering program change is allowed when Vehicle Speed threshold value for P3251 Max vehicle speed for program changes 3 6 5 Other c...

Page 28: ...1 3420 70 3394 3419 54 OEM Vehicle Geometry 3421 3450 30 3429 3449 56 OEM Dealer GPS Config 3451 3520 70 3495 3519 58 OEM STW Config 3521 3645 125 3585 3644 60 OEM AUX Config 3646 3770 125 3742 3769 62 OEM Production Calibration Flag 3771 3790 20 3778 3789 OEM Auto Calibration Config 3791 3863 73 3846 3862 64 OEM Dealer OEM Data 4212 4311 100 Table 3 Attention Unlock codes for the different user l...

Page 29: ...g 3 Setup parameters for steering device programs GPS Config STW Config and AUX Config 4 Setup parameters for SEHS FDA and Internal monitoring 5 Define parameters for Auto calibration Config 6 Test Automatic spool calibration and verify safety setup of vehicle For learning more of how the PLUS 1 SERVICE TOOL works please go to the Danfoss Power Solution home page For using other tools than PLUS 1 ...

Page 30: ...Figure 11 Important Deutsch assembly and installation guidelines must be followed for connector and harness Accordingly Danfoss recommends the use of lubricant e g Nyogel 760G on low voltage electrical Connector contacts to further enhance the robustness against wear e g fretting corrosion Severe vibrations are critical and should be avoided as they can affect the lifetime of the connector ...

Page 31: ...etected failure is available on CAN bus Blinking orange PVED CLS is in the off road steering mode steering wheel auto guidance or other program and the spool is in its neutral position or PVED CLS is in the service mode Green The coils supply switch is turned on and the spool is outside its dead band Blinking green PVED CLS is in the Safe State but no information about the detected failure is avai...

Page 32: ...or sub system In addition to the sensors and steering devices mentioned above it is possible to map the cut off valve for OSPE EHi E EHi H systems GPS for auto guidance steering a road switch and a single AUX steering device open loop or closed loop joystick or a mini steering wheel Important Disabling the wheel angle sensor eliminates the possibility of closed loop steering and some of the offere...

Page 33: ...correctness Find additional information about setting up the CAN communication in PVED CLS communication protocol Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max GPS source address P3292 U8 J1939 Source Address of the Auto guidance controller OEM 0 253 28 GPS2 source address P3293 U8 J1939 Source Address of a second Auto gu...

Page 34: ...i steering wheel messages OEM 0 255 20 21 PGN offset to AUX joystick messages P3322 U8 PGN offset to AUX device joystick messages OEM 0 255 22 23 PGN offset to steering feedback message P3323 U8 PGN offset to Steering Feedback Message OEM 0 255 24 PGN type for MMI message P3324 U8 PGN type for MMI message Proprietary A 0 Proprietary B 255 OEM 0 255 0 PGN offset to MMI message P3325 U8 PGN offset t...

Page 35: ...PVED CLS pilot supply connection and instead connect the PVED CLS pilot supply connection to tank opened state connect EH flow to the steering cylinder and lead hydraulic pilot pressure supply to the PVED CLS pilot supply connection Figure 13 Recommendation If the PVED CLS is mounted on a Danfoss OSPE EHi E or EHi H valve Danfoss insistently recommends that P3072 Cut off valve present is set to 25...

Page 36: ... following parameters P3097 Cut off valve PWM pre load value P3074 Cut off valve CL pull current and P3076 Cut off valve CL hold current The closed loop control mode allows for a lower current consumption by setting P3076 Cut off valve CL hold current lower than P3074 Cut off valve CL pull current The PWM pre load applies a PWM duty cycle specified by P3097 Cut off valve PWM pre load value for a p...

Page 37: ...lve PWM pre load value to 100 100 assuming solenoid has the same voltage rating as the battery voltage If the solenoid does not have the same voltage rating as the battery voltage the supply voltage to the solenoid controlled by P3097 Cut off PWM pre load value which can be calculated as follows 𝑃𝑃3097 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 Battery voltage Example Let battery voltage be 24 V and...

Page 38: ...ceeds the defined threshold of 2500mA the PVED CLS will de energize the cut off solenoid valve and enter safe state Furthermore in off road mode the PVED CLS will monitor if the cut off solenoid valve current level drops below half of the setting of P3076 Cut off valve CL hold current If the cut off solenoid valve current is found below this level the PVED CLS will de energize the cut off solenoid...

Page 39: ...x Cut off valve monitoring POST timeout P3078 U16 x10mSec Cut Off Valve Activation Timeout for COV Monitoring feature while entering Off Road state INFO Setting this parameter to 0 will bypass off road safety check OEM 0 1000 900 S Table 9 7 1 2 2 Cut off valve monitoring for EHi H This safety check will be executed if P3081 Valve type is set to 2 EHi H and a mode change from on road mode to off r...

Page 40: ...he safety checks OEM 2 8 2 S Safety checks IMD Maximum fall time P3101 U16 x10mSec If the EH Spool does not return to neutral within this timeout the cut off solenoid is concluded to be stuck open OEM 100 1000 100 Attention IMD Safety check typically completes in 1 5 to 3 sec within the recommended viscosity operating range 12 to 75mm2 sec Refer EHi TI In number of cases IMD Safety check may conti...

Page 41: ...ions of these 3 parameters are valid If an invalid condition is detected by PVED CLS it will enter safe state and notify about an invalid EEPROM configuration of the Peripherals sector See truth table in Table 11 P3072 Present Not Present Present Not Present Present Not Present Present Not Present P3241 Present Present Present Present Not Present Not Present Not Present Not Present P3242 Enabled E...

Page 42: ...SPE EHi E also defined as EHi E refer TI of EHi and EHPS system with the SASA sensor The second method is for the EHi H system without SASA sensor EH steering disengage in an EHi H system is achieved by means of IMD function which can detect if the steering wheel is activated this is hydraulic disengage The disengage method can be set with P3254 It is only valid to select IMD when the valve type i...

Page 43: ...pool position is 0 4mm then the actual spool position is either fixed to 0 4mm or 0 4mm based on the previous EH steering direction When the steering wheel is manually being turned the actual spool position is forced to neutral If the spool fails to arrive at neutral even after the turning the steering wheel then hydraulic over ride is failing to perform 2 Check the hydraulic connections for EHi h...

Page 44: ...or spools for nominal cylinder flow CQ 12 l min B valid for spools for nominal cylinder flow CQ 20 l min C valid for spools for nominal cylinder flow CQ 30 l min D valid for spools for nominal cylinder flow CQ 40 l min E valid for spools for nominal cylinder flow CQ 50 l min For EHPS following spools are available Figure 15 b A valid for spools for nominal cylinder flow CQ 20 l min B valid for spo...

Page 45: ...ounted on an OSPE EHi the PVED CLS will go into safe state If the PVED CLS is mounted on an EHPS further checks are done to see if the spool has moved outside the dead band a confidence counter level has to be reached before PVED CLS will go into safe state Important Danfoss recommends to keep the parameter P3090 at default value P3090 set to 25 unless problems failures occurs with the default val...

Page 46: ...tage during calibration of the primary analogue sensor OEM Dealer 4650 5350 5000 5V sensor supply for redundant analogue sensor during calibration P3219 U16 mVolts Measured Supply voltage during calibration of the redundant analogue sensor OEM Dealer 4650 5350 5000 Voltage compensation for Primary analogue sensor P3246 U8 Supply voltage compensation Enable Disable for processing primary Analogue s...

Page 47: ... to the one with lower priority only a steering device with a higher priority is allowed The complete PVED CLS Steering mode selection state machine is shown in chapter 3 2 Similar to the steering device lock the PVED CLS will lock a steering program AUX or STW when a vehicle speed threshold of P3251 is exceeded i e the PVED CLS will ignore any steering program change messages if the vehicle is tr...

Page 48: ...he vehicle speed at which the PVED CLS shall enter the safe state OEM 5 100 25 S Table 19 For more details on P3252 and P3253 please refer Safety manual 7 9 VEHICLE GEOMETRY P3421 indicates the steering geometry of the vehicle Ackermann two wheel steering geometry or articulated steering geometry For Ackermann steering geometry front wheel or back wheel steering only P3421 is set to 1 For articula...

Page 49: ...axle given in degrees each with reference to straight ahead see Figure For Ackermann model the algorithm uses the center point of the front axle The maximum steer angles can be determined by steering the vehicle into the smallest circle possible steering to end stop From the radius acquired measured from the center of the rear axle and the wheel base knowledge the angle Θ can be calculated which i...

Page 50: ...er only consider the angle in the articulation point Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max Vehicle steering type P3421 U8 Vehicle steering type Valid Values 1 TWO WHEEL ACKERMANN 2 ARTICULATED OEM Dealer 1 2 1 Wheel base A P3422 U16 mm Distance between the axles front or rear wheel steered vehicle only or between ...

Page 51: ...Redundant analogue sensor voltage output for neutral position OEM 0 6000 2500 5V sensor supply for redundant analogue sensor during calibration P3219 U16 mVolts Measured Supply voltage during calibration of the redundant analogue sensor OEM 4650 5350 5000 Voltage compensation for Redundant analogue sensor P3247 U8 Supply voltage compensation Enable Disable for processing redundant analogue sensor ...

Page 52: ...Wheel angle sensor If no wheel angle present in the system parameter P3244 i e WAS interface shall be set to NONE In this case PVED CLS cannot perform closed loop control of the steered wheels so auto guidance or closed loop AUX joystick is not possible In addition anti drift and soft end stop is impossible When wheel angle sensor is disabled the following parameters must be set according to Table...

Page 53: ...safe steering wheel feedback from the SASAIID sensor not used in EHi H system refer section 7 1 4 The SASAIID sensor is designed to send 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 ...

Page 54: ... P2 too close to neutral conservative values causes extra perceived dead band in the joystick If P1 and P2 are too far away from neutral aggressive values makes it impossible to steer small amounts of flow potentially leading to jerk For closed loop joystick having P1 and P2 too close to neutral conservative values will cause slight increase in possible steady state error If P1 and P2 are too far ...

Page 55: ...at there s no bystanders or that bystanders are aware of the upcomming calibration routine and the moving wheels 9 1 WHEEL ANGLE SENSOR CALIBRATION As per default a PVED CLS will boot up in WAS calibration service mode if P3244 i e WAS interface is set to either analogue or CAN From here either WAS auto calibration routine from the Danfoss PLUS 1 SERVICE TOOL can be used or a manual WAS calibratio...

Page 56: ... steer angles or the cylinder stroke volume The automatic adjusted function will be applied during WAS calibration if minimum one of the following conditions are met If P3086 is set to a value 10000 that forces the PVED CLS to calculate and use automatic adjusted values for cylinder stroke volume i e P3191 or P3221 will be updated after WAS calibration depending on WAS type using linear interpolat...

Page 57: ...lly adjusted maximum steer angle to right side analogue WAS P3225 U16 Deg Automatically adjusted maximum steer angle to right side for using analogue WAS found during WAS auto calibration OEM Dealer 0 65535 65535 Table 23 Important If P3086 is set to a value 10000 the following consistency check is done If the voltage base parameter P3821 is found to be Captured left most position Captured neutral...

Page 58: ...tr vol steering left at 67 VB P3817 U16 ccm Mapped cylinder stroke volume steering left at 67 voltage base OEM Dealer 100 10000 667 WAS calibration Mapped cyl str vol steering left at 100 VB P3819 U16 ccm Mapped cylinder stroke volume steering left at 100 voltage base OEM Dealer 100 10000 1000 WAS calibration Mapped VB for cyl str vol steering left P3821 U16 mVolts Mapped voltage base for cylinder...

Page 59: ...oltage base OEM Dealer 100 10000 1000 WAS calibration Mapped VB for cyl str vol steering right P3829 U16 mVolts Mapped voltage base for cylinder stroke volume steering right OEM Dealer 0 6000 2000 Table 25 The sensor characteristics needs to be mapped according to Figure 1 The cylinder stroke volume 33 P3823 67 P3825 and 100 P3827 of the voltage base P3829 should be mapped where voltage base is Th...

Page 60: ...l angle steering left OEM Dealer 0 6000 2000 Table 26 The sensor characteristics needs to be mapped according to Figure 21 The steer angles 33 P3831 67 P3832 and 100 P3833 of the voltage base P3834 should be mapped where voltage base is The absolute voltage mVolts from the WAS going from neutral to left most position when maximum possible steer angles can be achieved on the vehicle some tolerance ...

Page 61: ...n be achieved on the vehicle some tolerance 0 33 0 67 1 00 P3838 P3837 P3836 Automatic adjusted maximum steering angles steering right Captured right most position Captured neutral position P3839 Figure 22 9 2 ANALOGUE JOYSTICK CALIBRATION As per default PVED CLS will boot up in Analogue joystick calibration service mode after one of the below conditions is reached If WAS interface i e P3244 is se...

Page 62: ... This relationship is to be used as acceptance criteria when designing the Auto calibration parameter set Example Using direct output control two closed loop dead band values have been found P3166 90 P3168 100 and a constant steady movement of the wheels relationship has been measured 2 per second When designing the Auto calibration parameter set use the maximum closed loop dead band value as your...

Page 63: ... spool position set points in open loop only P3170 is usually not calibrated per machine but designed as a fixed value for each application or potentially for each application models Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max Max spool position left P3162 S16 x10u Meter Spool left most position OEM Dealer 1000 300 420 ...

Page 64: ...he spool will not move First it need to request the Cut off valve to be On for an OSPE EHi system and then press the Request spool position button At any point in time the spool can be forced back to neutral by pushing Request Cut off valve Off button only for OSPE EHi or by pressing the Request Neutral Spool Position button Warning When using the Direct Output Control function in the PVED CLS all...

Page 65: ... calibration counter P3774 U8 Bit inverted value Analogue WAS calibration counter OEM 0 255 255 CAN based WAS calibration counter P3775 U8 CAN based WAS calibration counter OEM 0 255 0 Bit inverted value for CAN based WAS calibration counter P3776 U8 Bit inverted value for CAN based WAS calibration counter OEM 0 255 255 Calibration counter Analogue joystick P3777 U8 Analogue sensor based Joystick ...

Page 66: ...s S Min Max Analogue sensor calibration Max allowable analogue sensor signal to be captured in neutral P3791 U16 mVolts Maximum allowed signal to be captured for neutral position during Analogue sensor auto calibration OEM Dealer 0 5000 4500 Analogue sensor calibration Min voltage needed in between the captured analogue sensor values P3793 U16 mVolts Determines the minimum voltage needed in betwee...

Page 67: ...t the value specified by P3814 to last set point value OEM Dealer 1 25 10 Max allowable CAN WAS signal to be captured in Neutral P3881 U16 mVolts Maximum allowed signal to be captured for neutral position during CAN WAS auto calibration OEM Dealer 0 5000 4500 Min voltage needed in between the captured CAN WAS values P3883 U16 mVolts Determines the minimum voltage needed in between the captured CAN...

Page 68: ...PVED CLS communication protocol chapter 5 1 1 within the counter has reached the threshold limit given by P3801 in seconds P3802 The initial spool position value at which the spool auto calibration function will start from The higher the set point the faster the wheels movement will be Danfoss recommends setting P3802 set to 115 for OSPE EHi valve and 200 for EHPS Important It needs to be assured ...

Page 69: ...e spool dead band as precise as possible the auto calibration function is split into 3 stages Stage 1 is the initial turning stage 2 is a coarse tuning and stage 3 is fine tuning During the initial turning stage 1 the spool set point is either set to the value specified by P3802 10um or the value specified by the Initial spool set point in the CAN message Spool calibration start request Stage 2 is...

Page 70: ...le Software version in PVED CLS needs to match the pages in the P1D file 9 5 2 Execute WAS auto calibration from the PLUS 1 SERVICE TOOL In the navigation pane find Parameter Pages Auto Calibration WAS Calibration Figure 28 Press Goto WAS Calibration Mode Now the leftmost rightmost and neutral position can be captured simply by steer the steering wheel fully left fully right and back to neutral an...

Page 71: ... Danfoss August 2018 AQ00000211 71 ENGINEERING TOMORROW Figure 29 ...

Page 72: ...ORROW Whenever one of the capture buttons has been pushed a green bar will light up beneath it Figure 30 When all three measurements have been captured press Accept and Save PVED CLS will now store the values in the EEPROM for the following addresses ...

Page 73: ...uring WAS auto calibration OEM Dealer 100 65535 65535 Automatically adjusted maximum steer angle to left side CAN WAS P3193 U16 Deg Automatically adjusted maximum steer angle to left side for using CAN WAS found during WAS auto calibration OEM Dealer 0 65535 65535 Automatically adjusted maximum steer angle to right side CAN WAS P3195 U16 Deg Automatically adjusted maximum steer angle to right side...

Page 74: ...ation Figure 32 Press Goto Joystick Calibration Mode Now the leftmost rightmost and neutral position can be captured simply by steer the Joystick fully left fully right and back to neutral and press the capture buttons Capture L Capture N and Capture R respectively It does not matter in which sequence this is done Danfoss recommends to capture neutral position while driving the vehicle slowly aimi...

Page 75: ... Danfoss August 2018 AQ00000211 75 ENGINEERING TOMORROW Figure 33 Whenever one of the capture buttons has been pushed a green bar will light up beneath it ...

Page 76: ...anfoss August 2018 AQ00000211 ENGINEERING TOMORROW Figure 34 When all three measurements have been captured press Accept and Save PVED CLS will now store the values in the EEPROM for the following addresses ...

Page 77: ...olts Redundant analogue sensor voltage output for leftmost position OEM Dealer 0 6000 500 Redundant analogue sensor max right position P3213 U16 mVolts Redundant analogue sensor voltage output for rightmost position OEM Dealer 0 6000 4500 Redundant analogue sensor neutral position P3215 U16 mVolts Redundant analogue sensor voltage output for neutral position OEM Dealer 0 6000 2500 5V sensor supply...

Page 78: ...t spool calibration button the steering has to be activated otherwise it will not engage the spool calibration See description for P3801 in section 9 4 1 1 Important The wheels of the machine need to be in a straight ahead position within value for Spool calibration turn range sweep P3804 in order to start the spool auto calibration routine Now the spool calibration can be started with the values ...

Page 79: ... 0xFF 0xFFFF 0xFF 0xFF Max WA 255 10IR Initial Spool Set point 65535 10µm Min time 255 0 1s Max time 255 0 1s The above only means that the default values from the EEPROM are used If these 4 parameters are changed by typing a different value or using the increase decrease buttons the new values will be used for the auto calibration function ...

Page 80: ... Meter Spool left most position OEM Dealer 1000 1000 420 Max spool position right P3164 S16 x10u Meter Spool right most position OEM Dealer 1000 1000 420 Closed loop dead band edge left P3166 S16 x10u Meter Spool closed loop dead band edge Left OEM Dealer 1000 1000 105 Closed loop dead band edge right P3168 S16 x10u Meter Spool closed loop dead band edge Right OEM Dealer 1000 1000 105 Open loop de...

Page 81: ...Important This strategy requires using manual modification of the following parameters P3091 set to 0 P3093 set to 0 and P3095 set to 0 which are the default values 2 Automatic Valve Calibration Data sector modification In situations where it is not desired that the service tool shall read sector values and calculate new CRC values after modification the Automatic Valve Calibration sector modifica...

Page 82: ...ation time is too time consuming Sluggish steering behavior after successful dead band calibration The operator should try with a smaller time frame P3806 and P3808 should be decreased and the measured wheel angle distance should be increased P3804 Aggressive steering behavior after successful dead band calibration The operator should try with a larger time frame P3806 and P3808 should be increase...

Page 83: ... wheel and hereby unintentionally operates the valve a backlash region P3570 can be applied to prevent it The size of the backlash region is normally set equal to the angle related to response However any set value greater than zero leads to slower steering responds Therefore to minimize these effects the steering wheel sensor shaft and underlying mechanics must be designed as stiff as possible Si...

Page 84: ...activation threshold P3521 U8 dRpm Min steering angle velocity value below which the angle velocity of 0 is used by the STW control algorithm OEM 0 100 5 STW in use Velocity threshold P3583 U8 dRpm Steering wheel velocity threshold OEM 1 100 5 S STW in use Angle threshold P3584 U8 Deg Steering wheel position change threshold from last detected position at 0 RPM OEM 0 45 10 S Table 36 10 4 VEHICLE ...

Page 85: ...f a steering program is configured not to be vehicle speed dependent it must be ensured that the configuration allows safe driving at all possible vehicle speeds 3 Unused steering programs shall be programmed with default values Failure to comply with the above rules may render this function inoperable or lead to undesirable steering behavior 10 4 1 Compensate steering sensitivity according to whe...

Page 86: ... turns lock to lock at the vehicle speed of 0 km h Resolution 0 01 1turn 100 OEM 10 800 800 STW 1 No of turns Point B P3524 U16 Program1 Number of steering wheel turns lock to lock at the vehicle speed of STW 1 Vehicle speed Point B Resolution 0 01 1turn 100 OEM 10 800 800 STW 1 No of turns Point C P3526 U16 Program1 Number of steering wheel turns lock to lock at the vehicle speed of STW 1 Vehicle...

Page 87: ...g wheel turns lock to lock at the vehicle speed of STW 5 Vehicle speed Point B Resolution 0 01 1turn 100 OEM 10 800 800 STW 5 No of turns Point C P3558 U16 Program5 Number of steering wheel turns lock to lock at the vehicle speed of STW 5 Vehicle speed Point C Resolution 0 01 1turn 100 OEM 10 800 800 STW 5 Vehicle speed Point B P3560 U8 km h Program5 Vehicle speed at which lock to lock steering wh...

Page 88: ...rmore anti drift function will also improve consistency in lock to lock on steering wheel Important If anti drift is not required the function can be disabled by setting P3569 to 0 Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max STW anti drift Max steering wheel drift correction P3568 U8 Deg The difference between the obser...

Page 89: ... in the system the flow set point S2 is calculated and is expected to reach S2 in one cycle which is shown by dotted line curve The anti jerk algorithm calculates the adjusted flow set points Sa1 Sa2 and Sa3 based on relative or absolute set point changes in one cycle i e in 10 ms which is shown by line in Figure 43 and more smoother ramps will be applied to minimize the jerks in the system Anti j...

Page 90: ...from left to right side or opposite when crossing neutral the ramps will be canceled and the parameter set will change from moving towards neutral position to moving away from neutral position For the relative set point parameters P3572 and P3573 the value will change depending on the actual spool position For the absolute set point change parameters P3574 and P3576 the value will always be a fixe...

Page 91: ...ctor LPF flow command x LPF flow command Factor flow command x flow command Figure 44 Referring to the Figure below the crossover mixing factor in percentage is calculated and is applied on Filtered flow set point see 10 6 1 to calculate the final flow set point of Anti jerk algorithm Parameters P3578 and P3580 are used to calculate the percentage crossover to be applied on the filtered flow set p...

Page 92: ...wards spool neutral position P3573 U8 Relative set point change allowed to apply when ramping the spool position set point in i e towards the spool neutral position OEM 0 100 5 STW absolute set point change out from spool neutral position P3574 U16 IR Set point change allowed to apply when ramping the spool position set point out i e further out from the spool neutral position OEM 1 1000 15 STW ab...

Page 93: ...Point B 1000 P3566 P3564 Figure 46 The range is from 0 to 1000 IR for P3562 P3564 and P3566 i e relative wheel angle and soft stop flow limit respectively The values recommended by Danfoss are P3562 set to 400 and P3564 and P3566 set to 0 Important For absolute wheel angles lower than the one specified at Point A maximum flow is available Important If soft stops are not required those can be elimi...

Page 94: ... the wheel angle region start from the max possible wheel angle towards 0 in which the soft stop has to be applied OEM 0 1000 400 STW soft stop max flow cylinder end stop P3564 U16 IR Oil flow to deliver at the max possible wheel angle OEM 0 1000 0 STW soft stop wheel angle region end P3566 U16 IR Defines the wheel angle region end from the max possible wheel angle towards 0 in which the soft stop...

Page 95: ...t AUX open loop mini wheel steering programs which can be setup with some individual parameters for the steering ratio One AUX open loop joystick steering program can also be selected The AUX open loop joystick steering program has its own individual speed dependent flow limit parameters All AUX open loop steering programs share common parameters for soft stop and anti jerk The PVED CLS offers one...

Page 96: ...nction in open loop fashion Then the PVED CLS will perform a transition to AUX program if the conditions specified in section 3 6 2 for AUX open loop device are met and parameters for selected joystick type are configured correctly Please see sections 11 8 and 11 9 for parameter configuration of analogue and open loop joystick and section 11 12 4 for elobau joystick Important The system cannot con...

Page 97: ...83 and P3584 are being exceeded In order to allow the steering device change to AUX mini wheel the steering wheel shall not be in use i e the absolute steering wheel velocity shall be lower than or equal to STW in use Velocity threshold P3583 Important The same steering wheel in use algorithm is used for Auto guidance steering programs hence the same rules are used to perform a transition to the A...

Page 98: ...e velocity is below the value in P3649 will be disregarded Furthermore if open loop joystick steering type has been selected any joystick flow commands below the value in P3648 will be disregarded Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max AUX Joystick no activation threshold P3648 U8 IR Min Flow command from AUX joyst...

Page 99: ...the Figure 50 Point J K and L The Open Loop Mini steering wheel control algorithm will make linear interpolation in between each of the three points It is allowed to move the three points in any direction limited by the following rules Point J is always specified at Vehicle speed 0 km h Point L No of turns is valid for Point L Vehicle speed and vehicle speeds above Point L Vehicle speed Point J No...

Page 100: ...s P3742 The parameter shall not be modified unless new steering programs are created This will ensure that the same aggressiveness in the steering system is maintained even if the max angles change When the physical max wheel angle endpoints are changed by manual or WAS auto calibration by one of the below conditions If WAS interface type in P3244 is selected as CAN and Automatic adjusted maximum ...

Page 101: ...e speed at which lock to lock steering wheel turns AUX program 3 No of turns Point K OEM 1 100 5 AUX mini steering 3 Vehicle speed Point L P3673 U8 km h Program3 Vehicle speed at which lock to lock steering wheel turns AUX program 3 No of turns Point L OEM 1 100 10 AUX mini steering 4 No of turns Point J P3674 U16 Program4 Number of steering wheel turns lock to lock at the vehicle speed of 0 km h ...

Page 102: ...3705 set to 15 i e anti drift will be enabled all the time and 15 of the full flow will be added or deducted depending on direction to the calculated ideal ccm per revolution output when the difference between the measured steering wheel position and the actual position of the wheels is 20 160 due to Point B and Point C s coordinates When steering wheel angle difference is 160 linear interpolation...

Page 103: ...ienced on large articulated vehicles To minimize these jerks the PVED CLS has a built in anti jerk algorithm which can be enabled and parameterized The anti jerk function applies to all AUX Open Loop steering devices Briefly the Anti jerk algorithm has two sets of parameters to choose from one set for when moving away from neutral position and one set for moving towards neutral position In the Fig...

Page 104: ...ghest change of set points for each loop i e 10ms and a new modified flow set point is calculated Finally the low pass filter is applied on the modified flow set point to calculate the filtered flow set point The low pass filter in the function is configurable by P3718 default cut off frequency is 10Hz i e P3718 set to 100 If the EH spool is commanded to go from left to right side or opposite when...

Page 105: ...LPF flow command Crossover 100 0 P3714 P3716 Factor LPF flov command Factor flow command average flow command Out Factor LPF flow command x LPF flow command Factor flow command x flow command Figure 53 Referring to the Figure 5 below the crossover mixing factor in percentage is calculated and is applied on Filtered flow set point see 11 6 1 to calculate the final flow set point of Anti jerk algori...

Page 106: ...ition set point out i e further out from the spool neutral position OEM 0 100 5 AUX relative set point change out from spool neutral position P3700 U8 Relative set point change allowed to apply when ramping the spool position set point in i e towards the spool neutral position OEM 0 100 5 AUX absolute set point change in towards spool neutral position P3701 U16 IR Set point change allowed to apply...

Page 107: ... Point B Point A 1000 P3710 1000 Point B 1000 P3712 P3708 Figure 55 The range is from 100 to 1000 IR for P3708 i e relative soft stop flow limit The range is from 0 to 1000 IR for P3710 and P3712 i e relative wheel angle The Danfoss recommended values are P3708 set to 200 and P3710 and P3712 set to 0 Soft stop functionality is disabled with default values Important For wheel angles lower than the ...

Page 108: ...h the soft stop has to be applied OEM 0 1000 0 Table 46 11 8 OPEN LOOP JOYSTICK TRANSFER FUNCTION While using open loop joystick with PVED CLS it is possible to define a transfer function which scales the open loop joystick position to a requested flow The transfer function configuration can be done by configuring the below parameters The parameter P3734 i e AUX joystick Maximum deflection region ...

Page 109: ... Dead band region shall be less than or equal to P3738 PVED CLS will enter safe state if these rules are not followed Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max AUX joystick Maximum deflection region offset P3734 U16 IR AUX joystick Maximum joystick deflection region offset from scaled MAX position 1000 IR OEM 0 1000 0...

Page 110: ...mmand calculated by PVED CLS will be 700 IR 400IR 1000IR 280IR The flow scaling function is configured by following parameters P3696 and P3697 set the vehicle speed range from 0 to 100 km h and P3690 P3692 and P3694 set the maximum flow range from 0 to 1000 IR These parameters represent the three points on the curve below Point M N and O The Open Loop AUX Joystick algorithm will make linear interp...

Page 111: ...peed to limit the flow point O for maximum joystick command OEM 0 100 25 Table 48 11 10 CLOSED LOOP JOYSTICK VEHICLE SPEED DEPENDENT WHEEL ANGLE LIMITATION As a risk mitigation method when using a Closed Loop Joystick function the PVED CLS s Closed Loop Joystick control algorithm can limit the maximum allowed angle that the wheels can be moved to in proportion to the vehicle speed i e the faster t...

Page 112: ...avior After a desired max wheel angle has been found by the PVED CLS in terms of the vehicle speed the PVED CLS will scale and interpolate to that max wheel angle see example in Figure Point A Point B Point C 0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50 AUX closed loop joystick vehicle speed dependent wheel angle limitation Vehicle Speed km h Max wheel angle degrees ...

Page 113: ... corresponding max wheel angle is 10 The PVED CLS will scale using interpolation from AUX max wheel angle left to 0 0 and from 0 0 to AUX max wheel angle right The PVED CLS will execute this scaling calculation every 10ms AUX max wheel angle left AUX max wheel angle right 15 10 5 0 5 10 15 1000 500 0 500 1000 AUX max wheel angle set point 15 km h degrees AUX joystick position IR Example Scaling jo...

Page 114: ... Vehicle speed at which the flow should be limited to AUX Joystick Max wheel angle Point C OEM 0 100 25 S Table 49 11 11 CLOSED LOOP JOYSTICK VEHICLE SPEED DEPENDENT CLOSED LOOP CONTROL As each application is different Danfoss has implemented a speed dependent closed loop control gain configurable for Closed Loop Joystick When using a Closed Loop Joystick function the PVED CLS s Closed Loop Joysti...

Page 115: ...0 km h OEM 0 200 50 S AUX joystick CL gain Point B P3726 U8 AUX Joystick Closed loop proportional gain at AUX Joystick Vehicle speed Point B OEM 0 200 50 S AUX joystick CL gain Point C P3727 U8 AUX Joystick Closed loop proportional gain at AUX Joystick Vehicle speed Point C OEM 0 200 50 S AUX joystick Vehicle speed Point B P3728 U8 km h AUX Joystick Vehicle speed at AUX CL gain Point B OEM 0 100 1...

Page 116: ...D CLS processes the received percentage value of Joystick position signal X axis position intended for steering Percentage values received from joystick for x axis position are from 0 0 to 100 0 i e from 0 to 1000 with resolution of 0 1 and those will be used for steering purpose If the received x axis position is greater than 100 0 i e if greater than 1000 PVED CLS will enter safe state Below is ...

Page 117: ...between 1000 IR to 1 IR If received X axis position status is X axis position Right 01 then Scaled joystick position X axis position hence obtained value will be between 1 IR to 1000 IR If received X axis position status is X axis position Neutral 01 then Scaled joystick position 0 IR Scaled X axis position in IR is calculated in both main and safety controller and then exchanged with each other f...

Page 118: ...joystick P3329 U16 PGN for Aux Elobau Joystick PGN values for BJM1 BJM2 EJM1 and EJM2 are 64982 64984 64983 and 64985 respectively OEM 0 65535 64982 AUX device joystick source address P3300 U8 J1939 Source Address of the AUX device joystick OEM 0 253 78 AUX joystick in use Flow command threshold P3647 U8 IR AUX Joystick flow command threshold to declare that joystick is in use OEM 0 100 10 S Table...

Page 119: ...speed dependent closed loop control Flow command filter Control no control decision Flow to spool position convertion SVC Note GPS algoritm type v1 or v2 needs to be selected Figure 63 12 2 SELECTION OF GPS ALGORITHM TYPE It is possible to select GPS algorithm type GPS v1 Vehicle speed dependent flow limitation GPS v2 Vehicle speed dependent wheel angle speed limitation Selection is done from the ...

Page 120: ...ce due to changes in geometry In both modes the WA should be re calibrated if lock stops are changed for diagnostic purposes Further details see chapter 12 6 and 12 6 Important Changing GPS algorithm type may result in that gain parameters in section 12 5 Vehicle speed dependent closed loop control needs to be adjusted Figure 64 Name Address Data type Description of parameter User Range Danfoss de...

Page 121: ...ual to the AUX mini steering in use Velocity threshold i e P3646 OR The AUX steering device is an open loop joystick P3240 set to 0 Open Loop Joystick OR P3240 set to 3 Analogue Joystick OR P3240 set to 20 Elobau joystick AND the absolute value of Requested AUX joystick flow command is lower than AUX joystick in use Flow command threshold i e P3647 OR The AUX steering device is a closed loop joyst...

Page 122: ...ity threshold P3646 U8 dRpm AUX mini steering velocity threshold to declare that the steering is in use OEM 0 100 15 S AUX joystick in use Flow command threshold P3647 U8 IR AUX Joystick flow command threshold to declare that joystick is in use OEM 0 100 10 S AUX joystick Max CL steady state error threshold P3730 U8 IR AUX Joystick Maximum closed loop steady state error allowed for changing steeri...

Page 123: ...ithm will make linear interpolation in between each of the three points It is allowed to move the three points in any direction limited by the following rules Point G is always specified at Vehicle speed limiting wheel angle 0 km h Point I Max wheel angle is valid for Point I Vehicle speed limiting wheel angle and vehicle speeds above Point I Vehicle speed limiting wheel angle Point G Max wheel an...

Page 124: ... speed GPS Vehicle speed limiting Point H OEM 0 89 15 S GPS Vehicle speed limiting wheel angle Point I P3467 U16 km h Auto guidance mode Vehicle speed at which the flow should be limited to GPS Max wheel Point I OEM 0 100 25 S GPS Max wheel angle Point I P3469 U16 Deg Auto guidance mode Maximum allowed wheel angle at the vehicle speed GPS Vehicle speed limiting Point I OEM 0 89 10 S Table 55 12 5 ...

Page 125: ...cle speed for Point P Vehicle speed for Point Q AND Vehicle speed for Point Q Vehicle speed for Point R AND Vehicle speed for Point R Vehicle speed for Point S etc Point U Closed loop gain is valid for Point U Vehicle speed and vehicle speeds above Point U Vehicle speed Important Danfoss recommends using fixed gain Use speed dependent gain only if necessary Figure 67 Warning Setting the closed loo...

Page 126: ...e mode Vehicle speed at GPS CL gain Point U OEM 0 100 34 S GPS2 CL gain Point P P3485 U8 Auto guidance mode for second Auto guidance controller Close loop proportional gain at 0 km h OEM 0 200 50 S GPS2 CL gain Point Q P3486 U8 Auto guidance mode for second Auto guidance mode Close loop proportional gain at GPS2 Vehicle speed Point Q OEM 0 200 50 S GPS2 CL gain Point R P3487 U8 Auto guidance mode ...

Page 127: ... Danfoss August 2018 AQ00000211 127 ENGINEERING TOMORROW ...

Page 128: ...th GPS and GPS2 These parameters represent the three points on the curve below Point D E and F The auto guidance algorithm will make linear interpolation in between each of the three points It is allowed to move the three points in any direction limited by the following rules Point D is always specified at Vehicle speed limited flow 0 km h Point F Max flow is valid for Point F and vehicle speeds a...

Page 129: ...iting flow Point E P3453 U16 km h Auto guidance mode Vehicle speed at which the flow should be limited to Point E OEM 0 100 15 S GPS Max flow Point E P3455 U16 IR Auto guidance mode Maximum allowed flow at the vehicle speed Point E OEM 0 1000 50 S GPS Vehicle speed limiting flow Point F P3457 U16 km h Auto guidance mode Vehicle speed at which the flow should be limited to Point F OEM 0 100 25 S GP...

Page 130: ...resent the three points on the curve below Point D E and F The auto guidance algorithm will make linear interpolation in between each of the three points It is allowed to move the three points in any direction limited by the following rules Point D is always specified at Vehicle speed limited flow 0 km h Point F Max wheel angle speed is valid for Point F and vehicle speeds above Point F Point D Ma...

Page 131: ...ngle speed Point E P3453 U16 km h Auto guidance mode Vehicle speed at which the wheel angle speed should be limited Point E OEM 0 100 15 S GPS Max wheel angle speed Point E P3455 U16 dDeg s Auto guidance mode Maximum allowed wheel angle speed Point E OEM 0 1000 50 S GPS Vehicle speed limiting wheel angle speed Point F P3457 U16 km h Auto guidance mode Vehicle speed at which the wheel angle speed s...

Page 132: ... bus when driving on road but no controlling of the EH is available hence SVB and Cut off valve are off For more details on how to setup this architecture and the PVED CLS please see the Danfoss document PVED CLS Safety Manual PVED CLS DT06 12S AD2 AD3 Sensor GND CAN H Safety CAN L Safety CutOff out Battery Battery CAN L Main CAN H Main 5V sensor supply AD1 1 2 3 4 5 6 7 8 9 10 11 12 Battery Batte...

Page 133: ...e results of these evaluations are found in status message 5 byte 1 bits 8 3 Second step System evaluation With the information from the sensors the FDA validates whether the state of the system is OK Yes or not OK No by using the following truth table Sensor validation Condition Spool position Left Left Left Neutral Neutral Neutral Right Right Right Steering wheel direction Left Neutral Right Lef...

Page 134: ...equires CAN data from actual driving with the machine in all working modes to train the algorithm for good parameters To perform the training the following is needed CAN log with status message 5 10ms both MAIN and SAFETY Parameter settings from the FDA and spool calibration sectors Event triggered CAN loggers are useful here in field testing They can be used to obtain only data when FDA is failin...

Page 135: ...d for which error shall be observed by FDA to report failure OEM 0 2000 50 S Fault Detection Algorithm Spool in left position range offset P3128 S16 x10u Meter Distance from closed loop dead band to check if spool in left side OEM 200 200 0 S Fault Detection Algorithm Spool in right position range offset P3130 S16 x10u Meter Distance from closed loop dead band to check if spool in right side OEM 2...

Page 136: ... The PVED CLS will boot but go directly to safe state during safety checks due to the missing wheel angle sensor Solution The PVED CLS needs to run in bootloader mode before any parameter may be changed i e power up the PVED CLS in bootloader mode see the Danfoss document PVED CLS KWP2000 protocol and set the parameter P3245 to 0 i e redundant WAS not present or mount a redundant sensor in the sys...

Page 137: ...he requested pressure is supplied with some delay Pump Snake movement or shaky movement in auto guidance mode Operational 1 Shaky movement The Open loop dead band parameters P1 and or P2 P1 P3166 P3170 P2 P3168 P3170 is set too aggressive in flow range or the Closed loop dead band edge Left Right P3166 and P3168 are set too conservative inside hydraulic dead band 2 Snake movement The Open loop dea...

Page 138: ...PVED CLS application Documentation PLUS 1 Service tool Other topics related to the steering system If further information to any errata is required please contact your nearest Danfoss Product Application Engineer Attention The system integrator and or responsible for the target system is advised to periodically observe the errata information as new information will be added as needed Optionally th...

Page 139: ...ection P3132 should be 0 520246 31 3081 Valve type Hydraulic Config 3569 STW anti drift Max flow correction in percentage of full flow STW Config 3705 AUX anti drift Max flow correction in percentages of full flow AUX Config 3237 GPS present Peripherals Config 3238 GPS2 present Peripherals Config 3239 AUX present Peripherals Config 3240 AUX type Peripherals Config 3132 Fault Detection Algorithm Sa...

Page 140: ...eed Point Q P3479 GPS Vehicle speed Point R P3480 GPS Vehicle speed Point S P3481 GPS Vehicle speed Point T P3482 GPS Vehicle speed Point U P3483 520242 2 3480 GPS Vehicle speed Point R GPS Config 3481 GPS Vehicle speed Point S GPS Config 3482 GPS Vehicle speed Point T GPS Config 3483 GPS Vehicle speed Point U GPS Config 9 3491 GPS2 Vehicle speed Point Q GPS Config 0 GPS2 Vehicle speed Point Q P34...

Page 141: ...e present P3072 TRUE Road switch resistance check P3242 should be FALSE If Road switch present connected to AD3 P3241 FALSE Road switch resistance check P3242 should be FALSE 520237 2 3242 Road switch resistance check Peripherals Config 3072 Cut off valve present Hydraulic Config 22 3311 PGN offset to operation status messages SEHS Protocol Data All PGN offsets shall differ from each other MMI_PGN...

Page 142: ... Safety controllers 17 2 ERROR CODES J1939 73 DM1 DM2 and DM3 diagnostic protocol is supported The list of DTC is divided in 7 sections 1 I O signals This sections lists all failures related to analogue and digital inputs outputs 2 CAN Messages This Section lists all failures related to CAN messages 3 Safety Functions This Section lists all failures caused by Safety functions and externally trigge...

Page 143: ... the connected load 3 DOUT short circuited to Vbat Too high load 6 Current above normal or grounded circuit Severe 1 Load connected to DOUT is too high 2 5A 2 DOUT short circuited to GND CAN messages 520199 SASAIID sensor never received boot up timeout 22 Message missing Severe 1 SASAIID Not powered 2 SASAIID CAN Bus not connected 3 Incorrect parameter setting of SASAIID source address or PGN mess...

Page 144: ...Signal crosscheck failed Severe 1 Mismatch in Road switch states between DOUT resistance and AD3 voltage signal Safety Functions 520208 Demanded safe state externally triggered safe state 31 Condition exists Severe 1 Controller forced to safe state by peer controller via SPI This happens for example when one of the controllers detects a failure which the other controller is not capable of detectin...

Page 145: ...l CRC Software 520238 EEPROM SEHS Protocol data Parameter value out of range Incorrect configuration of EEPROM data 2 Data erratic intermittent or incorrect Severe 1 Parameter setting out of range 2 Incorrect sector CRC Approval CRC failure 14 Special instructions Severe 1 Incorrect Approval CRC Software 520239 EEPROM Internal monitoring Parameter value out of range Incorrect configuration of EEPR...

Page 146: ...1 Vehicle speed signal deviation too high between primary and redundant signal 2 Transmit rate of primary and redundant signal deviate too much from each other 3 P3363 P3364 settings does not fit to the vehicle speed sensor Monitoring 520217 STW sensor Position crosscheck SASA cross check failure 25 Signal crosscheck failed Severe SASA Failure Monitoring 520227 STW sensor Speed crosscheck SASA cro...

Page 147: ... Danfoss August 2018 AQ00000211 147 ENGINEERING TOMORROW ...

Page 148: ...ical system not responding or out of adjustment 8 8 Abnormal frequency or pulse width or period 9 9 Abnormal update rate 10 10 Abnormal rate of change 11 11 Unknown root cause 12 12 Bad intelligent device or component 13 13 Out of calibration 14 14 Special instructions 15 15 Data valid but above normal operating range Least severe level 16 16 Data valid but above normal operating range Moderately ...

Page 149: ...on an EHPS this parameter must be set equal to 0 OEM 0 1200 120 S Cylinder stroke volume P3086 U16 Ccm Cylinder stroke volume Acceptable values 100 10000 Note Writing values 10000 will force to use automatic adjusted cylinder stroke volume value on WAS calibration OEM 100 65535 500 S Valve capacity P3088 U8 Lpm EH valve size defined in liters per minute OEM 5 120 20 S LVDT offset compensation Enab...

Page 150: ...ault confidence counter timeout P3126 U16 x10mSec Time period for which error shall be observed by FDA to report failure OEM 0 2000 50 S Fault Detection Algorithm Spool in left position range offset P3128 S16 x10u Meter Distance from closed loop dead band to check if spool in left side OEM 200 200 0 S Fault Detection Algorithm Spool in right position range offset P3130 S16 x10u Meter Distance from...

Page 151: ...ion CAN P3185 U16 mVolts Wheel angle sensor voltage output for leftmost position over CAN OEM Dealer 0 5000 500 WAS max right position CAN P3187 U16 mVolts Wheel angle sensor voltage output for rightmost position over CAN OEM Dealer 0 5000 4500 WAS neutral position CAN P3189 U16 mVolts Wheel angle sensor voltage output for neutral position over CAN OEM Dealer 0 5000 2500 Automatically adjusted cyl...

Page 152: ...ition OEM Dealer 0 6000 2500 5V sensor supply for primary analogue sensor during calibration P3217 U16 mVolts Measured Supply voltage during calibration of the primary analogue sensor OEM Dealer 4650 5350 5000 5V sensor supply for redundant analogue sensor during calibration P3219 U16 mVolts Measured Supply voltage during calibration of the redundant analogue sensor OEM Dealer 4650 5350 5000 Autom...

Page 153: ... for Primary analogue sensor P3246 U8 Supply voltage compensation Enable Disable for processing primary Analogue sensor signal Valid Values 0 DISABLE 255 ENABLE OEM 0 255 255 Voltage compensation for Redundant analogue sensor P3247 U8 Supply voltage compensation Enable Disable for processing redundant analogue sensor signal Valid Values 0 DISABLE 255 ENABLE OEM 0 255 255 Generation of 5V sensor su...

Page 154: ...EM 0 253 19 90 Wheel angle sensor source address P3298 U8 J1939 Source Address of the wheel angle sensor OEM 0 253 250 AUX device mini steering wheel source address P3299 U8 J1939 Source Address of the AUX device mini steering wheel OEM 0 253 79 AUX device joystick source address P3300 U8 J1939 Source Address of the AUX device joystick OEM 0 253 78 Transmission rate Operation Status Messages P3301...

Page 155: ...ary A 0 Proprietary B 255 OEM 0 255 0 PGN offset to MMI message P3325 U8 PGN offset to MMI message when using Proprietary B message format OEM 0 255 66 67 GMS message layout as per ISO11783 P3326 U8 Valid Values 0 Layout according to ISO11783 7 2009 255 Layout according to ISO11783 7 2015 See PVED CLS communication protocol for clarification OEM 0 255 0 Transmission rate Status message 7 P3327 U8 ...

Page 156: ... check monitoring Max vehicle speed divergence P3364 U8 km h Max allowable vehicle speed reading difference between MAIN and SAFETY micro controllers OEM 0 100 5 S Channel cross check monitoring Max AUX mini steering wheel velocity divergence time P3365 U8 x10mSec Maximum allowable time for AUX mini steering wheel velocity between MAIN and SAFETY micro controllers are allowed to be out of specifie...

Page 157: ...ween MAIN and SAFETY micro controllers are allowed to be different OEM 0 255 10 S Channel cross check monitoring Max AUX joystick trim divergence time P3388 U8 x10mSec Maximum allowable time for which AUX Joystick Trim signals between MAIN and SAFETY micro controllers are allowed to be different OEM 0 255 10 S Channel cross check monitoring Max AUX joystick trim divergence P3389 U8 IR Max allowabl...

Page 158: ... 1000 10000 4000 Wheel base B P3424 U16 mm Distance between the other axle and the articulation point articulated vehicles only OEM Dealer 1000 10000 4000 Maximum steer angle left P3426 U16 Deg Maximum steer angle to left side Note Writing values 89 will force to use automatic adjusted maximum steer angle Left value on WAS calibration OEM Dealer 0 65535 35 Maximum steer angle right P3428 U16 Deg M...

Page 159: ...dance mode Close loop proportional gain at GPS Vehicle speed Point Q OEM 0 200 50 S GPS CL gain Point R P3475 U8 Auto guidance mode Close loop proportional gain at GPS Vehicle speed Point R OEM 0 200 50 S GPS CL gain Point S P3476 U8 Auto guidance mode Close loop proportional gain at GPS Vehicle speed Point S OEM 0 200 50 S GPS CL gain Point T P3477 U8 Auto guidance mode Close loop proportional ga...

Page 160: ...2 Vehicle speed Point C Resolution 0 01 1turn 100 OEM 10 800 800 S STW 2 Vehicle speed Point B P3536 U8 km h Program2 Vehicle speed at which lock to lock steering wheel turns STW 2 No of turns Point B OEM 1 100 5 S STW 2 Vehicle speed Point C P3537 U8 km h Program2 Vehicle speed at which lock to lock steering wheel turns STW 2 No of turns Point C OEM 1 100 10 S STW 3 No of turns Point A P3538 U16 ...

Page 161: ...osition OEM 0 100 5 STW relative set point change in towards spool neutral position P3573 U8 Relative set point change allowed to apply when ramping the spool position set point in i e towards the spool neutral position OEM 0 100 5 STW absolute set point change out from spool neutral position P3574 U16 IR Set point change allowed to apply when ramping the spool position set point out i e further o...

Page 162: ...mini steering 2 Vehicle speed Point K P3664 U8 km h Program2 Vehicle speed at which lock to lock steering wheel turns AUX program 2 No of turns Point K OEM 1 100 5 S AUX mini steering 2 Vehicle speed Point L P3665 U8 km h Program2 Vehicle speed at which lock to lock steering wheel turns AUX program 2 No of turns Point L OEM 1 100 10 S AUX mini steering 3 No of turns Point J P3666 U16 Program3 Numb...

Page 163: ...5 to 0 OEM 0 100 15 AUX anti drift Max steering wheel drift correction P3706 U16 Deg The difference between the observed and ideal AUX steering angle at which and above which the max EFU correction AUX Anti drift Max flow correction shall be applied OEM 1 160 20 AUX soft stop max flow cylinder end stop P3708 U16 IR Oil flow to deliver at the max possible wheel angle OEM 100 1000 200 AUX soft stop ...

Page 164: ...he steering sensitivity aggressiveness when physical max wheel angle endpoints are changed by changing adding tires OEM 0 255 255 S Table 75 Important For the STW sector some rules apply to the parameter settings of the vehicle speed dependent functions See list of rules in section 11 17 4 13 Production Calibration Flag Table 76 17 4 14 Auto Calibration Config Name Address Data t Unit Description ...

Page 165: ... and right side dead band edge respectively should be considered OEM Dealer 1 10 7 Spool calibration Min valid samples P3811 U8 P3811 defines how many of the attempts defined by P3810 that need to be equal to get a successful spool calibration OEM Dealer 1 10 5 Spool calibration turn range sweep add on P3812 U16 dDeg This indicates the additional turn range which will be added to the value in P380...

Page 166: ... calibration Max allowable CAN WAS signal to be captured in neutral P3841 U16 mVolts Maximum allowed signal to be captured for neutral position during CAN WAS auto calibration OEM Dealer 0 5000 4500 WAS calibration Min voltage needed in between the captured CAN WAS values P3843 U16 mVolts Determines the minimum voltage needed in between the captured CAN WAS voltage minimum neutral and maximum to e...

Page 167: ... Write 3097 3120 40 OEM SEHS FDA 3122 3161 40 3134 3160 42 OEM Valve Calibration Data 3162 3184 23 3171 3183 44 OEM Dealer CAN WAS Calibration Data 3185 3204 20 3196 3203 46 OEM Dealer Analog Sensor Calibration Data 3205 3236 32 3226 3235 48 OEM Dealer Peripherals Config 3237 3286 50 3253 3285 50 OEM SEHS Protocol Data 3287 3350 64 3330 3349 52 OEM Internal Monitoring 3351 3420 70 3394 3419 54 OEM...

Page 168: ... rearranged into little endian format as follows 5CFEA40197FF69001900 The CRC CCITT result for this data is F934h The low byte 34h shall be stored at P3183 and the high byte F9h at P3184 17 5 4 Signature CRC calculation Attention As a step in safe parameterization of the PVED CLS software to ensure the correctness of the data in one or more modified sectors it shall be signed Signing off correctne...

Page 169: ...nfig Signature P50 Signature CRC value for named sector SEHS Protocol Data Signature P52 Signature CRC value for named sector Internal monitoring Signature P54 Signature CRC value for named sector Vehicle Geometry Signature P56 Signature CRC value for named sector GPS Config Signature P58 Signature CRC value for named sector STW Config Signature P60 Signature CRC value for named sector AUX Config ...

Page 170: ...lue for Calibration counter CAN WAS calibration P3776 U8 Bit inverted value for Calibration counter CAN WAS OEM 0 255 255 Calibration counter Analogue joystick P3777 U8 Analogue sensor based Joystick calibration counter OEM 0 255 0 Bit inverted value for Calibration counter Analogue joystick P3778 U8 Bit inverted value for Analogue sensor based Joystick calibration counter OEM 0 255 255 Table 81 1...

Page 171: ... auto calibration OEM Dealer 100 65535 65535 Automatically adjusted maximum steer angle to left side analogue WAS P3223 U16 Deg Automatic adjusted maximum steer angle to left side for using analogue WAS found during WAS auto calibration OEM Dealer 0 65535 65535 Automatically adjusted maximum steer angle to right side analogue WAS P3225 U16 Deg Automatic adjusted maximum steer angle to right side f...

Page 172: ...brating CAN based wheel angle sensor The following description explains how to manually calibrate your CAN based wheel angle sensor The procedure consists of three main steps 1 Read sensor values 2 Data sector preparation 3 Write parameters to PVED CLS EEPROM The following is a more detailed description of each main step Read sensor values Put PVED CLS into WAS calibration service mode Turn wheels...

Page 173: ...h 17 5 2 Furthermore populate a temporary data sector for Production Calibration Flag Update the CAN based WAS calibration counters Increment P3775 from 0 to 1 and increment bit wise inverted P3776 from 255 to 254 for the displayed below Production Calibration Flag Name Address Data type Unit Description of parameter User Range Danfoss default value Safety critical parameters S Min Max Calibration...

Page 174: ... Joystick The procedure consists of three main steps 1 Read sensor values and sensor supply voltage 2 Data sector preparation 3 Write parameters to PVED CLS EEPROM Procedure Read sensor values and sensor supply voltage Put PVED CLS into Joystick Calibration service mode Start ADC readout on CAN bus o For MAIN and SAFETY controller start status message 1 100ms o For MAIN and SAFETY controller start...

Page 175: ...during WAS auto calibration OEM Dealer 100 65535 65535 Automatically adjusted maximum steer angle to left side analogue WAS P3223 U16 Deg Automatic adjusted maximum steer angle to left side for using analogue WAS found during WAS auto calibration OEM Dealer 0 65535 65535 Automatically adjusted maximum steer angle to right side analogue WAS P3225 U16 Deg Automatic adjusted maximum steer angle to ri...

Page 176: ...ta correctness o To sign acknowledge calculate signature CRC and write it at the CRC signature address P48 Calculate the sector CRC as CRC 16 CCITT P3771 P3778 and store word at the CRC Checksum address P3789 For example of how to calculate sector CRC please see paragraph 17 5 2 17 6 5 Manual spool calibration 17 6 5 1 Spool calibration overview Flow range Hydraulic deadband Flow range Open loop m...

Page 177: ...ce the closed loop dead bands are determined P3166 and P3168 the open loop dead bands are derived by subtracting an off set P3170 from the respective closed loop mode dead band positions P1 and P2 from Figure 68 The following calibration procedure is based on balancing the time it takes to move between two fixed wheel angles by adjusting two experimental spool position set point values Important T...

Page 178: ... algorithm applies main spool set point S1 to initiate a steering direction towards right 4 The time T1 it takes for the steered wheels to reach Calib_WA_R is measured and denoted TR 5 When the steered wheels reaches Calib_WA_R the calibration algorithm applies main spool set point S2 to initiate a steering direction towards left 6 The time T2 it takes for the steered wheels to reach Calib_WA_L is...

Page 179: ... given by Calib_WA_R After this step the steered wheels will attempt to steer between the wheel angles given by Calib_WA_R and Calib_WA_L The time it takes from one side to the other is measured and stored in TR and TL Figure 70 While the calibration algorithm is executed the calibration tool shall continuously capture TR and TL and individually evaluate these values against the success criteria T...

Page 180: ...op dead bands are directly derived from the measured closed loop dead bands as follows P1 from Figure Spool open loop dead band left Test_cl_db_L P3170 P3166 P3170 P2 from Figure Spool open loop dead band right Test_cl_db_R P3170 P3168 P3170 Table 90 Determining TL and TR for a specific vehicle type When determining the success criteria for a specific vehicle type the goal is to determine target T...

Page 181: ... calibration OEM 0 255 255 Calibration counter Analogue WAS calibration P3773 U8 Calibration counter Analogue WAS OEM 0 255 0 Bit inverted value for Calibration counter Analogue WAS calibration P3774 U8 Bit inverted value for Calibration counter Analogue WAS OEM 0 255 255 Calibration counter CAN WAS calibration P3775 U8 Calibration counter CAN WAS OEM 0 255 0 Bit inverted value for Calibration cou...

Page 182: ...182 Danfoss August 2018 AQ00000211 ENGINEERING TOMORROW ...

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