Danfoss PVED-CLS, User Manual, Page: 97 / 182

© Danfoss | August 2018 AQ00000211 |
97
ENGINEERING TOMORROW
•
The absolute value of the auxiliary steering device related closed loop error calculated by difference
between calculated wheel angle set-point and actual wheel angle is less than or equal to the value
specified by parameter P3732 i.e.
AUX joystick - Max closed loop error for engaging closed loop
joystick steering
If all these conditions are satisfied then the transition to AUX close loop mode is performed.
11.2.3 AUX Config – Mini-steering wheel
For mini-steering wheel, the PVED-CLS detects that the mini-steering wheel is used when both the threshold
P3646 and P3719 are being exceeded, and will then perform a transition to AUX-program.
As a risk mitigation method, disengage the AUX-program and return to STW mode (only hydraulic steering or
faststeering) is allowed by activating/turning the steering wheel. When driving off-road, e.g. on bumpy ground,
too high sensitivity of the SASAIID sensor may cause unintended disengage of AUX steering. In order to allow
small movements of the steering wheel without disengaging the AUX-program, appropriate threshold values
should be written in P3583 and P3584.
The PVED-CLS detects that the steering wheel is in use when both the threshold P3583 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 Auto-guidance-program.
Name
A
ddr
es
s
D
at
a t
yp
e
U
ni
t
Description of parameter
U
se
r
Range
D
a
nf
o
ss
de
fa
ul
t
val
u
e
S
a
fet
y
cri
ti
ca
l
p
a
ra
m
et
ers
‘
S
’
Mi
n
.
M
ax.
AUX type P3240 U8 -
Aux device is mini steering wheel or Joystick
Valid Values: 0 (Open Loop Joystick); 1 (Closed Loop Joystick); 2 (mini
steering wheel); 3 (Analogue Joystick);20 (Elobau joystick)
OEM 0 20 2
AUX mini-steering in
use - Velocity 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
STW in use - Velocity
threshold
P3583 U8 dRpm Steering wheel velocity threshold to detect steering is in use 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
AUX mini-steering in
use - Angle threshold
P3719 U8 Deg
AUX mini-steering wheel angle change threshold to detect steering is in
use
OEM 0 45 10 S
Table 43 (a)