•
retrieving a parameter value
•
setting a parameter value
•
committing data to non-volatile memory
•
entering the calibration mode
•
restoring factory defaults
Secondary configuration device
Beside the configuration tool, the high priority external set-point controller has an access to the
parameter data, too. However, this device’s rights are limited to only reading the configuration settings.
Status
The information about control and sensor variables as well as PVED-CL’s current time and mode can be
found in periodically broadcast status messages. For further details see chapter
Status
on page 22.
Control
Control messages have been implemented to make the operator able to enable/disable steering devices
dynamically. This is especially useful when e.g. a joystick is mounted on the armrest and can be
unintentionally activated while getting on/off the machine. Disabling a steering device prevents the
controller from using the device set-points for steering. Default power-on state can be configured with
proper parameters stored in non-volatile memory.
The figure below shows the steering device disabling/enabling procedure. State transitions are
receptions of disable steering device commands and/or message timeouts which are set to 200 ms. For
further details see
Control
on page 27.
The numbers in octagons show where a response is sent back (DisableSteeringDeviceResponse
message):
1. Response data: enabling armed
2. Response data: device enabled
3. Response data: device disabling armed
4. Response data: device disabled
The current state of the device will be reported back if a command does not follow what’s on the figure.
Note that there are independent state machines implemented for each steering device which can be
disabled.
Technical Information
PVED-CL Communication Protocol, version 1.38 Technical Information
Communications
10
11079551 • Rev BA • July 2014