Danfoss pved-cl, Техническая информация, Страница: 15 / 40

Data field
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 4095
0
2047
4095 Position:
– left end lock
– neutral position
– right end lock
Primary steered wheel angle/position
The message data represents either the position of the steering actuator or the steered wheel angle
CAN message
CAN id.
0x105 (11bit)
Occurrence
every 40 ms or less (recommended: 10 ms)
Sent by
primary steered wheel angle/position sensor
Data field
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 4095 Position:
0 – left end lock
2047 – neutral position (vehicle’s moving straight
ahead)
4095 – right end lock
Redundant steered wheel angle/position
The message data represents either the position of the steering actuator or the steered wheel angle.
CAN message
CAN id.
0x205 (11bit)
Occurrence
every 40 ms or less (recommended: 10 ms)
Sent by
redundant steered wheel angle/position sensor
Data field
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 4095
0
2047
4095 Position:
– left end lock
– neutral position (vehicle’s moving straight ahead)
– right end lock
High priority external set-point controller
The communication with the high priority external set-point controller is performed in a special way, with
messages described in
Guidance on page 11.
Vehicle speed
This is a standard message used for broadcasting the information about the vehicle speed [J1939 – 71].
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Communication with sensors and steering devices
11079551 • Rev BA • July 2014 15