Danfoss pved-cl, Техническая информация, Страница: 24 / 40

Set no. 2
Bytes Encoding Value/Range Description
1, 2 SIGNED16 -1000 – 1000 Yact – scaled steering actuator position.
Reflects -100.0% – 100.0% where 0.0% indicates the
middle of the cylinder
3, 4 SIGNED16 -1000 – 1000 Yset – commanded actuator position set-point
(closed loop control) or commanded actuator speed
set-point (open loop control)
5, 6 SIGNED16 -1000 – 1000 Q – the port flow command.
Reflects the range 100% at CL port to 100% at CR
port
7, 8 UNSIGNED16
0x00
0x01
0x02
0x03
0x04
0x05
Selected device:
– no device selected
– steering wheel
– reserved
– high priority steering device
– low priority steering device
– high priority set-point controller
Set no. 3
Bytes Encoding Value/Range Description
1, 2 SIGNED16 -1000 – 1000 Xsp – the calculated spool position set-point.
Reflects -7 – 7 mm spool travel
3, 4 SIGNED16 -1000 – 1000 Scaled spool position. Reflects -7 – 7 mm spool travel
5, 6 UNSIGNED16 0 – 4095 wheel angle (scaled Yact)
0 – left endlock
2047 – pointing straight ahead
4095 – right endlock
7, 8 UNSIGNED16 0 - 59999 timestamp – a value of a millisecond timer that starts
counting upon PVED-CL power-on and rolls over
after one minute. 1 ms unit, accuracy equal to 5 ms
Set no. 4
Bytes Encoding Value/Range Description
1, 2 UNSIGNED16 0 – 9990 Sensor supply voltage [mV]
3, 4 SIGNED16 -1000 – 1000 Scaled spool Position
Reflects -7 – 7 mm spool travel
5, 6 SIGNED16 -50 – 451 PVED-CL temperature [deg. C]
7, 8 UNSIGNED16 13 – 35534 Battery supply voltage [mV]
StartStopOperationStatus
The command is used to make PVED-CL start/stop sending operation status information. Power-on state:
operation status enabled.
CAN message
Priority
6
PGN
61184
XID
0x0FAC (MSB first)
Technical Information PVED-CL Communication Protocol, version 1.38 Technical Information
Status
24 11079551 • Rev BA • July 2014