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where the offset_base is any value within the range [0…253] and can be selected with the configuration
tool. It’s OEM’s responsibility to make sure that offset_base is not programmed to a value that results in
pgns other nodes may use for different purposes.

Due to a relatively high number of exchanged messages, it’s recommended to implement a separate CAN
bus for the EHPS system only.

11bit ID messages
Most of the communication between PVED-CL and sensors/steering devices is performed with 11bit ID
messages. This makes the sensors simpler and allows them to be used in networks with other protocols.

Technical Information

PVED-CL Communication Protocol, version 1.38 Technical Information

Communications

8

11079551 • Rev BA • July 2014

Содержание pved-cl

Страница 1: ...MAKING MODERN LIVING POSSIBLE Technical Information Steering PVED CL Communication Protocol version 1 38 powersolutions danfoss com...

Страница 2: ...10 February 2010 Two new positions 11176 77 in the table minor change AC 08 February 2010 Position 11152 in the table minor change AB 28 January 2010 First edition For PVED CL software release version...

Страница 3: ...teering device position 14 Primary steered wheel angle position 15 Redundant steered wheel angle position 15 High priority external set point controller 15 Vehicle speed 15 Configuration GetParameter...

Страница 4: ...d 33 GuidanceMachineStatus 33 Diagnostics proprietary GetErrorEntry 35 GetErrorEntryResponse 35 ClearErrorEntries 36 Commit Error Code 37 Technical Information PVED CL Communication Protocol version 1...

Страница 5: ...a field byte numbers start from 1 Reference documents Refering to literature Reference Title author PVED Controller for Electro Hydraulic Steering PVED User Manual 11079550 J1939 SAE J1939 Top Level J...

Страница 6: ...y J1939 71 are not available Application layer Some steering functionality requires the Wheel Based Vehicle Speed signal spn84 available in pgn65265 for more detailed information see Vehicle speed on...

Страница 7: ...e global destination preceded with the Broadcast Announce Message Proprietary error codes are available for deep diagnostics Further details can be found in Diagnostics proprietary on page 35 Propriet...

Страница 8: ...elatively high number of exchanged messages it s recommended to implement a separate CAN bus for the EHPS system only 11bit ID messages Most of the communication between PVED CL and sensors steering d...

Страница 9: ...ry programmed values Node Default Source Address PVED CL 19 High priority external set point controller 28 Vehicle speed sensor 251 MMI controller 252 Configuration diagnostic tool 253 Communication w...

Страница 10: ...e 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...

Страница 11: ...D CL the same way as other steering devices do The set point controller is expected to provide PVED CL with ISOBUS curvature commands This approach needs a special group of messages described in Guida...

Страница 12: ...one GuidanceSystemCommand message not intended for steering 4 PVED CL waits for curvature requests intended for steering 5 PVED CL follows curvature requests 6 PVED CL follows set points from other s...

Страница 13: ...as passed since a steering wheel position change has last exceeded the defined position change threshold Both the position change threshold and the timeout value can be configured as required by the a...

Страница 14: ...priority steering device position The message data represents the position of the high priority steering device CAN message CAN id 0x304 11bit Occurrence every 80 ms or less recommended 10 ms Sent by...

Страница 15: ...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 s...

Страница 16: ...g Value Range Description 1 ignored by PVED CL 2 3 UNSIGNED16 0 64255 vehicle speed in 1 256 km h reflects 0 250 996 km h 4 8 ignored by PVED CL Technical Information PVED CL Communication Protocol ve...

Страница 17: ...GetParameter request and contains both parameter index and parameter value CAN message Priority 6 PGN 61184 XID 0x0FA1 MSB first Occurrence upon request Modes operational reduced calibration and faul...

Страница 18: ...e previous and still valid one is reported CAN message Priority 6 PGN 61184 XID 0x0FA3 MSB first Occurrence upon request Modes operational reduced calibration Sent by PVED CL Sent to configuration too...

Страница 19: ...st Modes operational reduced calibration Sent by PVED CL Sent to configuration tool Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0x0FA5 MSB first extended message identifier XID 3...

Страница 20: ...ED8 0x00 0x01 0x02 0x03 0x04 0x05 Commit status ready to perform commit operation commit operation has just begun the operation succeeded the operation failed parameter cross check failed commit is al...

Страница 21: ...uring start up Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0x0FA8 MSB first extended message identifier XID 3 UNSIGNED8 0x58 check value...

Страница 22: ...XID 0x0FAA MSB first Occurrence 200 ms after claiming an address if no address arbitration lost and upon request Modes operational reduced calibration fault Sent by PVED CL Sent to configuration tool...

Страница 23: ...bus load and avoid incorrect hazardous actions done by devices that rely on the message CAN message Priority 6 PGN 65280 offset_base XID n a Occurrence every 40 ms Only if Status messages are enabled...

Страница 24: ...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 UNSIGN...

Страница 25: ...operational reduced fault Sent by PVED CL Sent to all nodes Data field Bytes Encoding Value Range Description 1 UNSIGNED8 0x0AA 0x0AF 0x0FF Current mode operational reduced fault 2 UNSIGNED8 0x00 0x0...

Страница 26: ...ity steering device no yes TimeReport This message is used to provide other nodes with an absolute measure of time since the PVED CL was booted It can be used for diagnostic purposes and for resolving...

Страница 27: ...c in operational mode without knowledge to the actual dead band settings Open loop mode converts the flow request directly to the corresponding spool position with dead band compensation Closed loop m...

Страница 28: ...message Priority 6 PGN 61184 XID 0x0FB6 MSB first Occurrence when required Modes calibration Sent by MMI Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0x0FB6 MSB fir...

Страница 29: ...osition set point increment size request invalid minimum wheel angle difference threshold request invalid time out period value request 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F 0x10 0x11...

Страница 30: ...eterResponse left maximum value index 729 MMI PVED CL CommitDataResponse Commit operation has just begun MMI PVED CL ValveAutoCalibrationStatus Commit process has started MMI PVED CL CommitDataRespons...

Страница 31: ...ram has been requested DisableSteeringDevice The command is used to disable enable any mapped steering device but steering wheel The message is ignored if the OSP hydraulic backup is not present Disab...

Страница 32: ...case no response will be sent back CAN message Priority 6 PGN 61184 XID 0x0FB1 MSB first Occurrence upon request on timeout Mode operational reduced Sent by PVED CL Sent to MMI Data field Bytes Encod...

Страница 33: ...to 8031 75 km 1 with resolution 0 25 km 1 and offset 8032 km 1 3 bits 8 3 all ones reserved bits 2 1 00 01 10 11 steering command status not intended for steering intended for steering error indicati...

Страница 34: ...ct position error indication not available bits 4 3 00 01 10 11 Machine can execute commands system is not ready system is ready error indication not available bits 2 1 00 01 10 11 Mechanical system l...

Страница 35: ...rror occurred GetErrorEntryResponse The message presents data available in the error log CAN message Priority 6 PGN 61184 XID 0x0FB4 MSB first Occurrence upon request Modes operational reduced calibra...

Страница 36: ...MSB first extended message identifier XID 3 UNSIGNED8 1 16 buffer index the oldest error at index 1 4 UNSIGNED8 2 temperature details 5 6 SIGNED16 50 150 150 450 32768 PVED temperature temperature in...

Страница 37: ...D1_1000_Right For linear 5 point AD1 calibration the following rule must be followed AD1_1000_Left AD1_500_Left index 65055 AD1_Neutral AD1_500_Right index 65062 AD1_1000_Right or AD1_1000_Left AD1_50...

Страница 38: ...dex 64022 needs to be greater than or equal to the steering wheel position difference corresponding to the min motion needed to make the steering wheel selected for steering The follow equation shall...

Страница 39: ...Technical Information PVED CL Communication Protocol version 1 38 Technical Information 11079551 Rev BA July 2014 39...

Страница 40: ...rg Denmark Phone 45 7488 2222 Danfoss Power Solutions US Company 2800 East 13th Street Ames IA 50010 USA Phone 1 515 239 6000 Danfoss Power Solutions Shanghai Co Ltd Building 22 No 1000 Jin Hai Rd Jin...

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