PVBZ Hitch control
Contents
1. Options Control for single and double acting hitch control systems are combined in one software application block This allows users to select the appropriate valve for the system Options include single acting double acting and switchable between single and double acting The PVBZ meets basic market requirements for front hitches and auxiliary valves that raise and lower implements hydraulically This includes the float feature Typical Double Acting System Used for Front Hitch PLUS 1 Sensors Controller Pressure sensors Angle sensor Wheel speed Ground speed radar Human Machine Interface HMI analog CAN Hitch valve section PVBZ 3506 The PVBZ HS meets market requirements for single acting rear hitches that raise implements hydraulically and lower them by gravity Typical Single Acting System Used for Rear Hitch PLUS 1 Controller Sensors Draft sensors Angle sensor Wheel speed Ground speed radar Human Machine Interface HMI analog CAN Hitch valve section PVBZ HS 7 3515 11036124 Rev AA Dec 2008 Hitch Control S RAVER ag Control Options PVBZ HD Single and The PVBZ HD is a more advanced alternative to the PVBZ or PVBZ HS This valve can Double Acting Actuator operate either as double acting or single acting Control The PVBZ HD has the ability to raise lower press down or float In double2. as advanced multi function valve that can switch between single and double acting e Available PLUS 1 microcontroller with a 10 Vdc sensor supply voltage suitable for general market draft sensors e Wide range of standard PLUS 1 microcontrollers with 5 Vdc sensor power supply e Available I O extension modules for the microcontroller to accommodate a larger number of analog signals from the HMI if needed e Ageneric user programmable application block software for controlling the hitch position Other hitch control components such as HMI controls and sensors are typically OEM specific and are not part of the Sauer Danfoss standard hitch control portfolio at this time However Sauer Danfoss can work with customers to develop custom OEM specific interface solutions In addition Sauer Danfoss can assist with development of complete software solutions tailored to specific requirements of the OEM interface and HMI specifications based on the application block that is described in this document e Application block software is GUIDE programmable by end user A complete software solution can be created by extending the application block provided by Sauer Danfoss e Faster and easier prototyping set up and tuning Simple logics better user understanding e Single or double acting system in one software application e Double acting operation features enables higher safety and comfort e Precise control and repeatability e Simpl
3. 1 Hitch Control System application block In addition it is a reference tool for vehicle OEM design engineering and service personnel For easy access by control system developers this document along with relevant software files user manuals and other documents is included in the Hitch Control Application File 70024823 ZIP The application file is posted on the Sauer Danfoss website in the PLUS 1 GUIDE Graphic User Integrated Development Environment downloads section This document is one of several sources of technical information for the hitch control system Other sources of technical information include individual product data sheets and application block PLUS 1 GUIDE and service tool software user manuals Microcontroller Documentation PLUS 1 Controller Family Technical Information 520L0719 e PLUS 1 MC024 01A Controller Data Sheet 11030820 Valve Product Documentation e PVG Proportional Valves Brochure 520L0690 e PVG 32 Proportional Valves Technical Information 520L0344 Basic Module Type PVBZ Valve hitch double acting Data Sheet 520L0681 Basic Module Type PVBZ HS Valve hitch single acting Data Sheet 520L0956 e Basic Module Type PVBZ HD Valve hitch double acting Data Sheet 11035599 Software Product Documentation e PLUS 1 GUIDE Data Sheet 520L0708 e PLUS 1 GUIDE User Manual 10100824 e PLUS 1 Service Tool User Manual 520L0899 e Hitch Control Application Block User Manual 11033753 System Start u
4. SAUER Hitch Control DANFOSS System Description Hitch Control S ANFOSS Revisions Version Revisions Date Page Changed Rev 16 Dec 2008 AA 2008 Sauer Danfoss All rights reserved Sauer Danfoss accepts no responsibility for possible errors in catalogs brochures and other printed material Sauer Danfoss reserves the right to alter its products without prior notice This also applies to products already ordered provided that such alterations can be made without affecting agreed specifications All trademarks in this material are properties of their respective owners Sauer Danfoss the Sauer Danfoss logotype the Sauer Danfoss S icon PLUS 1 what really matters is inside and Know How in Motion are trademarks of the Sauer Danfoss Group Front cover illustrations F301597 3507 3510 F101878 Tractor_3 3512 11036124 Rev AA Dec 2008 SAUER 5 DANFOSS Overview System Details Control Options Hardware Components Application Software Features and Benefits Hitch Control System Description Contents About This DOCUMEN Essas aa RA RA aN Nia n aE Referenced Product Specific Documents OEM 5000510 Hitch Positioning Control Concepts ceeccssseccssesecsssescesseecsssescesseccesnseecsnseecessnescsnseecesneeeesnseecsnaneeenneeeess Closed Loop Work Control MOCES css
5. acting mode the PVBZ HD increases comfort and safety when attaching and detaching heavy implements because of its ability to raise and lower at the same speed For field operation you may select either single or double acting mode Advanced Hitch System Capable of Switching Between Double or Single Acting PLUS 1 Sensors Controller Draft sensors Angle sensor Wheel speed Ground speed radar Human Machine Interface HMI analog CAN Hitch valve section PVBZ HD 3516 11036124 Rev AA Dec 2008 9 SAUER DANFOSS Hitch Valves Sensors Microcontrollers 10 Hitch Control System Description Hardware Components The valve options for the Sauer Danfoss hitch control system include PVBZ double acting PVBZ HS single acting and the PVBZ HD single and double acting valves These proven PVG 32 valves feature pressure compensation low leakage ports P O check and optional PVLP shock anticavitation valves These features are contained in PLUS 1 compliant valve sections that incorporate ISO bus compatible PVED electrical actuation making them easy to integrate into the vehicle hydraulic system Following is a summary of typical sensors and recommended suppliers Draft Sensors for Force Control Vendors Bosch Rexroth Vishay Sensor excitation voltage requirements must be compatible with the selected PLUS 1 microcontroller power supply rating Angle Sensor for Di
6. e comfortable transport of the implement between field operations Typical Rear Hitch Transport mode with active damping E Work mode Angle sensor A Lift lower around lower placement reference setting Lift ve 3 3513 Draft sensor placement gt F orce 11036124 Rev AA Dec 2008 5 SAUER DANFOSS Closed Loop Work Control Modes Hitch Control System Description System Details When the operator chooses work control mode the position control adjusts the linkage to the depth reference set point Combination of Position Force and Slip Control In work position it is not always possible for the tractor to do the job with the specified set point Therefore different sensors in the system collect information about the pull force and the wheel slip The system compares these inputs with an operator defined preset maximum value If the current pull force or wheel slip are higher than the preset maximum value it calculates a delta and adds to the set point for the work position When the set point is increased the pull force wheel slip decreases and causes recalculation of the delta In this way the system continually modulates the linkage position according to the sensor inputs Combined Position Force and Slip Control OEM Supplied Sauer Danfoss Hitch Application Block Human Machine Raising and lowering speed Interface Sauer Danfoss HMI 7 S
7. ified control of displacement force and slip factors e Safer attachment and removal of implements Stable closed loop control in all operating modes 11036124 Rev AA Dec 2008 Hitch Control S RAVER ag n Notes 11036124 Rev AA Dec 2008 13 Hitch Control S RAVER cc Notes 14 11036124 Rev AA Dec 2008 Hitch Control S RAVER ag n Notes 11036124 Rev AA Dec 2008 15 SAUER DANFOSS Our Products Open circuit axial piston pumps Gear pumps and motors Fan drive systems Closed circuit axial piston pumps and motors Bent axis motors Hydrostatic transmissions Transit mixer drives Hydrostatic transaxles Electrohydraulics Integrated systems Microcontrollers and software PLUS 1 GUIDE Displays Joysticks and control handles Sensors Orbital motors Inverters Electrohydraulic power steering Hydraulic power steering Hydraulic integrated circuits HIC Cartridge valves Directional spool valves Proportional valves 11036124 Rev AA Dec 2008 Sauer Danfoss Mobile Power and Control Systems Market Leaders Worldwide Sauer Danfoss is a comprehensive supplier providing complete systems to the global mobile market Sauer Danfoss serves markets such as agriculture construction road building material handling municipal forestry turf care and many others We offer our customers optimum solutions for their needs and develop new products and systems i
8. ler Select a microcontroller with input output and power supply specifications that is suitable for your application Then visit the Sauer Danfoss website download the appropriate HWD file and install it in your copy of GUDE 11036124 Rev AA Dec 2008 SAUER 5 DANFOSS Application Block Software Description PLUS 1 GUIDE PLUS 1 Service Tool Customer Access to the Hitch Application Block Hitch Control System Description Application Software The hitch control application block is a graphical representation of software algorithms that provide the foundation for automated hitch control Specific tailoring of the block is accomplished using Sauer Danfoss PLUS 1 GUIDE tool set GUIDE allows developers to build application software for use with Sauer Danfoss PLUS 1 controllers The PLUS 1 Service Tool is used to download the compiled application to the target microcontroller Customers use the hitch control application block as the starting point for a complete hitch system application that includes input mapping calibration fault handling output mapping and connection for HMI devices and microcontroller outputs The application block is released as a SCS file which means it can be dragged onto the GUIDE programming workspace to be included as the application block for a complete user developed hitch system application The PLUS 1 Service Tool is included with the PLUS 1 GUIDE user license PLUS 1 Service Tool Functio
9. n close cooperation and partnership with them Sauer Danfoss specializes in integrating a full range of system components to provide vehicle designers with the most advanced total system design Sauer Danfoss provides comprehensive worldwide service for its products through an extensive network of Global Service Partners strategically located in all parts of the world Local address Sauer Danfoss US Company Sauer Danfoss ApS 2800 East 13th Street DK 6430 Nordborg Denmark Ames IA 50010 USA Phone 45 7488 4444 Phone 1 515 239 6000 Fax 45 7488 4400 Fax 1 515 239 6618 Sauer Danfoss Daikin LTD Sauer Danfoss GmbH amp Co OHG Shin Osaka TERASAKI 3rd Bldg 6F Postfach 2460 D 24531 Neum nster 1 5 28 Nishimiyahara Yodogawa ku Krokamp 35 D 24539 Neum nster Germany Osaka 532 0004 Japan Phone 49 4321 871 0 Phone 81 66395 6066 Fax 49 4321 871 122 Fax 81 66395 8585 www sauer danfoss com
10. ns e Downloads software to keyed PLUS 1 hardware e Transfers data from the microcontroller to a PC e Provides interface for developing service screens for machine diagnostics setup and tuning Keyed PLUS 1 Application Block Software and Application Hardware If the application hardware key matches the application software key 10106603 the service tool permits the download to the target application hardware The Hitch Control Application File 70024823 ZIP is available for download from Sauer Danfoss website in the PLUS 1 GUIDE downloads section Application File Contents Software and documents enclosed in the application file include e Hitch Control Application Block 10108138 SCS e Hitch Control Application Block User Manual 11033753 PDF e Hitch Control System Description 11036124 PDF Application File Download and Installation in GUIDE After downloading the application file to your hard drive you can install the application block code in the My Blocks tab of the GUIDE component selector menu for easy access during application development Software user manual and other technical information documents from the application file may be stored in any convenient folder on your hard drive 11036124 Rev AA Dec 2008 11 SAUER DANFOSS Standard Features Optional Features Benefits 12 Hitch Control System Description Features and Benefits e Single acting and double acting proportional valves as well
11. p Procedures e Recommended System Start up Procedures Technical Information 11010667 Sauer Danfoss product literature on line at www sauer danfoss com 11036124 Rev AA Dec 2008 SAUER 5 DANFOSS OEM Responsibility Hitch Positioning Control Concepts Hitch Control System Description Overview The manufacturer of a machine or vehicle using PLUS 1 electronic controls is responsible for correctly applying and programming GUIDE programmable PLUS 1 products Sauer Danfoss strongly recommends that the OEM perform a system level Failure Mode Effects Analysis FMEA You can find additional information about OEM responsibilities in the PLUS 1 Controller Family Technical Information manual and Recommended System Start up Procedures Technical Information manual The purpose of the hitch control system is to allow the operator to position the hitch linkage either in a work or transport position Set points for transport and work are adjustable parameters A closed loop position control compares the set point to the actual input from the position sensor If there is a difference it controls the valve to lower or raise the linkage The goal of an automated hitch control system is to e Facilitate fast and easy attachment of implements to the tractor e Optimize the tractor implement output during field operation as measured in acres hour or fuel consumption acres relative to manually controlled systems e Provide a safer and mor
12. peed scaling gt Active damping p gt ramp deadband gt Valve Set point creation and position control A Feedback sensors Reference setpoint OEM Supplied gt Force control gt Slip control 3514 Adaptive Force Control It is sometimes difficult for the operator to find the correct parameter settings for force control in some work situations Selecting adaptive force control allows the system to automatically adjust to changing field conditions 11036124 Rev AA Dec 2008 SAUER S DANFOSS Closed Loop Work Control Modes continued Closed Loop Transport Modes Hitch Control System Description System Details Fast Down Control This mode gets the implement more guickly to the correct working depth e Single acting This mode bypasses the closed loop control and sends the valve to maximum lowering Maximum lowering is still subject to scale function according to implement weight to avoid hazardous lowering speeds e Double acting This mode maintains the closed loop control The only difference to work mode is that the digital output to switch between single and double acting is set for double acting operation In cab Control from Human Machine Interface HMI You can expand the HMI with up down buttons or a joystick for manual operation In manual operation the ope
13. rator gives direct input to the valve This is very useful for attaching and detaching implements e Analog joystick Control of the valve is proportional from zero to the specified maximum value e Digital buttons If the application uses on off buttons pressing the appropriate button sets the valve to the specified maximum value Remote Operation It is possible to operate the hitch valve with buttons outside the cab This operation overrides any other mode and leaves the system in safe state after operation When back in the cab the operator must choose desired mode In transport mode the position control adjusts the linkage to the upper limit set point Rear Hitch Active Damping When traveling with a heavy implement lifted the tractor can start to oscillate around the rear axle The result is that the front wheels no longer have a steady contact with the road Active damping can modulate the linkage position to offset these oscillations Normally the draft sensors sense these oscillations and provide the input signal to the control Front Hitch Active Damping Active damping can benefit a front hitch as well as the rear hitch You can add pressure sensors to the system to provide the necessary signals to the hitch control application block 11036124 Rev AA Dec 2008 7 SAUER DANFOSS Overview PVBZ Double Acting Actuator Control PVBZ HS Single Acting Actuator Control Hitch Control System Description Control
14. splacement Control Vendor Honeywell RPN Series Rotary Position Sensors use a magnetically biased Hall effect integrated circuit to accurately sense rotary movement of the actuator shaft Ground Speed Radar Vendor Dickey john The DICKEY john RVSIII series Radar Velocity Sensors utilize Doppler radar technology to output a signal that is proportional to ground speed A wide range of keyed PLUS 1 microcontrollers are available including 24 pin 50 pin and 88 pin models PLUS 1 Controller Power Supply Specification Normal sensor power supply output specification for Sauer Danfoss microcontrollers is 5 Vdc Output current rating ranges from 200 mA to 500 mA depending on the microcontroller model you select for your application Please refer to individual microcontroller data sheets for additional details MC024 01A Controller For 10 Vdc Draft Sensors The MC024 01A is an element of the PLUS 1 family of mobile machine management products It is a keyed general purpose controller egually suited for use in a distributed machine control system or as a stand alone controller This controller has a 10 Vdc 0 5 A sensor supply output for use with existing hitch sensors on the market reguiring a 10 Vdc power supply HWD Hardware Description File for PLUS 1 Controllers Sauer Danfoss provides hardware description files HWD file for PLUS 1 microcontrollers Each HWD file includes the operating system software for a particular microcontrol
15. sssssssscsssecsssecsssecsnsecssseessseessescsseccssecsnseessseessnccssuccessecsstecsnessnseesnees 6 Closed Loop Transport MOdEeS sccsssssssssssssesssssssessssssnsssssssssssssssucssssssncsssessncssssssnsssssssucsnssesncsassesneenssessees 7 OD EOR EEA a tn PVBZ Double Acting Actuator Control PVBZ HS Single Acting Actuator Control sissennoononnotoonnnn onnno nano anna ranne 8 PVBZ HD Single and Double Acting Actuator Control csescccrxsscrrkesrrrkrrrrrkrrrrke 9 NIIH res ada ina e A A N AA A EERTE 10 1 A ARAO RR RN Riia 10 IM CFOCOMEON CHS RR RER R RE O Aan 10 Application Block Software Description ssssecsssessssecssseessecssessssecsssecsssecssseesssccssneceseecssseesnessnsesste 11 PLUS GUIDE Zaen ERN N RRA nn 11 PLUS T 11 Customer Access to the Hitch Application BlOCK ssssssscsseesssessssccsnseesseecssecssscceseecsssecsneeesnseesee 11 Standard Feat ites saccistcsss testccavcacasvccdescassiesistessvadsesscndecocst osesatasteessencatsccdesvassvsigssessseralusdesssbasssdavecoselecwsatlantee 12 Optional FEAtU 12 310 12 11036124 Rev AA Dec 2008 3 SAUER S DANFOSS About This Document Referenced Product Specific Documents Hitch Control System Description Overview This document provides general information about the PLUS
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