Home

PVED-CL Communication Protocol, version 1.38

Contents

1. Communications Guidance engage and disengage state machine not A and B A got X CT uS not A and B not A and B not A or B not A or B not A and B andC E not A or B E not A and B andD Please note that no active transaction means no state change happens State definitions 1 Initialization 2 High priority set point controller disabled device disable functionality available in PVED CL If other steering device is selected PVED CL follows set points from this device 3 PVED CL requests the high priority set point controller for a message reset It waits for at least 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 steering device Conditions A High priority set point controller disabled device disable functionality available in PVED CL B No other steering device selected or set points from other steering device below threshold a New curvature request received but not intended for steering D New curvature request received intended for steering E Timeout no new curvature request has been received for 200 ms F Steering wheel disengage ability check has been passed or is disabled 12 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information
2. Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA6 MSB first extended message identifier XID 3 UNSIGNED8 Ox5A check value CommitDataResponse Sent back to signal any change in the commit process status This means the CommitData command may result in several responses e g ready gt in progress gt succeeded The minimum delay between responses is set to 40 ms CAN message Priority 6 PGN 61184 XID OxOFA7 MSB first Occurrence upon request Modes operational reduced calibration Sent by PVED CL Sent to configuration tool Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA7 MSB first extended message identifier XID 3 UNSIGNED8 Commit status 0x00 ready to perform commit operation 0x01 commit operation has just begun 0x02 the operation succeeded 0x03 the operation failed 0x04 parameter cross check failed 0x05 commit is already in progress 4 5 UNSIGNED16 Commit error code If commit operation failed an error code on the particular parameter cross check is issued If commit operation succeeded the value is 0 Please refer to Commit Error Code on page 37 EnterCalibrationMode This command is used to force PVED CL to enter the calibration mode for further information see PVED CL User Manual 11079550 and shall be sent within 200ms after
3. Communications Flags available in status messages guidance machine status State Request Reset Steering Input Position Machine can Execute Mechanical System Command Status Status Commands Lockout 1 No status message transmitted 2 00 reset not required 11 not available 11 not available 01 active 3 01 reset required 01 correct position or 00 system is not ready 00 inactive 10 error indication 4 00 reset not required 01 correct position or 00 system is not ready 00 inactive 10 error indication 5 00 reset not required 01 correct position 01 system is ready 00 inactive 6 00 reset not required 00 incorrect position 00 system is not ready 00 inactive 1 Error indication is reported if the steering wheel disengage ability check if enabled has failed This means that too much time has 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 application To allow removable set point controllers to be used vehicle specific data can be stored in the PVED CL s configuration memory For further details refer to PVED CL User Manual 11079550 Diagnostics Although PVED CL supports J1939 diagnostic protocol J1939 73 there exists a proprietary way of informing about errors The configuration diagnostic tool
4. 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 Position 0 left end lock 2047 neutral position vehicle s moving straight ahead 4095 right end lock High priority external set point controller Vehicle speed The communication with the high priority external set point controller is performed in a special way with messages described in Guidance on page 11 This is a standard message used for broadcasting the information about the vehicle speed J1939 71 11079551 Rev BA July 2014 Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communication with sensors and steering devices CAN message Priority 6 PGN 65265 Occurrence every 100 ms Sent by vehicle speed sensor Data field Bytes Encoding Value Range Description 1 ignored by PVED CL 2 3 UNSIGNED 16 4 8 0 64255 vehicle speed in 1 256 km h reflects 0 250 996 km h ignored by PVED CL 16 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Configuration GetParameter GetParameterResponse SetParameter This message is used to retrieve a value of a given
5. Reference documents Refering to literature Reference Title author PVED Controller for Electro Hydraulic Steering PVED User Manual 11079550 J1939 SAE J1939 Top Level J1939 21 SAE J1939 Data Link Layer J1939 71 SAE J1939 Application Layer J1939 73 SAE J1939 Diagnostic Layer J1939 81 SAE J1939 Network Management Definitions and abbreviations Definitions and abbreviations Term Description DTC Diagnostic Trouble Code EHPS Electro Hydraulic Power Steering MMI Man Machine Interface XID Extended Message Identifier PVED CL Proportional Valve Digital Closed Loop here the valve controller SPN Suspect Parameter Number 11079551 Rev BA July 2014 5 p Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications J1939 ISOBUS compliance Network Management Protocol NMP To make PVED CL able to work in CAN J1939 networks the following parts of NMP have been implemented e Address Claimed e Request for Address Claimed response PVED CL claims it address on power on after any won address arbitration and when requested to do so However please note that because of some platform and software architecture constraints PVED CL may claim its address even when it s not needed This is triggered by a RequestParameterGroup message no matter which node has sent it and which one the message i
6. PAS PACIFICA Tora ee 6 Application layer 6 Diagnostics 6 Proprietary messages YA MUD It ID messages rrt terere terio eere rete eet diste bene tese n epe eee hubiese sesto tengo 8 Proprietary rOCO CO e 9 cce n 9 Communication with sensors and steering AEVICES sssssscsssccsssseesseeccesecsssuseccseesssseeessuecessuecessutecssseeessuteccsneeessneeees 9 ear ecu p 9 Secondary configuration CEVICE secsssssccsssecsssesscsssecssssssesssecesssecsssesecssseesssseescsnecessueccssscessssecessueccsuecessueesssneeessneesessseets 10 Eri c 10 Control 10 Guidance d Diagnostics Communication with sensors and steering devices Configuration Status Control Steering wheel absolute angle and SPeed ssscssssecssessesssecssssseccssecssssecsssueccsssecessseeesssecsssueccasecessueeessueeessueessaesessaseeessees 14 High priority steering device position Low priority steering device position Primary steered wheel angle position Redundant steered wheel angle position 15 High priority external set point CONTFOIEN csesccsssscccsseccssseeccssscccssecssssseerssecessueeccsueesssueesssnseccsseecesueecesueecssueeessneeessnseeesees 15 Vehicle
7. PVED CL transmits its Address Claimed message Once the system state changes to Calibration a response GetCurrentModeResponse with a proper mode identifier will be sent back 20 11079551 Rev BA July 2014 Denpi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Configuration CAN message Priority 6 PGN 61184 XID OxOFA8 MSB first Occurrence if required within 200ms after PVED CL s Address Claim Modes only during start up Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAS MSB first extended message identifier XID 3 UNSIGNED8 0x58 check value 11079551 Rev BA July 2014 21 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Status GetCurrentMode GetCurrentModeResponse Used to get the information about the current PVED CL mode CAN message Priority 6 PGN 61184 XID OxOFA9 MSB first Occurrence when required Modes operational reduced calibration fault Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAO9 MSB first extended message identifier XID Information about the current mode CAN message Priority 6 PGN 6118
8. SO c 15 Ee LTE M I E GetParameterResponse EE ITTA E EE SetParameterRes POMSC scssiicesssssssonscseaiccsseasascessiaccscseasesnssgeassseasgonsecenstbusdcos annie eR riea R ree bu orte e S EsAN Eii aiii Sa IG GISELE ReStoreDefauiltsRESPOMSC RR T 19 COMMMITD aba scars C 19 COMMIULDATARES POMSE e 20 izerceiivcum 20 GetCuirrentMode rettet tenete besten a a a aaia iii 22 GetCurnrentModeR S PONS Eisner n ENA OEA ARN ERER 22 SLAMESCOP sir oE E EE AEE AA E E T A A E N 22 jr U AA E A E EEEE E EE AE EE 23 Eie Tgasi eje BTo rr e Iz UR M 24 OperationStatus 25 Luc m ISE 26 SEtSPOOIP OSI M 27 Ede n C 27 StartValveAutoCalibration ValveAutoCalibrationStatus SelectProgram 1 30 SMlectPrograMResponse isiascssssscsvsetssnnsissoscssatcevesniagocssstigtibeaseusuesonbsdsevessteseecotigdstnseddadssentaesesunsadcnasstvtnddusnsavestosnsscdsbentubesscotand ass 31 DisableSteeringDevice uua eb ER EiT Aiae EET LEA N EA essa Rege elt epe E EAEE HERE UR 31 11079551 Rev BA July 2014 3 Technical Information PVED CL Communi
9. be found in Diagnostics proprietary on page 35 Proprietary messages Both proprietary A and B messages are in use PDU1 proprietary messages pgn61184 are used for configuration and control commands as well as GetCurrentMode and GetCurrentModeResponse messages whereas PDU2 format is used for broadcast status messages PVED CL uses a separate CAN buffer for receiving data from each node it can communicate with This means there s no dependency between messages with pgn61184 sent from different nodes As three different status messages can be broadcast three proprietary PDU2 parameter group numbers are needed These numbers are as follows 65280 offset base e 65280 offset base 1 e 65280 offset base 2 11079551 Rev BA July 2014 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications 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 a
10. best possible solutions for outstanding performance And with an extensive network of Global Service Partners we also provide comprehensive global service for all of our components Please contact the Danfoss Power Solution representative nearest you Local address Danfoss Power Solutions Danfoss Danfoss Shanghai Co Ltd Power Solutions GmbH amp Co OHG Power Solutions ApS Building 22 No 1000 Jin Hai Rd Krokamp 35 Nordborgvej 81 Jin Qiao Pudong New District DK 6430 Nordborg Denmark Phone 45 7488 2222 Shanghai China 201206 Phone 86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues brochures and other printed material Danfoss reserves the right to alter its products without notice This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed All trademarks in this material are property of the respective companies Danfoss and the Danfoss logotype are trademarks of Danfoss A S All rights reserved 11079551 Rev BA July 2014 www danfoss com Danfoss A S 2013
11. field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB5 MSB first extended message identifier XID 36 11079551 Rev BA July 2014 Zones Technical Information PVED CL Communication Protocol version 1 38 Technical Information Diagnostics proprietary Commit Error Code Commit Error codes from CommitDataResponse message Commit Error Code Parameter Consistency Check Fail 11150 Vehicle speed dependant parameter conflict One or more steering wheel programs do not comply with the rule stsO lt sts1 lt sts2 lt sts3 lt sts4 lt sts5 11151 Vehicle speed dependant parameter conflict One or more programs for high priority steering device low priority steering device or high priority external set point controller the sensitivity parameters do not comply with the rule stsO gt sts sts2 gt sts3 gt sts4 gt sts5 11152 11153 OSP and EHPS valve parameter conflict One or more steering wheel programs do not comply with the rule that sensitivity parameters StsO Sts5 shall be lt OSP back up sensitivity OSP and EHPS valve parameter conflict The backlash parameter Ri shall be lt RIOSP 11154 Closed loop parameter conflict YR must be 1000 for programs where the control principle Cp is Closed loop 11155 Closed loop parameter conflict YL must be 1000 for programs where the control principle Cp is Closed loop 1
12. 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 Modes operational reduced calibration Sent by PVED CL Sent to all nodes Set no 1 Bytes Encoding Value Range Description 1 2 SIGNED16 0 1023 AD1 the raw input of the first ADC channel Reflects 0 5 V 3 4 SIGNED16 0 1023 AD2 the raw input of the second ADC channel Reflects 0 5 V 5 6 SIGNED16 0 1023 AD3 the raw input of the spool position channel third ADC channel Reflects 0 5 V 7 8 SIGNED16 1000 1000 Xsp the calculated spool position set point Reflects 7 7 mm spool travel 11079551 Rev BA July 2014 23 Desf Technical Information PVED CL Communication Protocol version 1 38 Technical Information Status StartStopOperationStatus Set no 2 Bytes Encoding Value Range Description 1 2 SIGNED16 1000 1000 Yact scaled steering actuator position Reflects 100 0 100 096 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 10096 at CL port to 10096 at CR port 7 8 UNSIGNED16 Selected device 0x00 no device se
13. 1156 OSP and EHPS valve conflict For steering wheel programs Qm must be 1000 11160 Primary and secondary wheel angle sensor conflict No primary wheel angle sensor is mapped 11161 Db and Xysat parameter conflict Db must be gt xysat 11162 Analogue input AD1 parameter conflict For linear 3 point AD1 calibration the following rule must be followed AD1 1000 Left index 65080 lt AD1 Neutral index 65086 lt AD1 1000 Right index 65083 or AD1 1000 Left gt AD1 Neutral gt AD1 1000 Right For linear 5 point AD1 calibration the following rule must be followed AD1 1000 Left lt AD1 500 Left index 65055 lt AD1 Neutral lt AD1 500 Right index 65062 lt AD1 1000 Right or AD1 1000 Left AD1 500 Left AD1 Neutral gt AD1 500 Right AD1 1000 Right 11163 Analogue input AD2 parameter conflict For linear 3 point AD2 calibration the following rule must be followed AD2 1000 Left index 65089 lt AD2 Neutral index 65095 lt AD2 1000 Right index 65092 or AD2 1000 Left gt AD2 Neutral gt AD2 1000 Right For linear 5 point AD2 calibration the following rule must be followed AD2 1000 Left lt AD2 500 Left index 65069 lt AD2 Neutral lt AD2 500 Right index 65076 AD2 1000 Right or AD2 1000 Left AD2 500 Left AD2 Neutral AD2 500 Right AD2 1000 Right 11164 Closed loop mode with no wheel angle sensor conflict Closed loop program for high or low prio
14. 4 XID OxOFAA 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 Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAA MSB first extended message identifier XID 3 UNSIGNED8 0x55 current mode Ox0AA calibration OxOAF operational OxOFF reduced fault StartStopStatus This command is used to make PVED CL start stop sending status information Power on state status disabled 22 11079551 Rev BA July 2014 Denpi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Status CAN message Priority 6 PGN 61184 XID OxOFAB MSB first Occurrence when required Modes operational reduced calibration Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAB MSB first extended message identifier XID 3 UNSIGNED8 0x00 stop sending status information 0x01 request for status data set no 1 0x02 request for status data set no 2 0x03 request for status data set no 3 0x04 request for status data set no 4 Status Used to broadcast sensor or control variables on the CAN bus In fault mode broadcasting is stopped to minimize the bus load and avoid incorrect hazardous actions done by devices that
15. A July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Configuration RestoreDefaultsResponse CommitData CAN message continued PGN 61184 XID OxOFAA MSB first Occurrence when required Modes operational reduced calibration Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA4 MSB first extended message identifier XID 3 UNSIGNED8 Ox5C check value Sent back to signal the status CAN message Priority 6 PGN 61184 XID OxOFAS MSB first Occurrence upon request Modes operational reduced calibration Sent by PVED CL Sent to configuration tool Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAS5 MSB first extended message identifier XID 3 UNSIGNED8 0x00 restoring defaults failed OxOFF all parameter values changed to factory defaults This is a request for copying all modified parameters to non volatile memory CAN message Priority 6 PGN 61184 XID OxOFA6 MSB first Occurrence when required Modes operational reduced calibration 11079551 Rev BA July 2014 Desf Technical Information PVED CL Communication Protocol version 1 38 Technical Information Configuration CAN message continued
16. AN message Priority 3 PGN 44032 XID n a Occurrence every 80 ms only if the high priority external set point controller is mapped Mode operational reduced Sent by PVED CL Sent to high priority external set point controller 11079551 Rev BA July 2014 33 ones Technical Information PVED CL Communication Protocol version 1 38 Technical Information Guidance Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0 64255 Estimated curvature 8032 to 8031 75 km with resolution 0 25 km and offset 8032 km 3 bits 8 7 00 Request reset command status 01 reset not required 10 reset required 11 error indication not available bits 6 5 00 Steering input position status 01 incorrect position 10 correct position 11 error indication not available bits 4 3 00 Machine can execute commands 01 system is not ready 10 system is ready 11 error indication not available bits 2 1 00 Mechanical system lockout 01 not active 10 active 11 error indication not available 4 8 all ones Reserved Please note that when PVED CL requests the GPS reset byte 3 bits 8 7 it waits for at least one GuidanceSystemCommand message not intended for steering 34 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Diagnostics proprietary GetErrorEn
17. AutoCalibrationStatus The message is transmitted as a response to the StartValveAutoCalibration command Allows monitoring the progress and status of the valve auto calibration CAN message Priority 6 PGN 61184 XID OxOFB7 MSB first Occurrence During auto calibration after each time out period at commit state change at status information change Modes Calibration Sent by PVED CL Sent to MMI Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB7 MSB extended message identifier XID first 3 UNSIGNED8 Related to StartValveAutoCalibration command 0x00 invalid auto calibration request 0x01 invalid starting spool position set point request 0x02 invalid spool position set point increment size request 0x03 invalid minimum wheel angle difference threshold request 0x04 invalid time out period value request Auto calibration status error codes 0x05 invalid wheel position for further auto calibration related activities 0x06 missing steering wheel sensor signal 0x07 steering wheel in use 0x08 missing steered wheel feedback sensor signal 0x09 wheels found moving for the starting spool position set point 0x0A wheels not moving at maximum allowed spool position right direction 0x0B wheels not moving at maximum allowed spool position left direction 0x0C unable to update dead band parameters 0x0D the previously requested commit data pr
18. Denpi Technical Information Steering PVED CL Communication Protocol version 1 38 powersolutions danfoss com ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Revision history Table of revisions Date Changed Rev July 2014 Danfoss layout BA 07 September 2010 New standard backpage AD 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 1 38 AA 2 11079551 Rev BA July 2014 Technical Information PVED CL Communication Protocol version 1 38 Technical Information Contents Introduction Communications Purpose of the docutient aoctor veriti e PETRI ERREUR ECHO ETE UR ERE R EET ETUR EI Ec 5 Conventions 5 Reference documents 5 Definitions and ADDreviatiONS ccccsecssesssessesssesssessesssesssessesssesssesssessssssessecssesssesasessscsscsssessssesesssesssessesescsassssesssessessecssesaseeseeseess 5 J1939 ISOBUS COM PACS ssssassidsssssssscsssassscarensssscsssncsssssonascsesssnssasavonassecdssnssasessussssdsnnssasaasasdatdesnssdiauanassd osdnssasaeanassdsteusiadaatanassies 6 Network Management Protocol NMP sssssscssssscssscecssssccsseessssssessuecessuscecsueeessuecessueccsneesssusecssusesssueeessueessusesssneeceanesssess 6
19. GN 61184 XID OxOFB8 MSB first Occurrence when required Modes calibration Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB8 MSB first extended message identifier XID 11079551 Rev BA July 2014 27 Desf Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control StartValveAutoCalibration Data field continued Bytes Encoding Value Range Description 3 4 SIGNED16 1000 1000 requested flow 1000 corresponds to max flow to the left 1 corresponds to minimum flow to the left 1 corresponds to minimum flow to the right 1000 corresponds to max flow to the right 5 UNSIGNED8 0 Apply open loop flow to spool position scaling 255 Apply closed loop flow to spool position scaling Used for performing an auto calibration of the PVED CL to the valve The valve dead bands are automatically found and stored in the PVED CL Auto calibration may be useful for fine tuning the PVED CL and the valve when installed in its final environment This ensures optimum open loop and closed loop steering performances Auto calibration is also useful if the PVED CL needs to be replaced in the field CAN message Priority 6 PGN 61184 XID OxOFB6 MSB first Occurrence when required Modes calibration Sent by MMI Sent to PVED CL Data fie
20. GNED16 Command 0x53 arm high priority steering device enabling 0x03 disabling 0x0A3 enable high priority steering device 0x54 disable high priority steering device 0x04 arm low priority steering device enabling disabling 0x0A4 enable low priority steering device 0x55 disable low priority steering device 0x05 arm high priority external set point con enabling Ox0A5 disabling enable high priority external set point controller disable high priority external set point controller DisableSteeringDevice Response The message is transmitted upon the DisableSteeringDevice command to inform whether the operation succeeded However as DisableSteeringDevice command is ignored when the OSP is not present in this case no response will be sent back CAN message Priority 6 PGN 61184 XID OxOFB1 MSB first Occurrence upon request on timeout Mode operational reduced Sent by PVED CL Sent to MMI Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB1 MSB first extended message identifier XID 3 UNSIGNED8 0x00 High priority steering device status 0x03 device not mapped 0x53 device enabled 0x0A3 device enabled Change armed Ox0F3 device disabled device disabled Change armed 4 UNSIGNED8 0x00 Low priority steering device status 0x04 device not mapped 0x54 device enabled 0x0A4 device enabled Change armed Ox0F4 device disabled device disa
21. bled Change armed 5 UNSIGNED8 0x00 High priority external set point controller 0x05 device not mapped 0x55 device enabled Ox0A5 device enabled Change armed Ox0F5 device disabled device disabled Change armed 32 11079551 Rev BA July 2014 Zones Technical Information PVED CL Communication Protocol version 1 38 Technical Information Guidance GuidanceSystemCommand GuidanceMachineStatus This message conforms to ISO 11783 7 guidance commands It is used for auto steering and commands the vehicle to follow the transmitted curvature course Negative curvature values will cause the vehicle to drive left CAN message Priority 3 PGN 44288 XID n a Occurrence when required every 100 ms or faster PVED CL sample period is 20 ms Mode operational reduced Sent by high priority external set point controller Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0 64255 curvature command 8032 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 steering command status 01 not intended for steering 10 intended for steering 11 error indication not available 4 8 all ones reserved This message conforms to ISO 11783 7 guidance commands It is used to report current vehicle s estimated curvature as well status flags C
22. cation Protocol version 1 38 Technical Information Contents Guidance Diagnostics proprietary DisableSteeringDevice RESPOMSE sssscssssssccssecssseecessecssssecesnsesesssecessseeccusecssssccessuecessseesssseeesssecsesueeecssecesaueeessueecesseessnseeessneess 32 GuIdaNnceSysteMCOMMANA sseccsssssccssecssssseccssecsesseesssneccssseesssseecssseesssuceecsuecessucessssccesssecsssueccssccessuceessuecessucessaeeeecaseessaueeeenseess 33 GUIdAMCEMACHIMES ES EU I RE 33 GetErrorEntry 35 GetErrorEntryResponse Clear Error EMU RT 36 Commit EOF COJ Enaren on AE AE AEI AN EAA O AEEA A fesssssasactvistonueasesecnsnetesis 37 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Introduction Purpose of the document This document has been created in order to present the communication protocol implemented in PVED CL a controller in the Electro hydraulic Power Steering system The document describes the CAN messages which enables the PVED CL and relevant sensor to be connected to a J1939 network Conventions As suggested in J1939 protocol documentation the little endian layout applies to all multi byte numerical values any exception requires an explicit note Unless otherwise mentioned all signed numerical values are encoded in two s complement format The CAN Data field byte numbers start from 1
23. cs proprietary Data field error identification data continued Bytes Encoding Value Range Description 6 7 UNSIGNED 16 0 OxFFFE error code OxFFFF wrong index or information not available Data field timestamp Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB4 MSB first extended message identifier XID 3 UNSIGNED8 1 16 buffer index the oldest error at index 1 4 UNSIGNED8 1 timestamp details 5 8 UNSIGNED32 timestamp 0 OxFFFFFFFE the value of a timer which starts counting upon PVED CL power on observed when the error OxFFFFFFFF occurred wrong index or no information available Data field temperature Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB4 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 PVED temperature 50 150 temperature in oC observed when the error 150 450 occurred temperature sensor provided data but was likely 32768 to be damaged by being oveheated wrong index or no information available ClearErrorEntries Used for clearing all error entries in the persistent error buffer CAN message Priority 6 PGN 61184 XID OxOFB5 MSB first Occurrence when needed Modes operational reduced calibration Sent by configuration tool Sentto PVED CL Data
24. en required Modes operational reduced fault Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAC MSB first extended message identifier XID 3 UNSIGNED8 0x00 stop sending operation status information OxOFF request for operation status Used for broadcasting the information about selected device chosen program and steering devices status CAN message Priority 6 PGN 65280 offset_base 1 XID n a Occurrence every 240 ms Only if Operation Status messages are enabled Modes operational reduced fault Sent by PVED CL Sent to all nodes Data field Bytes Encoding Value Range Description 1 UNSIGNED8 Current mode Ox0AA operational OxOAF reduced OxOFF fault 2 UNSIGNED8 Selected device 0x00 no device selected 0x01 steering wheel 0x02 reserved 0x03 high priority steering device 0x04 low priority steering device 0x05 high priority external set point controller 3 UNSIGNED8 depends on the selected device Active program OxOFF if no device is selected 4 UNSIGNED8 High priority steering device status 0x00 device not mapped 0x03 device enabled 0x53 device enabled Change armed Ox0A3 device disabled Ox0F3 device disabled Change armed 11079551 Rev BA July 2014 25 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Inf
25. escription 1 2 UNSIGNED16 0 4095 Position 0 left end lock 2047 neutral position 4095 right end lock Low priority steering device position The message data represents the position of the low priority steering device CAN message CAN id 0x406 11bit Occurrence every 80 ms or less recommended 10 ms Sent by low priority steering device 14 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communication with sensors and steering devices Data field Bytes Encoding Value Range Description 1 2 UNSIGNED 16 0 4095 Position 0 left end lock 2047 neutral position 4095 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
26. g Electrohydraulics Hydraulic Power Steering Integrated Systems e Joysticks and Control Handles e Microcontrollers and Software e Open Circuit Axial Piston Pumps Orbital Motors e PLUS 1 GUIDE e Proportional Valves Sensors Steering e Transit Mixer Drives Comatrol www comatrol com Schwarzm ller Inverter www schwarzmueller inverter com Turolla www turollaocg com Valmova www valmova com Hydro Gear www hydro gear com Daikin Sauer Danfoss www daikin sauer danfoss com Danfoss Power Solutions US Company 2800 East 13th Street Ames IA 50010 USA Phone 1 515 239 6000 D 24539 Neum nster Germany Phone 49 4321 8710 Danfoss Power Solutions is a global manufacturer and supplier of high quality hydraulic and electronic components We specialize in providing state of the art technology and solutions that excel in the harsh operating conditions of the mobile off highway market Building on our extensive applications expertise we work closely with our customers to ensure exceptional performance for a broad range of off highway vehicles We help OEMs around the world speed up system development reduce costs and bring vehicles to market faster Danfoss Your Strongest Partner in Mobile Hydraulics Go to www powersolutions danfoss com for further product information Wherever off highway vehicles are at work so is Danfoss We offer expert worldwide support for our customers ensuring the
27. has an access to the event logs maintained by PVED CL s software which is intended to make the debugging easier as well as to help an OEM or a support team to tune the system Detailed information about the interface is provided in the chapter Diagnostics proprietary on page 35 11079551 Rev BA July 2014 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communication with sensors and steering devices Steering wheel absolute angle and speed The message data represents the absolute position of the steering wheel and the position change CAN message CAN id 0x301 11bit Occurrence every 5 10 recommended or 20 ms Sent by steering wheel angle sensor Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0 4095 position reflects 0 359 9121 deg with the resolution of 0 0879 deg Rolls over after a full turn 3 ignored by PVED CL 4 5 SIGNED16 4095 4095 position change reflects 359 9121 359 9121 deg with the resolution of 0 0879 deg ignored by PVED CL High 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 high priority steering device Data field Bytes Encoding Value Range D
28. ld Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB6 MSB first extended message identifier XID 3 4 UNSIGNED16 0 Max XspStartSearch the spool position set point Xsp at which the auto calibration starts Max 250 XspCalibrationOffset XspCalibrationOffset is the parameter value stored at parameter index 758 5 UNSIGNED8 1 255 XspIncrementSize the spool position set point increment size AXsp while searching for the specified minimum steered wheel position Yact difference 6 UNSIGNED8 1 255 YactDiffThreshold the minimum steered wheel position Yact difference threshold The difference is measured in the time out period 7 8 UNSIGNED16 1 65535 Time out period defines the time ms that each spool position set point is active in before the next increment 28 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control Data field continued Bytes Encoding Value Range Description nominally The spool position set point unit is a scaled value in the range 1000 to 1000 corresponding from 7 to 7 mm The scaled steering actuator position steered wheel position Yact range is 1000 to 1000 corresponding to the steered wheel end lock positions Requires that the wheel angle sensor is correctly calibrated Valve
29. lected 0x01 steering wheel 0x02 reserved 0x03 high priority steering device 0x04 low priority steering device 0x05 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 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 OxOFAC MSB first 24 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Status OperationStatus CAN message continued Occurrence wh
30. left maximum value index 729 MMI PVED CL CommitDataResponse Commit operation has just begun gt MMI PVED CL ValveAutoCalibrationStatus Commit process has started MMI PVED CL CommitDataResponse Commit succeeded MMI PVED CL ValveAutoCalibrationStatus auto calibration completed MMI SelectProgram Used for requesting the program change for a defined steering device CAN message Priority 6 PGN 61184 XID OxOFAE MSB first Occurrence when required Modes operational reduced Sent by MMI Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAE MSB first extended message identifier XID 3 UNSIGNED8 program number for 0 9 steering wheel 20 24 high priority steering device 25 29 low priority steering device 30 34 high priority external set point controller 30 11079551 Rev BA July 2014 Denpi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control SelectProgramResponse DisableSteeringDevice The message is transmitted upon the SelectProgram command to inform whether the program transition was successful If the transition has not been allowed the active program number will point at the previous and still valid program CAN message Priority 6 PGN 61184 XID OxOFAF MSB first Occur
31. llows them to be used in networks with other protocols 8 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications Proprietary protocol General Because J1939 documents do not define a standard communication protocol for systems like EHPS a proprietary one has been defined on top of the existing common mechanisms described in previous section The proprietary protocol covers issues related to the communication with sensors configuration status information etc Detailed information is available in the following sections The following general rules apply e the time delay between messages marked as when needed shall not be less than 100 ms e PVED CL shall respond within 200 ms with exception for CommitDataResponse 5000 ms aresponse timeout shall be 500 ms does not apply to CommitDataResponse message anotallowed command is ignored what results in no response sent back Timeout policy shall apply asa proprietary protocol is in use default message priority shall be set to 6 PVED CL s can receive messages from selected nodes only The source addresses of the vehicle speed sensor the MMI controller the high priority external set point controller as well as the configuration tool and PVED CL itself are configurable The default factory programmed values Node Default Source Address PVED CL 19 High priority e
32. ng 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
33. ocess has not finished yet OxOE commit data process has failed due to the cross parameter check failure OxOF commit data process has failed due to the EEPROM write failure 0x10 commit data process has not started on time 0x11 commit data process has not finished on time OxAO unknown error contact technical support OxA1 the commit data process has started OxAA auto calibration in progress OxFF auto calibration completed 4 5 SIGNED16 1000 1000 Xsp current main spool position 11079551 Rev BA July 2014 29 ones Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control A typical successful valve auto calibration message sequence MMI StartValveAutoCalibration PVED CL PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL SetParameterResponse right dead band value index 738 MMI PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL SetParameterResponse left dead band value index 737 MMI PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL SetParameterResponse right maximum value index 747 MMI PVED CL ValveAutoCalibrationStatus auto calibration in progress gt MMI PVED CL SetParameterResponse
34. ormation Status Data field continued Bytes Encoding Value Range Description 5 UNSIGNED8 Low priority steering device status 0x00 device not mapped 0x04 device enabled 0x54 device enabled Change armed Ox0A4 device disabled Ox0F4 device disabled Change armed 6 UNSIGNED8 High priority external set point controller 0x00 device not mapped 0x05 device enabled 0x55 device enabled Change armed Ox0A5 device disabled OxOF5 device disabled Change armed 7 bits 8 5 all zeros Not used Reduced mode caused by problems with bit 4 Wheel angle sensor signal 0 no 1 yes bit 3 Vehicle speed signal 0 no 1 yes bit 2 High priority steering device 0 no 1 yes bit 1 Low priority steering device 0 no 1 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 any rollover ambiguities in the timestamp information available in the Status message set no 3 CAN message Priority 6 PGN 65280 offset base 2 XID n a Occurrence every 1s Modes operational reduced Sent by PVED CL Sent to all nodes Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 0 59999 timestamp a value of a timer that starts counting upon PVED CL power on and rolls over after one minute 1 ms unit Accuracy equal
35. otocol version 1 38 Technical Information Configuration CAN message Priority 6 PGN 61184 XID OxOFA2 MSB first Occurrence when required Modes operational reduced calibration Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA2 MSB first extended message identifier XID 3 4 UNSIGNED16 see parameter list parameter index 5 8 UNSIGNED32 depends ona parameter value parameter SetParameterResponse Sent back upon the SetParameter request and contains both parameter index and value If due to any reason parameter value has not been changed the previous and still valid one is reported RestoreDefaults CAN message Priority 6 PGN 61184 XID OxOFAS3 MSB first Occurrence upon request Modes operational reduced calibration Sent by PVED CL Sent to configuration tool Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA3 MSB first extended message identifier XID 3 4 UNSIGNED 16 see parameter list parameter index 5 8 UNSIGNED32 depends ona parameter parameter value Used to set all parameter values to factory defaults Please note that the values are not stored in non volatile memory unless CommitData command is sent CAN message Priority 18 11079551 Rev B
36. parameter If an unknown parameter value is requested no response will be sent back Timeout policy shall be applied CAN message Priority 6 PGN 61184 xo J o FA MSBf st sss Occurrence when required Modes operational reduced calibration and fault Sent by configuration tool high priority external set point controller sntto wEpd Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAO MSB first extended message identifier XID 3 4 UNSIGNED16 see parameter list parameter index This message is sent upon the GetParameter request and contains both parameter index and parameter value CAN message Priority 6 PGN 61184 XID OxOFA1 MSB first Occurrence upon request Modes operational reduced calibration and fault Sent by PVED CL Sent to configuration tool or high priority external set point controller Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFA1 MSB first extended message identifier XID 34 UNSIGNEDI6 J see parameterlis parameterindx 5 8 UNSIGNED32 depends on a parameter value parameter This message is used to set value of a given parameter Please note that the values are not stored in non volatile memory unless CommitData command is sent 11079551 Rev BA July 2014 Technical Information PVED CL Communication Pr
37. ped 11172 Vehicle speed dependant steering sensitivity parameter conflict One or more program utilizes vehicle speed dependant steering sensitivity but no wheel speed sensor is mapped 11173 11176 StwDxActivationThreshold parameter conflict StwDxActivationThresold index 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 be true Steering Motion Threshold 4095 10 Full Strk Period StwDxActivationThreshold gt Where Steering_Motion_Threshold is defined in parameter index 119 Full_Strk is defined in parameter 111 Period is the SASA transmission period Set Period 5 10 or 20 if STWSensor TransmissionRate is 20 10 or 5 ms respectively STWSensorTransmissionRate is defined in parameter index 65124 The spool position dead band parameter Xspr 0 or Xspl 0 value is out of range for the selected valve type 11177 The maximum allowed spool position parameter Xspr 1000 or Xspl 1000 is out of range for the selected valve type 38 11079551 Rev BA July 2014 Denpi Technical Information PVED CL Communication Protocol version 1 38 Technical Information 11079551 Rev BA July 2014 39 Products we offer Bent Axis Motors e Closed Circuit Axial Piston Pumps and Motors e Displays Electrohydraulic Power Steerin
38. ports the following items defined by the J1939 diagnostic protocol 1939 73 e DM1 Active Diagnostic Trouble Codes e DM2 Previously Active Diagnostic Trouble Codes e DM3 Diagnostic Data Clear Reset for Previously Active DTCs A request for DM3 results in resetting the Occurrence Counts for Previously Active DTCs 11079551 Rev BA July 2014 Dont Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications Reception of request parameter group message START Request PG Request to global destinatia or PVED CI Request for Address Claimed No No Process the request Timer marked as active Yes Timer s value exceeds limit Yes Signal that Address Claimed message has to be sent out Mark timer inactive No L STOP Due to software architectural limitations the following deviations apply No Reset timer s value Mark timer active Timer marked as active Yes Timer s vale exceeds limit If DM1 message expected to be sent every 1s is along message and a long upon the request DM1 DM2 is being sent out the transmission of the cyclic message will be skipped e IfDM2isalong message more than one CAN message is needed it will always be transmitted to the global destination preceded with the Broadcast Announce Message Proprietary error codes are available for deep diagnostics Further details can
39. rence upon request Modes operational reduced Sent by PVED CL Sent to MMI Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAF MSB first extended message identifier XID 3 UNSIGNED8 as for SelectProgram requested program number 4 UNSIGNED8 as for SelectProgram active program number for the requested device or OxOFF if a non existing program has been requested 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 Disabled devices are not taken into account while making a decision which steering device should control the vehicle However the plausibility checks related to these devices will be performed Please note that disabling the device currently selected for steering results in no device selected condition CAN message Priority 6 PGN 61184 XID OxOFBO MSB first Occurrence when required Mode operational reduced Sent by MMI Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFBO MSB first extended message identifier XID 11079551 Rev BA July 2014 31 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control Data field continued Bytes Encoding Value Range Description 3 SI
40. rity steering device or external set point controller are configured but no wheel angle sensor is mapped 11165 J1939 Source address parameter conflict PvedSourceAddress VehicleSpeedSensorSourceAddress ControlDeviceSourceAddress ConfigurationDeviceSourceAddress and HPExtSourceAddress index 64003 to 64007 have to differ from each other 11166 Device enable disable initialization conflict When no OSP is mapped all mapped steering devices must be enabled at boot up index 64008 to 64010 11167 Rate limitation parameter conflict When fast ramp down is utilized Tfo index xy23 and Tfh index xy24 must be higher than Tfr index xy33 11168 Analogue input mapping conflict Two sensors are mapped to the same AD input 11079551 Rev BA July 2014 37 Desf Technical Information PVED CL Communication Protocol version 1 38 Technical Information Diagnostics proprietary Commit Error codes from CommitDataResponse message continued Commit Error Code Parameter Consistency Check Fail 11169 AD1 AD2 analogue input compensation error The 5V ext reference stored for compensation is out of range 11170 Articulated vehicle length parameter is out of range Total length cannot exceed 65535 mm 11171 Actuator dependant steering sensitivity parameter conflict One or more program utilizes actuator dependant steering sensitivity but no wheel angle sensor is map
41. s addressed to as illustrated on figure below Identification There are 2 items which identify PVED CL Source Address available in all 29bit ID messages sent by PVED CL e NAME broadcast while claiming the address Apart from this the protocol supports the following proprietary identification e PVED Serial Number available as a read only parameter at index 65001 Sales Order Number at index 65002 Software Version Number at index 65003 e Parameter Definition File at index 65004 SoftwarelD pgn65242 and ComponentID pgn65259 defined by 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 page 15 The standardized guidance messages are available in pgn44288 Guidance System Command and pgn44032 Guidance Machine Status Further details see GuidanceSystemCommand on page 33 PVED CL supports Request PG message but recognizes only requests for Address Claimed pgn60928 DM1 pgn65226 DM2 pgn65227 and DM3 pgn65228 All other requests if addressed explicitly to PVED CL are answered with NACK pgn59392 Please note the following limitations Only 4 ACK NACK messages can be buffered for transmission Other requests will be ignored f Request PG messages are sent too fast with an interval less than 20 ms some messages may be lost Diagnostics PVED CL sup
42. 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 10 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications Device enable disable state transitions Device disabled Command data Command data disable device arm enabling Command data enable device or enabling timeout Enabling armed Disabling armed Command data disable device or disabling timeout Command data Command data arm disabling enable device Device enabled Guidance The high priority external set point controller does not communicate with the PVED 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 Guidance on page 33 and the state machine shown on the figure Guidance Engage and Disengage State Machine below Please note that the state machine is executed only when PVED CL is in the operational mode or reduced mode and the high priority external set point controller is mapped 11079551 Rev BA July 2014 11 ones Technical Information PVED CL Communication Protocol version 1 38 Technical Information
43. to 5 ms 3 6 UNSIGNED32 0 357913 number of rollovers since boot of a millisecond timer 26 11079551 Rev BA July 2014 Zonen Technical Information PVED CL Communication Protocol version 1 38 Technical Information Control SetSpoolPosition Used to transmit the spool position set point to the PVED CL CAN message Priority 6 PGN 61184 XID OxOFAD MSB first Occurrence when required Modes calibration Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFAD MSB first extended message identifier XID 3 4 SIGNED16 1000 1000 requested spool position reflects 7 7 mm spool travel SetFlow Used for transmitting a flow request to the PVED CL The flow request is converted to a spool position with dead band compensation Use the SetFlow command for black box testing the PVED CL flow characteristic 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 mode converts the flow request as for open loop mode but adds the programmed closed loop spool position offset ClosedLoopXspOffset at parameter index 748 to the spool position This allows testing the valve output flow when used in Guidance mode CAN message Priority 6 P
44. try The command is used to retrieve the data stored in error buffers CAN message Priority 3 PGN 61184 XID OxOFB3 MSB first Occurrence when needed Modes operational reduced calibration and fault Sent by configuration tool Sent to PVED CL Data field Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFB3 MSB first extended message identifier XID 3 UNSIGNED8 1 16 buffer index the oldest error at index 1 4 UNSIGNED8 0 Request details 1 error code 2 timestamp when error occurred since power on PVED CL PCB temperature when error occurred GetErrorEntryResponse The message presents data available in the error log CAN message Priority 6 PGN 61184 XID OxOFBA MSB first Occurrence upon request Modes operational reduced calibration and fault Sent by PVED CL Sent to configuration tool Data field error identification data Bytes Encoding Value Range Description 1 2 UNSIGNED16 OxOFBA MSB first extended message identifier XID 3 UNSIGNED8 1 16 buffer index the oldest error at index 1 4 UNSIGNED8 0 error code details 5 UNSIGNED8 error severity 0 caution 0x55 nominal OxAA critical OxFF wrong index or no information available 11079551 Rev BA July 2014 35 Desf Technical Information PVED CL Communication Protocol version 1 38 Technical Information Diagnosti
45. xternal set point controller 28 Vehicle speed sensor 251 MMI controller a2 Configuration diagnostic tool 253 Communication with sensors and steering devices In general most of this type communication is performed with 11bit ID messages More details about message formats can be found in chapter Communication with sensors and steering devices on page 9 A sensor is expected to periodically broadcast the data A lack of data from the mapped sensor with exception for high priority set point controller causes PVED CL to fail silent or enter the reduced mode depending on the configuration data The timeouts are as follows The timeouts Sensor or Steering Device Timeout ms Steering wheel sensor 100 High priority steering device 100 Low priority steering device 100 Primary steered wheel angle position sensor 60 Redundant steered wheel angle position sensor 60 Vehicle speed sensor 160 Configuration PVED CL s configuration memory contain parameters which identify the system components and control the device s behaviour These parameters can be set up with a configuration tool The following operations are available 11079551 Rev BA July 2014 9 ZDonfsi Technical Information PVED CL Communication Protocol version 1 38 Technical Information Communications retrieving a parameter value e setting a parameter value committing data to non volatile memory e enteri

Download Pdf Manuals

Related Search

Related Contents

Bosch Appliances BSH Dishwasher Dishwasher User Manual  Et si analphabète s`écrivait "un alphabète" Forum  7 - SEW-Eurodrive  Istruzioni d`uso Forno a microonde  

Copyright © All rights reserved. Failed to retrieve file