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Danfoss PVED-CLS User Manual
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© Danfoss |
Augus
t 2018
AQ00000211
|
13
ENGINEERING TOMORROW
System
overview
2.1
OSPE
& EHI
S
YSTEM
S
O
SP
SA
SA
-
sen
sor
Vehicle speed
sen
sor
Au
to
-
g
ui
da
nc
e
M
MI
AU
X
PLUS+1 S
erv
ice
to
ol
M
ai
n
M
ic
r
o
-
c
ro
nt
ro
ll
e
r
Sa
fe
ty
M
ic
r
o
-
c
ro
nt
ro
ll
e
r
WAS
*
So
le
n
oi
d
val
ve
br
i
dg
e
E
H
v
al
ve
C
ut
-
of
f
val
ve
So
le
n
oi
d
val
ve
LVDT
C
ut
-
o
ff
v
a
lv
e
o
ut
pu
t
Vbat
-
CA
N_sa
f
ety
CA
N_Ma
i
n
AD1
AD2
AD3
(
n
ot us
ed)
5V sensor supp
ly +
Se
ns
or
gr
ound
-
P
T
Ma
in
sp
ool p
ositi
on
Ma
in
sp
ool p
ositi
on
PV
ED
-
CLS
P
ilo
t
Pre
ssure
P
ilo
t
Pre
ssure
Vb
at +
(
9 …
3
2 V )
Vb
at
-
Key
o
ff/d
e
-
en
er
giz
e
C
ylin
d
er
+V1
+V2
G
N
D1
G
N
D2
OUT1
OUT2
Wh
e
e
l
An
gle
Sen
s
o
r
5V
serso
r
supp
ly
Se
ns
or
gr
ound
-
AD1/C
AN
AD2/C
AN
Whee
l
a
ngl
e s
ensor
d
i
a
gram
C
A
N
b
us
–
St
e
e
ring
bu
s
(T
er
mi
nate
wit
h 1
20
Oh
ms
in bo
th
end
s)
OSPE
-
va
lve
WAS
*
Figure
1
OSPE System
O
SP
Vehicle speed
sen
sor
Au
to
-
g
ui
da
nc
e
M
MI
AU
X
PLUS+1 S
erv
ice
to
ol
M
ai
n
M
ic
r
o
-
c
ro
nt
ro
ll
e
r
Sa
fe
ty
M
ic
r
o
-
c
ro
nt
ro
ll
er
WAS
*
So
le
n
oi
d
val
ve
br
i
dg
e
E
H
v
al
ve
C
ut
-
of
f
val
ve
So
le
n
oi
d
val
ve
LVDT
C
ut
-
o
ff
v
a
lv
e
o
ut
pu
t
Vbat
-
CA
N_sa
f
ety
CA
N_Ma
i
n
AD1
AD2
AD3
(
n
ot us
ed)
5V sensor supp
ly +
Se
ns
or
gr
ound
-
P
T
Ma
in
sp
ool p
ositi
on
Ma
in
sp
ool p
ositi
on
PV
ED
-
CLS
P
ilo
t
Pre
ssure
P
ilo
t
Pre
ssure
Vb
at +
(
9 …
3
2 V )
Vb
at
-
Key
o
ff/d
e
-
en
er
giz
e
C
ylin
d
er
+V1
+V2
G
N
D1
G
N
D2
OUT1
OUT2
Wh
e
e
l
An
gle
Sen
s
o
r
5V
serso
r
supp
ly
Se
ns
or
gr
ound
-
AD1/C
AN
AD2/C
AN
Whee
l
a
ngl
e s
ensor
d
i
a
gram
R
e
ac
t
i
o
n
Sw
it
c
h
Val
ve
E
Hi
-
E
val
ve
OSP
-
va
lve
SA
SA
-
sen
sor
WAS
*
C
A
N
b
us
–
St
e
e
ring
bu
s
(T
er
mi
nate
wit
h 1
20
Oh
ms
in bo
th
end
s)
L
R
P
Figure
2
EHi
-
E Syste
m
12
14
Table of Contents
Default Chapter
7
Table of Contents
7
General Information
11
Steering Input Devices
11
CAN Interface
12
Power-Up
12
CAN Bus Protocol
12
DC Power Supply
12
System Overview
13
OSPE & Ehi Systems
13
EHPS System
16
Pved-Cls Functional Overview
18
PVED-CLS System Overview
18
PVED-CLS Steering Mode Selection State Machine
19
Steering Wheel State Machine
20
AUX Steering State Machine
21
Auto-Guidance Steering State Machine
21
State Transition Requirements Description
24
Steering Wheel Related Conditions
24
Auxiliary Steering Device (AUX) Related Conditions
24
Auto-Guidance Related Conditions
26
Vehicle Speed Dependent Conditions
27
Other Conditions
27
Parameter Configuration
28
Parameter Setup Procedure - Good Practice
28
Installation
30
Connector Interface
30
PVED-CLS LED Diagnostic
31
Mapping a Steering Device/Sensor
32
Valid Sensor Combinations
32
Hydraulic and Peripherals Config
35
Cut-Off Valve
35
Cut-Off Valve Control
35
Cut-Off Valve Monitoring
38
Cut-Off Valve Monitoring for OSPE, Ehi-E
38
7.1.2.2 Cut-Off Valve Monitoring for Ehi-H
39
Road Switch
40
EH Steering Disengage Method
42
Internal Monitoring Disengage (IMD)
42
Valve Capacity
43
LVDT Compensation and Spool Threshold at Boot-Up
45
LVDT Compensation
45
Spool Threshold at Boot-Up
45
Analogue Interface
45
AD Low-Pass Filter
45
Analogue Input Drift Compensation
46
Sensor Supply Test
46
Steering Device and Program Changes
47
Vehicle Speed Setup
47
Vehicle Geometry
48
7.10 Setup a Steering Device
51
External Sensors
51
Wheel Angle Sensor
52
No Wheel Angle Sensor
52
Speed Sensor
52
SASAIID Sensor
53
Calibration
54
Wheel Angle Sensor Calibration
55
Automatic Adjustment of Maximum Steer Angles and Cylinder Stroke Volume
56
Analogue Joystick Calibration
61
Spool Calibration
62
Prerequisites
62
Spool Calibration Overview
63
Auto-Calibration
65
Initial Setup
66
Auto-Calibration Parameter Plausibility Check
67
Execute Auto-Calibration from Plus+1 Service Tool
70
Pre-Requisite
70
Execute was Auto-Calibration from the PLUS+1 SERVICE TOOL
70
Execute Analogue Joystick Auto-Calibration from the PLUS+1 SERVICE TOOL
74
Execute Spool Auto-Calibration from the PLUS+1 SERVICE TOOL
78
Fine-Tuning of Parameters for Spool Calibration
82
Steering Wheel Programs
83
Block Diagram
83
Backlash
83
STW in Use and Activation Threshold
84
Vehicle Speed Dependent Fast-Steering
84
Compensate Steering Sensitivity According to Wheel Angle Range
85
Anti-Drift (EFU)
87
Anti-Jerk
89
Calculation of Flow Set-Point Using Anti-Jerk Functionality
90
Soft-Stop
93
Aux Steering
95
Block Diagram
96
Open Loop Mini-Wheel
96
Open Loop Joystick
96
Closed Loop Joystick
96
AUX Config
96
AUX Joystick Config - Open Loop Mode
96
AUX Joystick Config - Closed Loop Mode
96
AUX Config - Mini-Steering Wheel
97
Open Loop Filter
98
Open Loop Mini-Wheel - Vehicle Speed Dependent Fast-Steering
99
Compensate Steering Sensitivity According to Wheel Angle Range
100
Open Loop Mini-Wheel Anti-Drift (EFU)
101
Open Loop Anti-Jerk
103
Calculation of Flow Set-Point Using Anti-Jerk Functionality
104
Open Loop Soft Stop
107
Open Loop Joystick - Transfer Function
108
Open Loop Joystick - Vehicle Speed Dependent Flow Scaling
110
11.10 Closed Loop Joystick - Vehicle Speed Dependent Wheel Angle Limitation
111
11.11 Closed Loop Joystick - Vehicle Speed Dependent Closed Loop Control
114
11.12 Aux Type - Elobau Joystick
116
11.12.1 Validation of Elobau Joystick Position Status
116
11.12.2 Validation and Scaling of Elobau Joystick Position
117
11.12.3 Time Guarding on Elobau Joystick Messages
117
11.12.4 Elobau Joystick - Parameter Configuration
118
Auto-Guidance Steering
119
Block Diagram
119
Selection of GPS Algorithm Type
119
GPS Config
121
Vehicle Speed Dependent Wheel Angle Limitation
123
Vehicle Speed Dependent Closed Loop Control
124
Vehicle Speed Dependent Flow Command Limitation
128
Vehicle Speed Dependent Wheel Angle Speed Limitation
130
Safe On-Road Mode
132
Fda
133
Diagnostics and Troubleshooting
136
Diagnostics
136
Troubleshooting - Typical Faults
137
Errata Information
138
Appendix
139
Parameter Cross Check
139
Error Codes
142
FMI List
148
Parameter List
148
Hydraulic Config
149
Sehs Fda
150
Valve Calibration
151
CAN was Calibration Data
151
Analog Sensor Calibration Data
152
Peripherals Config
153
SEHS Protocol Data
154
Internal Monitoring
156
Vehicle Geometry
158
17.4.10 GPS Config
158
17.4.11 STW Config
160
17.4.12 AUX Config
162
17.4.13 Production/Calibration Flag
164
17.4.14 Auto Calibration Config
164
17.4.15 OEM Data
167
CRC Sector
167
CRC Sector Overview
167
Sector CRC Calculation
168
Example
168
Signature CRC Calculation
168
Example
169
Manual Calibration of WAS, Joystick and Spool
170
Production/Calibration Flag
170
Calibrating Analogue Wheel Angle Sensor
170
Calibrating CAN-Based Wheel Angle Sensor
172
Calibrating Analogue Joystick
174
Manual Spool Calibration
176
Spool Calibration Overview
176
Spool Calibration Procedure
177
Determining the Closed Loop Dead-Bands
177
Determining the Open Loop Dead-Bands
177
Calibration Procedure
178
Closed Loop Dead-Band Calibration
179
Open Loop Dead-Band Calibration
180
Determining TL and TR for a Specific Vehicle Type
180
Post Conditions
181
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Danfoss PVED-CLS Specifications
General
Brand
Danfoss
Model
PVED-CLS
Category
Controller
Language
English
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