Danfoss PVED-CLS - Page 22

22 | © Danfoss | August 2018 AQ00000211
ENGINEERING TOMORROW
Entry
Point
Auto-Guidance lockout
Guidance machine status flags to both auto-guidance
controllers
Request reset command status: Reset not required
Steering input position status: Not available
Machine can execute commands: Not available
Machine system lockout: Active
Guidance limit status: Not limited
Other steering
device selected
OFF_ROAD AND
GPS_EN AND
CHANGE_EN AND
STW_OFF AND
AUX_OFF AND
NOT SAFE_STATE
Auto-Guidance Qualification
Auto-Guidance communication state machine
Guidance machine status flags to the selected auto-
guidance controller
Request reset command status: Reset not required
Steering input position status: Incorrect position
Machine can execute commands: System is not ready
Machine system lockout: Inactive
Guidance limit status: not limited
Guidance exit reason: Operator override of function
Guidance machine status flags to the deselected auto-
guidance controller
Request reset command status: Reset not required
Steering input position status: Not available
Machine can execute commands: Not available
Machine system lockout: Active
Guidance limit status: not limited
Guidance exit reason: Alternate guidance system active
NOT (OFF_ROAD AND
GPS_EN) AND
NOT SAFE_STATE
NOT
SAFE
STATE
STW_OFF AND
AUX_OFF AND
OFF_ROAD AND
GPS_EN AND
CHANGE_EN AND
NOT
SAFE_STATE
(STW_ON OR
AUX_ON) AND
OFF_ROAD AND
GPS_EN AND
NOT
SAFE_STATE
(NOT GPS_EN OR
NOT OFF_ROAD OR
NOT CHANGE_EN) AND
NOT SAFE_STATE
Safe State
OFF_ROAD AND
GPS_EN AND
CHANGE_EN AND
(STW_ON OR AUX_ON)
AND NOT SAFE_STATE
SAFE_STATE
SAFE_STATE
SAFE_STATE
Guidance machine status flags to both auto-guidance
controllers
Request reset command status: Reset not required
Steering input position status: Not available
Machine can execute commands: Not available
Machine system lockout: Active
Guidance limit status: non recoverable fault
Guidance exit reason: Error
Entry
Point
Auto-Guidance
timeout
Auto-Guidance
invalid command
Auto-Guidance
Valid Command
From selected auto-guidance
controller:
VALID_COMMAND AND
GPS_EN AND
CHANGE_EN
From selected auto-guidance
controller:
Commands not received in time
From selected auto-guidance
controller:
VALID_COMMAND on time
AND GPS_EN AND
CHANGE_EN
NOT CHANGE_EN
NOT
CHANGE_EN
NOT CHANGE_EN
Device change
not allowed
Device change
not allowed
Guidance machine status flags to the selected auto-
guidance controller
Request reset command status: Reset not required
Steering input position status: Correct position
Machine can execute commands: System is not ready
Machine system lockout: Inactive
Guidance limit status: not limited
Guidance exit reason: Remote command timeout
Guidance machine status flags to the selected auto-
guidance controller
Request reset command status: Reset not required
Steering input position status: Correct position
Machine can execute commands: System is not ready
Machine system lockout: Inactive
Guidance limit status: not limited
Guidance exit reason: Remote command out of range/invalid
From selected auto-
guidance controller:
INVALID_COMMAND on
time AND GPS_EN
From selected auto-
guidance controller:
INVALID_COMMAND
AND
CHANGE_EN
From selected auto-
guidance controller:
Commands not
received in time
AND
CHANGE_EN
Figure 8