Tech Note
CAN bus components
HN.50.Y1.02 is new
Introduction |
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Danfoss has introduced a new remote control |
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Improved performance |
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system with CAN bus components that will |
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Lower installation costs |
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give customers greater flexibility as far as their |
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Easier servicing |
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particular application needs are concerned. In |
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Improved safety |
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the new series, focus has been particularly |
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Flexibility |
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concentrated on: |
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CAN components can be used together with |
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PVG 32, PVG 120 and PVG 83. |
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What is CAN bus |
The CAN (Controller Area Network) bus was |
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Safety |
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originally designed for the automobile industry. |
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Reliability |
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It is a serial communication interface in which |
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Real time control |
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special emphasis is placed on the following |
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Costs (installation/service) |
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parameters: |
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10-1998 |
HN.50.Y1.02 |
Book 9 Partition 5 |
1 |
CAN communication |
CAN communication is best understood in the |
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following way: |
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Instead of sending a message from compo- |
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nent A to unit B, it is broadcast. Each compo- |
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nent, a PVG CIP for example, is then able to |
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listen in and col-lect information relevant to it |
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selv. The message format is designated COB |
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(Communication Object), which applies to all |
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messages. |
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A COB has an identification code (COB-ID) |
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that makes it possible for a component, a PVG |
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CIP for example, to sort and prioritise trans- |
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mitted communication objects (COBs). The |
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COB-ID clearly identifies the COB in a network. |
CAN communication works on the prioritising of messages, thus CAN uses familiar and established methods such as CSMA/CA (Carrier Sense, Multiple Access with Collision Avoidance) with improved capability to avoid collision (non-destructive bit arbitration). This means that the message with the lowest identification code will have access to the bus before other messages, ensuring that the capacity of the bus can be utilised to the maximum.
The speed of the bus is limited by its length, see below.
Baud rate
Bus length
CANopen |
CAN components communicate using a |
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protocol. A protocol can be compared to a |
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language. The different protocols on the |
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market are adapted to the applications in |
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which they are used. |
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The CANopen protocol is particularly suitable |
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for mobile applications. There are many |
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suppliers on the market whose products work |
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together with CANopen, therefore it is easy to |
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put together a comprehensive CANopen |
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system. |
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CANopen uses objects for communication. |
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The most common are: |
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Service Data Object(SDO) |
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SDOs transfer large amounts of information |
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that is not time-critical eg setting-up parame- |
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ters. |
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Process Data Object (PDO) |
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PDOs are used to transfer data that are time- |
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critical. For example, joysticks transfer signals |
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via PDOs. |
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NMT is a special part that handles emergency situations and other network administration.
Via an emergency object, the individual nodes (components) are able to send a warning of emergency situations. In this way, other CANopen components are able to identify the node point from which the emergency call was sent.
CANopen specifies an Object Dictionary (OD) that describes all parameters in the product. This OD does not function solely as a specification file, but also as an interface with other CANopen devices. In other words, a description is given detailing which parameters are necessary to activate the different functions the product can perform.
2 |
HN.50.Y1.02 |
Prop 1 |
Prop 2 |
Prop 3 |
Prop 4 Prop 1-4 Push 1 |
Push 2 |
...Push |
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Identifica- |
Data field |
CRC |
Start of frame |
tion code |
DLC (Data |
Receipt field |
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Length Code)
RTR (Remote
Transmission Request)
The example above shows the structure of a joystick COB.
1.A COB is started by sending a 0 (start of frame).
2.An identification code (COB-ID) is sent and through bit arbitration the message having the lowest bit identification code is allowed to continue.
3.RTR (Remote Transmission Request) specifies whether the sender wishes to receive or send data to the message receiver.
4.DLC specifies the length of the data field.
5.The data field contains information on, for example, joystick data.
6.The CRC field is used as a safety control for finding bit error.
7.The receipt field is a position in which all other components acknowledge receiving a message.
HN.50.Y1.02 |
3 |
•PVG CIP
•Prof 1 CIP
•CIP Configuration Tool
Our objective is to supply CAN components which are not only capable of communicating with our own products, but also with other
standard available components. There are many suppliers of CANopen components on the market and therefore it is simple, inexpensive and very flexible to set up a comprehensive system.
The CIP Configuration Tool is designed to guide hydraulic system designers/ service technicians through system setup.
Prof 1 CIP |
The Prof 1 CIP joystick is available in many |
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mechanical configurations. To simplify the way |
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in which this information is shown in the COB, |
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the maximum configuration possibilities are |
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always built in. Depending on the actual confi- |
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guration of the joystick, some of the fields for |
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proportional or on/off signals contain no infor- |
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mation. The joystick sends information on the |
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first PDO (Process Data Object). As standard, |
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it sends cyclically at Tc = 10 ms. |
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The Emergency Object is used if a fault arises |
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in the joystick. |
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Prof 1 CIP can be ordered as described in |
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Tech Note HN.50.Z3 Joystick Prof 1. New |
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modules for Prof 1 CIP are shown in the table |
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below. |
Prof 1 CIP contains new functions often requested in hydraulic systems:
Joystick guide (x - y interlook)
This function ensures that only the first proportional signal activated from the control lever is sent (prop 1 or prop 2).
Memory function
This function makes it possible for the user to hold a proportional function by pressing a selected memory button (on/off) in the joystick. The associated proportional signal can be deactivated by pressing the memory button again or by activating the proportional function in the opposite direction.
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Code no. 162B.... |
Pos. no. in code no. list |
Description |
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Length 230 mm with |
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Cable |
6100 |
6 |
AMP 282404-1, male plug |
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AMP 282107-1, tab house |
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Main function module with |
5100 |
5 |
CAN electronics |
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electronics |
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PVG CIP |
PVG CIP is designed to control up to eight |
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Two different ramps (principle 1 from EH |
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sections equipped with PVEO, PVEM, PVEH |
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boxes) |
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or PVES, and versions with float position con- |
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Flow limitation |
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trol. |
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Deadband compensation |
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PVG CIP is able to receive COBs sent in |
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Gain |
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joystick format from four joysticks or other |
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Software tuning of spool characteristics |
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sources. The joystick signals are distributed to |
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Spool float position control |
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the PVEs in relation to the actual setup. The |
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Power saving |
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CAN signals are converted to proportional or |
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Service and diagnosing |
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on/off values on the output pins of the module. |
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Softwiring |
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PVG CIP contains functions often used in |
PVG CIP must be ordered as a separate com- |
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hydraulic systems: |
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ponent with code number as follows. |
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Name |
Code no. |
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Description |
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155U.... |
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PVG CIP |
5660 |
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With AMP plug 1-967280-1, male plug |
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HN.50.Y1.02 |
CIP Configuration Tool The CIP Configuration Tool is a program developed for setting up systems consisting of PVG CIP and Prof 1 CIP.
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Code no. |
Description |
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155U.... |
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CIP Configuration Tool |
5670 |
Product contents |
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CIP Configuration Tool |
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CIP Downloading Utility |
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CANview |
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CAN dongle |
• Documentation, examples, help files
Power supply
Supply voltage |
Udc |
10 |
- 30 V DC |
Max. supply voltage |
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36 |
V DC |
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Max. pulsation (peak to peak) |
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5% |
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CAN interface - ISO 11898 ver. 2.0 B
Baud rate |
10 Kbit/s - 1000 Kbit/s |
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Communication profile |
CANopen ver. 3.0 |
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Typical start-up time |
< 500 ms |
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CAN |
Full CAN |
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EMC - EMC Directive (89/336/ECC)
Emission |
EN 50081-2 |
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Immunity |
EN 50082-2 |
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HF immunity |
ISO 14892 (60 V/m, 20 MHz - 1000 MHz) |
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ISO 13766 (60 V/m, 20 MHz - 1000 MHz) |
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Environmental data
Storage temperature |
-40°C to +90°C |
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Ambient temperature |
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-30°C to +70°C |
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Operating temperature |
Termination
A CAN bus must be terminated at both ends where CAN+ and CANare to be connected via a 120 Ω resistor.
Termination can be effected by connecting a jumper between the pins given below (a 120 Ω resistor is fitted in the component).
Prof 1 CIP
CAN_TERM |
Pin 1 |
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CAN+ |
Pin 4 |
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PVG CIP
CAN_TERM |
Pin 16 |
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CAN+ |
Pin 3 |
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References
ISO 11898 |
Vehicles, interchange of digital information - Controller Area |
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Network (CAN) for high-speed communication |
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CANopen communication profile for industrial systems, CiA |
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CANopen |
standard draft 3.0 |
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Revision 3.0 |
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EMC Directive |
89/336/ECC |
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ISO 14892 |
Agricultural and forestry machines - electromagnetic compatibility |
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ISO 13766 |
Earth-moving machinery - electromagnetic compatibility |
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HN.50.Y1.02 |
5 |
resolution (10 bit) signal manipulation is necessary. This is standard on PVG CIP. The data format is “twos complement” and is shown in the figure below.
1 byte |
----SIGN |
MSB |
-------------------------------------------------------- |
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-------------------------------------------------------------------Prop1 |
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2 byte |
SIGN---- |
MSB -------------------------------------------------------- |
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Prop2-------------------------------------------------------------------- |
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3 byte |
SIGN---- |
MSB -------------------------------------------------------- |
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Prop3-------------------------------------------------------------------- |
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4 byte |
SIGN---- |
MSB -------------------------------------------------------- |
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Prop4-------------------------------------------------------------------- |
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5 byte |
rest_Prop4 - LSB |
rest_Prop3 - LSB |
rest_Prop2 - LSB |
rest_Prop1 - LSB |
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6 byte |
Push 8 |
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Push 7 |
Push 6 |
Push 5 |
Push 4B |
Push 4A |
Push 3B |
Push 3A |
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8 bit |
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7 bit |
6 bit |
5 bit |
4 bit |
3 bit |
2 bit |
1 bit |
SIGN = +/− |
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MSB |
= Most significant bit |
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LSB |
= Least significant bit |
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6 |
HN.50.Y1.02 |
§ When using PVEO
Ñ When using PVEM/H/S
Electrical
PVE outputs |
8 |
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PVE types that can be connected |
PVEO, PVEM, PVEH, PVES incl. |
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versions with float position |
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PVPX/PVPE outputs |
1 |
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Resolution |
9 bit (-100% to +100%) |
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AMP part no. 1-967280-1, PCB-connector |
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AMP part no. 1-967281-1, Timer house |
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Plug type |
AMP part 0-929937-1, junior contact |
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(Only part no. 1-967280-1 supplied with PVG) |
AMP part 0-962876-2, micro contact |
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AMP part no. 0-965643-1, cover |
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Seals and plugs |
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CAN setting |
Slave only |
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Plug connections
Pin number |
Name |
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1 |
PVPX out |
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2 |
CAN+ |
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3 |
CAN+ |
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4 |
Alarm_1 |
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5 |
Alarm_2 |
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6 |
Gnd |
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7 |
Alarm_3 |
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8 |
Alarm_4 |
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9 |
Alarm_5 |
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10 |
Gnd |
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11 |
Alarm_6 |
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12 |
Alarm_7 |
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13 |
Alarm_8 |
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14 |
Gnd |
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15 |
Udc |
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16 |
CAN_TERM |
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17 |
Gnd |
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18 |
PVE1_A § |
PVE1 signal Ñ |
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PVE2_A § |
PVE2 signal Ñ |
20 |
PVE3_A § |
PVE3 signal Ñ |
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Gnd |
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PVEM/H/S
Pin number |
Name |
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22 |
PVE4_A § |
PVE4 signal Ñ |
23 |
PVE5_A § |
PVE5 signal Ñ |
24 |
PVE6_A § |
PVE6 signal Ñ |
25 |
Gnd |
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26 |
PVE7_A § |
PVE7 signal Ñ |
27 |
PVE8_A § |
PVE8 signal Ñ |
28 |
Gnd |
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29 |
Udc |
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30 |
CAN- |
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31 |
CAN- |
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32 |
PVE1_B § |
PVE1 Udc Ñ |
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PVE2_B § |
PVE2 Udc Ñ |
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PVE3_B § |
PVE3 Udc Ñ |
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Gnd |
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36 |
PVE4_B § |
PVE4 Udc Ñ |
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PVE5_B § |
PVE5 Udc Ñ |
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PVE6_B § |
PVE6 Udc Ñ |
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Gnd |
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PVE7_B § |
PVE7 Udc Ñ |
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PVE8_B § |
PVE8 Udc Ñ |
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Gnd |
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Voltage, neutral position |
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50% of Udc |
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Voltage, full flow port A |
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25% of Udc |
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Version with float position control |
35% of Udc |
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Voltage, full flow port B |
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75% of Udc |
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Version with float position control |
65% of Udc |
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Voltage, float position |
Version with float position control |
80% of Udc |
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control |
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Alarm input signals |
Low |
< 1,6 V |
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High |
> 85% of Udc |
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Max. linearity deviation |
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3% |
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Max. pulsation content |
(f > 2 kHz) |
5% |
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Max. band width |
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10 Hz |
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Max. output current |
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± 1 mA |
PVEO |
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PVPE/PVPX |
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Max. output current |
1,2 A |
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Max. output current |
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3 A |
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Note: To ensure maximum safety, the normally open (NO) |
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version of PVPE/PVPX is recommended. |
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Environmental data |
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IP classification |
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IP 66, IEC 529 |
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HN.50.Y1.02 |
7 |
Prof 1 CIP specification |
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Electrical |
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Proportional signals max. |
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4 |
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Resolution |
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9 bit (-100% to +100%) |
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Operating buttons on/off max. |
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6 |
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DIP switch settings |
DIP no. 1 |
Open |
= CANopen min. master |
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Closed |
= CANopen slave |
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DIP switch settings |
DIP no. 2 |
Open |
= Default baudrate and Node id |
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Closed |
= Baudrate and Node id acc. to OD |
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AMP part no. 282404-1, male plug |
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Plug type |
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AMP part no. 282403-1, female plug |
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AMP 282107-1, tab house |
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Only part no. 282404-1 and no. 282107-1 supplied |
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AMP 282089-1, plug house |
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Seals and plugs |
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Plug connections |
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Environmental/mechanical |
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Pin number |
Name |
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As analog version |
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1 |
CAN_TERM |
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2 |
Udc |
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3 |
Frame |
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4 |
CAN+ |
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5 |
CAN- |
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Safety aspects |
Both PVG CIP and Prof 1 CIP are designed to |
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give maximum safety. They both incorporate |
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self-test functions, signal protection and |
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‘watchdogs. |
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Self-tests |
The self-test is performed when power is applied and before any of the PVE outputs are activated. The unit then goes to the operating function and a series of running tests are carried out. A list of these tests is given below.
PVG CIP
1.Internal RAM test
2.External RAM test
3.EE-PROM test
4.FLASH test
5.Test of feedback monitoring (tests all outputs for short-circuiting to earth and Udc)
Prof 1 CIP
1.Internal RAM test
2.EE-PROM test
3.FLASH test
PVG CIP
1.Watchdog
2.PVEH alarms
3.Signal protection
To ensure optimum system function, two safety levels are used:
•Fail-safe condition
•Alarm condition
Prof 1 CIP
1.Watchdog
2.Potentiometer control
Fail-safe condition |
Alarm condition |
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PVG CIP |
Prof 1 CIP |
PVG CIP |
PVE forced to neutral position. |
Neutral position signal sent from |
Alarm signal sent on bus so that |
Voltage supply to PVE cut off. |
the joystick to all PVEs. |
a third unit is able to take appro- |
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priate action. |
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Depending on OD-index 2108 |
Alarm signal sent on bus so that |
Alarm signal sent on bus so that |
subindex 1, PVPX/PVPE dump |
a third unit is able to take appro- |
a third unit is able to take appro- |
valve dumps pressure in alarm |
priate action. |
priate action. |
condition. Because this is an NO |
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valve (normally open) voltage |
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must be cut off. |
8 |
HN.50.Y1.02 |
Fail-safe condition arises when faults of the following types occur:
PVG CIP
Fault code HEX |
Description |
PVEs that go into fail-safe |
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condition |
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1000 |
Generic fault |
All PVEs |
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5000 |
System hardware |
All PVEs |
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5001 |
Self-test fault, internal RAM |
All PVEs |
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5002 |
Self-test fault, external RAM |
All PVEs |
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5003 |
Self-test fault, EE-PROM |
All PVEs |
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5004 |
Self-test fault, FLASH |
All PVEs |
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5005 |
Self-test fault, feedback test # 1 |
PVE 1 |
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5006 |
Self-test fault, feedback test # 2 |
PVE 2 |
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5007 |
Self-test fault, feedback test # 3 |
PVE 3 |
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5008 |
Self-test fault, feedback test # 4 |
PVE 4 |
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5009 |
Self-test fault, feedback test # 5 |
PVE 5 |
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500A |
Self-test fault, feedback test # 6 |
PVE 6 |
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500B |
Self-test fault, feedback test # 7 |
PVE 7 |
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500C |
Self-test fault, feedback test # 8 |
PVE 8 |
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500D |
Self-test fault, feedback test PVPX |
All PVEs |
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5016 |
Watchdog fault |
All PVEs |
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6300 |
Joystick data format nonconformance |
All PVEs |
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8100 |
Communication fault |
No PVEs |
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8101 |
Protection fault PDO1 |
PVE controlled by PD01 |
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8102 |
Protection fault PDO2 |
PVE controlled by PD02 |
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8103 |
Protection fault PDO3 |
PVE controlled by PD03 |
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8104 |
Protection fault PDO4 |
PVE controlled by PD04 |
Prof 1 CIP
Fault code hex |
Description |
1000 |
Generic fault |
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5000 |
System hardware |
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5001 |
Self-test fault, internal RAM |
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5003 |
Self-test fault, EE-PROM |
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5004 |
Self-test fault, FLASH |
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5005 |
Proportional voltage outside range |
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5007 |
Proportional signal registered without corresponding direction change |
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500F |
Watchdog fault |
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Alarm condition arises on faults of the following types:
Fault code HEX |
Description |
500E |
PVEH alarm # 1, pin 3 |
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500F |
PVEH alarm # 2, pin 3 |
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5010 |
PVEH alarm # 3, pin 3 |
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5011 |
PVEH alarm # 4, pin 3 |
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5012 |
PVEH alarm # 5, pin 3 |
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5013 |
PVEH alarm # 6, pin 3 |
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5014 |
PVEH alarm # 7, pin 3 |
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5015 |
PVEH alarm # 8, pin 3 |
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The table below shows at which settings PVPX/PVPE dumps in alarm condition.
OD-index 2018 |
Activation of PVPX/PVPE |
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subindex 9 HEX |
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0 |
No PVPX |
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=> must not dump in alarm condition |
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1 |
PVPX can be controlled from an external source |
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=> must not dump in alarm condition |
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2 |
PVPX controlled from an external source, or by alarm condition |
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=> must dump in alarm condition |
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HN.50.Y1.02 |
9 |
System parameters can be set in the OD (see overview, page 25), either by using CIP Configuration Tool or with a normal CANopen Configuration Tool.
Setting up PVG CIP can be divided into four main parts:
1)Identification of components
a)Identification of PVE
b)Identification of PVPX/PVPE
2)Setting up connections
a)To other components on bus (Prof 1 CIP)
b)Between data (joystick signals) and PVE/PVPX
3)Setting system-related parameters
a)Baudrate
b)Node identification
c)Softwiring
4)Setting hydraulic-related parameters
a)Deadband compensation
b)Signal gain
c)Flow limitation
d)Software tuning of spool characteristics
e)Ramps (individual on each port, two different settings for each port)
f)Float position control
g)Power saving
These components also contain facilities for fault location, servicing and restoring factory setting.
•Identification of PVPX/PVPE type
Identification of PVE type Type identification is used to specify how PVG CIP is to control the PVEs. The types used are specified as follows:
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0: Not accessible |
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1: PVEO |
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Units |
2: PVEM |
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3: PVEH/S |
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4: PVEM (float position control) |
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5: PVEH (float position control) |
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Max. |
5 |
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Min. |
0 |
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Standard |
3 (PVEH/S) |
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Precision |
1 |
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OD index |
2018 HEX |
PVG CIP output/input will be on the following PVE pins, depending on type
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PVE pins |
PVEH/S |
PVEM |
PVEO |
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1 |
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+ |
+ |
Port A |
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2 |
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Signal |
Signal |
Port B |
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3 |
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Alarm |
N/A |
N/A |
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Frame |
Frame |
Frame |
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10 |
HN.50.Y1.02 |