User Manual
PLUS+1® GUIDE Software
LAxx_CAN_J1939 Function Block
www.danfoss.com
User Manual
PLUS+1® Compliant LAxx_CAN_J1939 Function Block
Revision history |
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October 2020 |
Updated Outputs table |
0102 |
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June 2020 |
First edition |
0101 |
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2 | © Danfoss | October 2020 |
AQ334581384770en-000102 |
User Manual |
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PLUS+1® Compliant LAxx_CAN_J1939 Function Block |
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Contents |
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LAxx_CAN_J1939 Function Block |
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Linear Actuators (LAs) Acronyms ............................................................................................................................................... |
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Inputs.................................................................................................................................................................................................... |
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Parameters.......................................................................................................................................................................................... |
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Outputs................................................................................................................................................................................................ |
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Diagnostic Signals............................................................................................................................................................................ |
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Status Logic...................................................................................................................................................................................... |
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Fault Logic........................................................................................................................................................................................ |
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Use BusLink to Adjust Device Parameters............................................................................................................................. |
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Parameter Settings................................................................................................................................................................... |
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ECU_J1939_Src_Addr........................................................................................................................................................ |
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LA_J1939_Src_Addr........................................................................................................................................................... |
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LA_Cmd_PDU_Prio............................................................................................................................................................. |
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LA_Status_Fdbk_TO........................................................................................................................................................... |
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LA_Command_Tm.............................................................................................................................................................. |
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LA_Max_Current.................................................................................................................................................................. |
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LA_Max_Speed.................................................................................................................................................................... |
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LA_Start_Ramp_Tm............................................................................................................................................................ |
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LA_Stop_Ramp_Tm............................................................................................................................................................ |
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LA_Pos_Hyst......................................................................................................................................................................... |
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LA_Err_Code_Rst................................................................................................................................................................. |
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LA_Toggle_Tm..................................................................................................................................................................... |
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LA_Toggle_Cnt.................................................................................................................................................................... |
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LA_Curr_Fltr_Tm................................................................................................................................................................. |
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LA_Spd_Fltr_Tm.................................................................................................................................................................. |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
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Change Namespace Value..................................................................................................................................................... |
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Customizable Service Screens................................................................................................................................................... |
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LAxx_CAN_J1939 Main Screen............................................................................................................................................ |
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Parameters Service Tool Screen.......................................................................................................................................... |
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Diagnostic Service Tool Screen............................................................................................................................................ |
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Error Counters Service Tool Screen.................................................................................................................................... |
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© Danfoss | October 2020 |
AQ334581384770en-000102 | 3 |
User Manual
PLUS+1® Compliant LAxx_CAN_J1939 Function Block
The LAxx_CAN_J1939 function block can be used as a device driver for linear actuators with CAN interface.
Acronyms used in this manual are described.
Item |
Description |
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ECU |
Electronic Control Unit |
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ESS |
End-Stop-Switch |
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IC |
Integrated Controller |
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LA |
Linear Actuator |
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OC |
Over Current |
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PDU |
Protocol Data Unit |
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PI |
Proportional Integral Controller |
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PRPS |
Piston Rod Position Sensor |
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PWM |
Pulse Width Modulation |
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SA |
Source Address |
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SMPS |
Switched Mode Power Supply |
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TO |
Time Out |
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Inputs to the LAxx_CAN_J1939 function block are described.
Item |
Type |
Range |
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Description [Unit] |
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Para |
BUS |
—— |
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Contains parameters for the function block. |
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Loop_Tm |
U16 |
0-65535 |
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Processing time of one program loop. |
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[ms] |
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Cmd |
S8 |
-1-3 |
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Input command. |
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-1: Retract. |
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0: Stop. |
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1: Extend. |
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2: Run to position. |
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3: Reset. |
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If Cmd is set to 2 (Run to Position) the input signal Set_Pos is |
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used to set the desired piston rod position. |
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4 | © Danfoss | October 2020 |
AQ334581384770en-000102 |
User Manual
PLUS+1® Compliant LAxx_CAN_J1939 Function Block
LAxx_CAN_J1939 Function Block
Item |
Type |
Range |
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Description [Unit] |
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Set_Pos |
U16 |
0- 64255 |
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Desired piston rod position. |
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This input signal is used if Cmd is set to 2 (Run to position). |
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[0.1 mm] |
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Enable |
BOOL |
T/F |
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Enables the function of the P1C LAxx_CAN_J1939 block. |
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T: Enabled. |
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F: Disabled. |
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CAN.Port |
PORT |
—— |
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Determines which physical CAN port of the hardware to receive |
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data from. This variable can be found in the CAN sub-bus if |
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using the Main Template. |
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The LAxx_CAN_J1939 function block's operating characteristics are set by para bus input signals.
Item |
Type |
Range |
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Description [Unit] |
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ECU_J1939_Src_Addr |
U8 |
0-253 |
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Unique number associated with the actual instance of the P1C |
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block. The value is the source address (SA) placed in outgoing |
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J1939 messages transmitted from the P1C block instance to the |
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appropriate LA. |
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The P1C instance communicates to the LA with the source |
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address (SA) specified in the parameter LA_J1939_Src_Addr. |
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LA_J1939_Src_Addr |
U8 |
0-253 |
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Unique number associated with the LA this P1C block is |
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communicating with. The value is the SA placed in outgoing |
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J1939 messages transmitted from the LA to the ECU. |
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The LA communicates to P1C with SA specified in the |
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parameter ECU_J1939_Src_Addr. The value must be unique in |
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the CAN/J1939 network, and it must be set in the LA either by |
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the BusLink Configuration and Diagnostic tool or by connecting |
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of address pins to power supply voltage. See LINAK SAE J1939 |
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CAN bus User Manual for more details. |
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LA_CMD_PDU_Prio |
U8 |
0-7 |
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CAN/J1939 PDU priority for the command message being sent |
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from the ECU to the LA. |
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LA_Status_Fdbk_TO |
U16 |
5-10000 |
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Time-out value for reception of Proprietary B / J1939 messages |
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from the LA. This status message contains: |
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• Actual piston rod position. |
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Actual current. |
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Status flags. |
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Error code. |
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[ms] |
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LA_Command_Tm |
U16 |
0-10000 |
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Transmission period for Proprietary A / J1939 messages. This |
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status message contains: |
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• Desired piston rod position. |
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Maximum current. |
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Maximum speed. |
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Start ramping time. |
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Stop ramping time. |
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[ms] |
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If the parameter is set to zero, command message transmission |
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from the ECU to the LA is stopped. |
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© Danfoss | October 2020 |
AQ334581384770en-000102 | 5 |
User Manual
PLUS+1® Compliant LAxx_CAN_J1939 Function Block
LAxx_CAN_J1939 Function Block
Item |
Type |
Range |
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Description [Unit] |
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LA_Max_Current |
U16 |
0-62500 |
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Maximum allowed current limitation. |
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The Maximum Current Level (Max_Current_Lvl) being sent to |
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the LA is calculated as follows: |
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Max_Current_Lvl = ROUND(LA_Max_Current / 250). |
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[mA] |
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If LA_Max_Current is equal to 0 the default value for maximum |
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current memorized in LA is used. The default value must be set |
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by BusLink Configuration and Diagnostic tool. In this case |
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Max_Current_Lvl is set to 251. |
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LA_Max_Speed |
U16 |
0 to 10000 |
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Maximum allowed speed limitation. |
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The Maximum Speed Level (Max_Speed_Lvl) being sent to |
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Linear Actuator is calculated as follows: |
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Max_Speed_Lvl = ROUND(LA_Max_Speed / 50). |
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Maximum piston rod speed is affected by means of PWM duty |
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cycle limitation. 10000 is associated with full speed (100%), 0 is |
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associated with stop state (0%). |
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[0.01%] |
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If LA_Max_Speed is equal to 0 the default value for maximum |
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speed memorized in LA is used. The default value must be set |
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by BusLink Configuration and Diagnostic tool. In this case |
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Max_Speed_Lvl is set to 251. |
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LA_Start_Ramp_Tm |
U16 |
0-5000 |
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Soft start ramping time. |
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The soft start ramping time level (Start_Ramp_Tm_Lvl) being |
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sent to LA is calculated as follows: |
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Start_Ramp_Tm_Lvl = ROUND(LA_Start_Ramp_Tm / 20). |
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[ms] |
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LA_Stop_Ramp_Tm |
U16 |
0-5000 |
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Soft stop ramping time. |
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The soft stop ramping time level (Stop_Ramp_Tm_Lvl) being |
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sent to LA is calculated as follows: |
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Stop_Ramp_Tm_Lvl = ROUND(LA_Stop_Ramp_Tm / 20). |
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[ms] |
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LA_Pos_Hyst |
U16 |
0-10000 |
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Position hysteresis for the piston rod. |
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If ABS(Set_Pos – Rod_Pos) < LA_Pos_Hyst then the piston rod |
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is stopped and Cmd 0 (Stop) is transmitted one time to the LA. |
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[0.1 mm] |
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The parameter is used when Cmd is equal to 2 (Run to Position). |
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LA_Err_Code_Rst |
U8 |
0-10 |
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Reset level for faults. |
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All faults below this level are automatically reset by means of |
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transmission of the command Cmd equal to 3 (Reset). |
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Error codes are: |
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0: No error. |
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1: Hall error. Lowest priority. |
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2: Over voltage. |
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3: Under voltage. |
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4: Fail to maintain CAN keep alive signal. |
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5: ESS error. |
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6: Power on block state. |
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7: Temperature error. |
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8: Heartbeat error (internal). |
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9: SMPS error (internal). Highest priority. |
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Each Error Code is reset if this parameter is set to 10. |
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6 | © Danfoss | October 2020 |
AQ334581384770en-000102 |