Danfoss LAxx-CAN-J1939 Operating guide [ar]

User Manual

PLUS+1® GUIDE Software

LAxx_CAN_J1939 Function Block

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User Manual

PLUS+1® Compliant LAxx_CAN_J1939 Function Block

Revision history	Table of revisions
	Date	Changed	Rev
	October 2020	Updated Outputs table	0102
	June 2020	First edition	0101

2 | © Danfoss | October 2020

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User Manual
PLUS+1® Compliant LAxx_CAN_J1939 Function Block
Contents
LAxx_CAN_J1939 Function Block
Linear Actuators (LAs) Acronyms ...............................................................................................................................................	4
Inputs....................................................................................................................................................................................................	4
Parameters..........................................................................................................................................................................................	5
Outputs................................................................................................................................................................................................	7
Diagnostic Signals............................................................................................................................................................................	9
Status Logic......................................................................................................................................................................................	10
Fault Logic........................................................................................................................................................................................	11
Use BusLink to Adjust Device Parameters.............................................................................................................................	11
Parameter Settings...................................................................................................................................................................	11
ECU_J1939_Src_Addr........................................................................................................................................................	11
LA_J1939_Src_Addr...........................................................................................................................................................	11
LA_Cmd_PDU_Prio.............................................................................................................................................................	11
LA_Status_Fdbk_TO...........................................................................................................................................................	12
LA_Command_Tm..............................................................................................................................................................	12
LA_Max_Current..................................................................................................................................................................	12
LA_Max_Speed....................................................................................................................................................................	12
LA_Start_Ramp_Tm............................................................................................................................................................	12
LA_Stop_Ramp_Tm............................................................................................................................................................	12
LA_Pos_Hyst.........................................................................................................................................................................	12
LA_Err_Code_Rst.................................................................................................................................................................	12
LA_Toggle_Tm.....................................................................................................................................................................	12
LA_Toggle_Cnt....................................................................................................................................................................	13
LA_Curr_Fltr_Tm.................................................................................................................................................................	13
LA_Spd_Fltr_Tm..................................................................................................................................................................	13
Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	13
Change Namespace Value.....................................................................................................................................................	13
Customizable Service Screens...................................................................................................................................................	14
LAxx_CAN_J1939 Main Screen............................................................................................................................................	14
Parameters Service Tool Screen..........................................................................................................................................	16
Diagnostic Service Tool Screen............................................................................................................................................	17
Error Counters Service Tool Screen....................................................................................................................................	18

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User Manual

PLUS+1® Compliant LAxx_CAN_J1939 Function Block

LAxx_CAN_J1939 Function Block

The LAxx_CAN_J1939 function block can be used as a device driver for linear actuators with CAN interface.

Linear Actuators (LAs) Acronyms

Acronyms used in this manual are described.

Item	Description
ECU	Electronic Control Unit
ESS	End-Stop-Switch
IC	Integrated Controller
LA	Linear Actuator
OC	Over Current
PDU	Protocol Data Unit
PI	Proportional Integral Controller
PRPS	Piston Rod Position Sensor
PWM	Pulse Width Modulation
SA	Source Address
SMPS	Switched Mode Power Supply
TO	Time Out

Inputs

Inputs to the LAxx_CAN_J1939 function block are described.

Item	Type	Range		Description [Unit]
Para	BUS	——		Contains parameters for the function block.
Loop_Tm	U16	0-65535		Processing time of one program loop.
				[ms]
Cmd	S8	-1-3		Input command.
				-1: Retract.
				0: Stop.
				1: Extend.
				2: Run to position.
				3: Reset.
				If Cmd is set to 2 (Run to Position) the input signal Set_Pos is
				used to set the desired piston rod position.

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User Manual

PLUS+1® Compliant LAxx_CAN_J1939 Function Block

LAxx_CAN_J1939 Function Block

Item	Type	Range		Description [Unit]
Set_Pos	U16	0- 64255		Desired piston rod position.
				This input signal is used if Cmd is set to 2 (Run to position).
				[0.1 mm]
Enable	BOOL	T/F		Enables the function of the P1C LAxx_CAN_J1939 block.
				T: Enabled.
				F: Disabled.
CAN.Port	PORT	——		Determines which physical CAN port of the hardware to receive
				data from. This variable can be found in the CAN sub-bus if
				using the Main Template.

Parameters

The LAxx_CAN_J1939 function block's operating characteristics are set by para bus input signals.

Item	Type	Range		Description [Unit]
ECU_J1939_Src_Addr	U8	0-253		Unique number associated with the actual instance of the P1C
				block. The value is the source address (SA) placed in outgoing
				J1939 messages transmitted from the P1C block instance to the
				appropriate LA.
				The P1C instance communicates to the LA with the source
				address (SA) specified in the parameter LA_J1939_Src_Addr.
LA_J1939_Src_Addr	U8	0-253		Unique number associated with the LA this P1C block is
				communicating with. The value is the SA placed in outgoing
				J1939 messages transmitted from the LA to the ECU.
				The LA communicates to P1C with SA specified in the
				parameter ECU_J1939_Src_Addr. The value must be unique in
				the CAN/J1939 network, and it must be set in the LA either by
				the BusLink Configuration and Diagnostic tool or by connecting
				of address pins to power supply voltage. See LINAK SAE J1939
				CAN bus User Manual for more details.
LA_CMD_PDU_Prio	U8	0-7		CAN/J1939 PDU priority for the command message being sent
				from the ECU to the LA.
LA_Status_Fdbk_TO	U16	5-10000		Time-out value for reception of Proprietary B / J1939 messages
				from the LA. This status message contains:
				• Actual piston rod position.
				•	Actual current.
				•	Status flags.
				•	Error code.
				[ms]
LA_Command_Tm	U16	0-10000		Transmission period for Proprietary A / J1939 messages. This
				status message contains:
			• Desired piston rod position.
			•		Maximum current.
				•	Maximum speed.
				•	Start ramping time.
				•	Stop ramping time.
				[ms]
				If the parameter is set to zero, command message transmission
				from the ECU to the LA is stopped.

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User Manual

PLUS+1® Compliant LAxx_CAN_J1939 Function Block

LAxx_CAN_J1939 Function Block

Item	Type	Range		Description [Unit]
LA_Max_Current	U16	0-62500		Maximum allowed current limitation.
				The Maximum Current Level (Max_Current_Lvl) being sent to
				the LA is calculated as follows:
				Max_Current_Lvl = ROUND(LA_Max_Current / 250).
				[mA]
				If LA_Max_Current is equal to 0 the default value for maximum
				current memorized in LA is used. The default value must be set
				by BusLink Configuration and Diagnostic tool. In this case
				Max_Current_Lvl is set to 251.
LA_Max_Speed	U16	0 to 10000		Maximum allowed speed limitation.
				The Maximum Speed Level (Max_Speed_Lvl) being sent to
				Linear Actuator is calculated as follows:
				Max_Speed_Lvl = ROUND(LA_Max_Speed / 50).
				Maximum piston rod speed is affected by means of PWM duty
				cycle limitation. 10000 is associated with full speed (100%), 0 is
				associated with stop state (0%).
			[0.01%]
				If LA_Max_Speed is equal to 0 the default value for maximum
				speed memorized in LA is used. The default value must be set
				by BusLink Configuration and Diagnostic tool. In this case
				Max_Speed_Lvl is set to 251.
LA_Start_Ramp_Tm	U16	0-5000		Soft start ramping time.
				The soft start ramping time level (Start_Ramp_Tm_Lvl) being
				sent to LA is calculated as follows:
				Start_Ramp_Tm_Lvl = ROUND(LA_Start_Ramp_Tm / 20).
				[ms]
LA_Stop_Ramp_Tm	U16	0-5000		Soft stop ramping time.
				The soft stop ramping time level (Stop_Ramp_Tm_Lvl) being
				sent to LA is calculated as follows:
				Stop_Ramp_Tm_Lvl = ROUND(LA_Stop_Ramp_Tm / 20).
				[ms]
LA_Pos_Hyst	U16	0-10000		Position hysteresis for the piston rod.
				If ABS(Set_Pos – Rod_Pos) < LA_Pos_Hyst then the piston rod
				is stopped and Cmd 0 (Stop) is transmitted one time to the LA.
				[0.1 mm]
				The parameter is used when Cmd is equal to 2 (Run to Position).
LA_Err_Code_Rst	U8	0-10		Reset level for faults.
				All faults below this level are automatically reset by means of
				transmission of the command Cmd equal to 3 (Reset).
				Error codes are:
				0: No error.
				1: Hall error. Lowest priority.
				2: Over voltage.
				3: Under voltage.
				4: Fail to maintain CAN keep alive signal.
				5: ESS error.
				6: Power on block state.
				7: Temperature error.
				8: Heartbeat error (internal).
				9: SMPS error (internal). Highest priority.
				Each Error Code is reset if this parameter is set to 10.

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