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LAxx-CAN-J1939
Operating guide [ar]
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Danfoss LAxx-CAN-J1939 Operating guide [ar]

User Manual
PLUS+1® GUIDE Software
LAxx_CAN_J1939 Function Block
www.danfoss.com
User Manual
Revision history Table of revisions
Date Changed Rev
October 2020 Updated Outputs table 0102
June 2020 First edition 0101
2 | © Danfoss | October 2020 AQ334581384770en-000102
User Manual

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

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
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

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
—— 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.
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
LA_CMD_PDU_Prio
LA_Status_Fdbk_TO
LA_Command_Tm
U8
U8
U16
U16
0-253
0-7 CAN/J1939 PDU priority for the command message being sent
5-10000
0-10000
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.
from the ECU to the LA. 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] 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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Danfoss | October 2020 AQ334581384770en-000102 | 5
User Manual
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
LA_Start_Ramp_Tm
LA_Stop_Ramp_Tm
LA_Pos_Hyst
U16
U16
U16
U16
0 to 10000
0-5000
0-5000
0-10000
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.
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]
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]
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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