Danfoss Propel Application Library User guide

Technical Information

Propel Application Library (PAL)

Software Function Blocks

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Revision history	Table of revisions
	Date		Changed	Rev
	June 2019		Correction, removed unreleased function block in PAL Basic and Advanced Function Block	0302
			Overview table
	March 2019		Removed information regarding a Function block that needs further testing	0301
	February 2019		Minor correction	0203
	February 2019		Minor correction	0202
	February 2019		Added new Function blocks descriptions and drawings	0201
	December 2017		First version	0101

2 | © Danfoss | June 2019

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Technical Information
Propel Application Library (PAL) Software Function Blocks
Contents
Introduction
What is PAL.........................................................................................................................................................................................	4
PAL Basic and Advanced Function Block Overview.............................................................................................................	5
Basic Functions
Braking..................................................................................................................................................................................................	6
Creeping Automotive.....................................................................................................................................................................	6
Creeping..............................................................................................................................................................................................	7
Drive Modifier Basic.........................................................................................................................................................................	7
Drive State machine with FNR + Hold.......................................................................................................................................	8
Engine Control (basic).....................................................................................................................................................................	9
Engine Control with Temperature Limitation........................................................................................................................	9
FNR 2 Switch.......................................................................................................................................................................................	9
FNR 3 Pushbuttons........................................................................................................................................................................	10
FNR 3 Switch....................................................................................................................................................................................	10
FNR 3 pin (LED) Output................................................................................................................................................................	11
Hydrostatic Core Basic..................................................................................................................................................................	11
Hydrostatic Core Drive State......................................................................................................................................................	12
Hydrostatic Core (jump)..............................................................................................................................................................	13
Inching Function............................................................................................................................................................................	14
Mode Transition Control.............................................................................................................................................................	14
Pedal...................................................................................................................................................................................................	15
Redundant Pedal............................................................................................................................................................................	15
Rocker Pedal....................................................................................................................................................................................	16
Vehicle Speed..................................................................................................................................................................................	16
Advanced Functions
Antistall..............................................................................................................................................................................................	17
Command Modifier.......................................................................................................................................................................	18
Command Modifier Multiply......................................................................................................................................................	19
Cruise Control (basic)....................................................................................................................................................................	19
Cruise Control with Jog Up / Down.........................................................................................................................................	20
Electronic Pressure Control Override ePCOR.......................................................................................................................	20
Electronic Pressure Limiter ePL.................................................................................................................................................	21
Engine Control ECO.......................................................................................................................................................................	21
Engine Overspeed EOS................................................................................................................................................................	22
Hydromotor Overspeed Protection.........................................................................................................................................	22
Max Hydromotor Torque Control............................................................................................................................................	23
Stop to Shift.....................................................................................................................................................................................	23
Stop to Shift Driver........................................................................................................................................................................	24
Temperature Derate......................................................................................................................................................................	24
Vehicle Speed Limitation............................................................................................................................................................	25
Service Tool and Documentation
Braking Function Example..........................................................................................................................................................	26
System Builder Sales Tool
PAL Function Blocks Deck of Cards.........................................................................................................................................	28
PAL Function Blocks Card Game..............................................................................................................................................	29
System Control Visualizer Tool
Graphical Elements Drag and Drop Function......................................................................................................................	30

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Introduction

What is PAL

PLUS+1® GUIDE allows to implement different software libraries, such as Work Functions Control (WFC) and Propel Application Library (PAL). Each library consists of one or more packages which includes different function blocks.

Use Danfoss PLUS+1® and the library PAL to develop complete propel systems for mobile machinery or easily integrate any PAL function block into an existing propel system regardless of the system configuration or hardware in use.

PAL provides a competitive advantage by allowing for superior machine performance, it also dramatically reduces development time therefore, getting to market faster. The reason for this is that PAL supports the entire propel software development process, and is aligned with other PLUS+1® compliance blocks.

PAL offers two different library packages. The PAL Basic library package and the PAL Advanced library package.

The PAL Basic library package offers multiple function blocks to design simple propel solutions; for instance, one pump and one motor.

The PAL Advanced library package offers function blocks cruise control to get better driving behavior or Engine Control ECO for fuel saving, which means function blocks for advanced features of propel solutions. More detail is provided, see Advanced Functions on page 17.

All function blocks of PAL work very well together with PLUS+1® Compliance blocks and other Danfoss PLUS+1® libraries.

PAL function blocks can be used with all MCxx and SCxx Controllers. Using PAL on application hardware is not required.

PLUS+1® GUIDE Professional Software (minimum version 8.1 or higher) is required, PAL will not work with the PLUS+1® GUIDE Express license.

Both PAL library packages can have licenses. The PAL Basic has a free license. The non free licenses are valid for a limited time and can be renewed by a yearly subscription for each library package.

Each function block of the PAL library package will have the following documents and software files as part of their scope.

PAL library package

File name	File format
PLUS+1® Compliant Software Function Block	.scs - PLUS+1® GUIDE
Safety Manual and Programmers Guide	.pdf - Adobe PDF
PLUS+1 Service Tool Page	.pfx - PLUS+1® Service Tool
User Manual snippet	.doc - MS Word

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Introduction

PAL Basic and Advanced Function Block Overview

Front Add-on

Rear Add-on

Engine Core

Hydrostatic Core

Function Block	Basic	Advanced	FB-Group	Input	Function	Output
Antistall		X			X
Braking	X			X
Command Modifier		X			X
Command Modifier Multiply		X			X
Creeping	X			X
Creeping Automotive	X			X
Cruise Control with jog up/		X			X
down
Cruise Control Basic		X			X
Drive Modifier Basic	X				X
Drive Statemachine with FNR	X				X
+ Hold
Engine Control Basic	X				X
Engine Control ECO		X			X
Engine Control Temp Limit	X				X
Engine Overspeed Protection		X			X
ePCOR (electronic pressure		X			X
control override)
ePL (electronic pressure		X			X
limiter)
FNR 2 Switch	X			X
FNR 3 Pushbutton	X			X
FNR 3 Switch	X			X
FNR LED Output	X					X
Hydro Motor Overspeed		X			X
Hydrostatic Core Basic	X				X
Hydrostatic Core Drive State	X				X
Hydrostatic Core Drive State	X				X
with Jump Command
Inching	X			X
Maximum Motor Torque		X			X
Mode Transition Control	X				X
Pedal	X			X
Pedal Redundant	X			X
Rocker Pedal	X			X
Stop to Shift		X			X
Stop to Shift Driver		X				X
Temperature Derate		X			X
Vehicle Speed	X			X
Vehicle Speed Limitation		X			X

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Basic Functions

Braking

The Braking function has the purpose of reducing a Drive Command by a Brake Command. Both signals can be read from a lever, potentiometer or pedal. The function can reduce the Drive Command down to complete Stop.

The following diagram illustrates in a simplified way how the function block works:

Braking

Stop Request
Brake Command
				Subtract			Override			Drive Command out
Drive Command in				& Limit

Creeping Automotive

An Automotive drive Mode uses the engine rpm as the setpoint signal for the drive curves. The engine rpm is measured with a PPU or received via CAN message. This engine rpm signal is virtually reduced by the Creeping Command, the setpoint for the drive curves is reduced as well.

With a Creeping Command = 100% the Engine Speed In is directly sent to the Engine Speed Out signal. By parameter a minimum Engine Speed out can be defined. A Creeping Command = 0% will reduce the Engine Speed in to the minimum Engine Speed out.

This function requires a creeping pedal or potentiometer being installed on the machine. The creeping signal needs to be prepared as a percentage value (for instance, by using Pedal function block).

The following diagram illustrates in a simplified way how the function block works.

Creeping Automotive

Parameter

Creep Command

Scale &

Activation

Engine Speed out

Limit

Engine Speed in

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Basic Functions

Creeping

Creeping is a function to scale (reduce) the Drive Command In proportionally.

With a Creeping Command = 100% the Drive Command in is equal to the Drive Command out. A Creeping Command = 0% will reduce the Drive Command out to 0%. This function requires a creeping pedal or potentiometer being installed on the machine. The creeping signal needs to be prepared as a percentage value (for instance, by using Pedal function block).

The following diagram illustrates in a simplified way how the function block works.

Creeping

Parameter

Creep_Cmd

Multiply

Activation

Drv_Cmd_Out

& Limit

Drv_Cmd_In

Drive Modifier Basic

Drive Modifier Basic is a function that modifies an Input Drive Command with a 6-point profile. A percentage factor is used to modify the output of the profile. If a stop request is received, the Output Drive Command is pulled to zero. The final output is time-ramped at a rate settable by time rate parameters.

The following diagram illustrates in a simplified way how the function block works.

Drive Modifier Basic

Parameter

6-point Profile

Stop_Rqst

Drv_Cmd_In

Time Ramp

Drv_Cmd_Out

Drv_Factor

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Basic Functions

Drive State machine with FNR + Hold

The Drive State Machine is a function between a FNR to choose the driving direction and the hydraulic power transmission for driving (pump + hydromotor). The Drive State Machine sets the Direction State based on the request given via Direction Request (FNR). The Start Protection can block the Direction Request e.g. if the engine rpm is too low.

The function Hold Direction can hold (store) the Direction Request if there is a reason not to change the driving direction e.g. vehicle speed is too fast for a safe direction change.

The following diagram illustrates in a simplified way how the function block works.

Drive State Machine with FNR + Hold

Hold Direction

Start Protection

Drive State

Direction Request

Range

Override

State

Direction State

Check

Machine

Stop Request

Forward

Forward

Braking

Forward

Reversal

Stop

Reverse

Reversal

Reverse

Braking

Reverse

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Basic Functions

Engine Control (basic)

The Engine Control Basic is a function that converts a Drive Command into an Engine Speed Command and passes the output command through a time ramp. This requires an interface to the diesel engine such as a CAN bus or throttle actuator.

The following diagram illustrates in a simplified way how the function block works.

Engine Control (basic)

Parameter

Drive Command			Scale			Ramp		Engine Speed Command

Engine Control with Temperature Limitation

This function converts a Drive Command into an Engine Speed command and passes the output command through a time ramp. If the measured Temperature is below a threshold value the engine speed command will be limited to a parameter value and the output Limited will indicate that the engine speed limitation is active. This function block shall be used for generating an engine speed setpoint. This requires an interface to the diesel engine such as a CAN bus or throttle actuator.

The following diagram illustrates in a simplified way how the function block works.

Engine Control with

Temperature Limitation

	Parameter
	Drive	Scale	Temperature	Ramp	Engine Speed
			Limitation
	Command				Command
	Temperature				Limited

FNR 2 Switch

The FNR switch for 2 pushbuttons function block generates a Driving Direction request (Forward, Neutral or Reverse) based on Forward Switch and Reverse Switch. If Forward Switch is active exclusively, the Direction Request will be Forward. If Reverse Switch is active exclusively, the Direction Request will be Reverse. If no switch is active, the Direction Request will be Neutral. If both switches are active for more than Error Delay Time, a fault will be declared and the Driving Direction request output is forced to Neutral.

The following diagram illustrates in a simplified way how the function block works.

FNR 2 Switch

Parameter

Fault

Detection

Forward Input	FNR		Direction
		Override
	Logic		Request
Reverse Input

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Technical Information

Propel Application Library (PAL) Software Function Blocks

Basic Functions

FNR 3 Pushbuttons

The FNR switch for 3 pushbuttons function block generates a Driving Direction request (Forward, Neutral or Reverse) based on Forward Pushbutton, Reverse Pushbutton and Neutral Pushbutton. If Forward Pushbutton is active exclusively, the Direction Request will be Forward. If Reverse Pushbutton is active exclusively, the Direction Request will be Reverse. If Neutral Pushbutton is active exclusively, the Direction Request will be Neutral. If no Pushbutton is active the last Direction Request will be kept. If more than one pushbutton is active at the same time for more than Error Delay Time, a fault will be declared and the Driving Direction request output is forced to Neutral.

The following diagram illustrates in a simplified way how the function block works.

FNR 3 Pushbuttons

Parameter

Fault Detection

Forward Input
Reverse Input	FNR Logic	Override	Direction
			Request
Neutral Input

FNR 3 Switch

The FNR switch for 3 state switch function block generates a Driving Direction request (Forward, Neutral or Reverse) based on three input signals. The signal must be held (continuously). If Forward Switch is active exclusively, the Direction Request will be Forward. If Reverse Switch is active exclusively, the Direction Request will be Reverse. If Neutral Switch is active exclusively, the Direction Request will be Neutral. If none or more than one switch is active for more than Error Delay Time, a fault will be declared and the Driving Direction request output is forced to Neutral.

The following diagram illustrates in a simplified way how the function block works.

FNR 3 Switch

Parameter

Fault Detection

Forward Input
Reverse Input	FNR Logic	Override	Direction Request
Neutral Input

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