Danfoss Propel Application Library User guide
Technical Information
Propel Application Library (PAL)
Software Function Blocks
www.danfoss.com
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
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
0302
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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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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/
down
X X
Cruise Control Basic X X
Drive Modifier Basic X X
Drive Statemachine with FNR
+ Hold
X X
Engine Control Basic X X
Engine Control ECO X X
Engine Control Temp Limit X X
Engine Overspeed Protection X X
ePCOR (electronic pressure
control override)
X X
ePL (electronic pressure
limiter)
X X
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
with Jump Command
X X
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
Temperature Derate X X
X
Vehicle Speed X X
Vehicle Speed Limitation X X
Front Add-on
Rear Add-on
Engine Core
Hydrostatic Core
Technical Information
Propel Application Library (PAL) Software Function Blocks
Introduction
PAL Basic and Advanced Function Block Overview
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Brake Command
Drive Command in
Subtract
& Limit
Drive Command out
Override
Stop Request
Braking
Creeping Automotive
Scale &
Limit
Activation
Engine Speed out
Parameter
Creep Command
Engine Speed in
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:
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.
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Creeping
Multiply
& Limit
Activation
Drv_Cmd_Out
Parameter
Creep_Cmd
Drv_Cmd_In
6-point Profile
Time Ramp
Drv_Cmd_Out
Parameter
Drv_Cmd_In
Drv_Factor
Stop_Rqst
Drive Modifier Basic
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.
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.
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Stop
Forward
Forward
Braking
Forward
Reversal
Reverse
Braking
Reverse
Reversal
Reverse
Hold Direction
Start Protection
Direction Request
Drive State
Direction State
Stop Request
Drive State Machine with FNR + Hold
Range
Check
Override
State
Machine
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.
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Engine Speed Command
Drive Command
Engine Control (basic)
Scale Ramp
Parameter
Scale
Ramp
Parameter
Temperature
Limitation
Limited
Engine Control with
Temperature Limitation
Drive
Command
Temperature
Engine Speed
Command
FNR 2 Switch
Parameter
Forward Input
Reverse Input
Direction
Request
Fault
Detection
Override
FNR
Logic
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 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.
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.
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FNR 3 Pushbuttons
Forward Input
Reverse Input
Neutral Input
Direction
Request
Parameter
FNR Logic
Override
Fault Detection
FNR 3 Switch
Forward Input
Reverse Input
Neutral Input
Direction RequestFNR Logic Override
Fault Detection
Parameter
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 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.
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