Technical Information
Propel Application Library (PAL)
Software Function Blocks
www.danfoss.com
Technical Information
Propel Application Library (PAL) Software Function Blocks
Revision history |
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June 2019 |
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Correction, removed unreleased function block in PAL Basic and Advanced Function Block |
0302 |
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Overview table |
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March 2019 |
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Removed information regarding a Function block that needs further testing |
0301 |
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February 2019 |
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Minor correction |
0203 |
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February 2019 |
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Minor correction |
0202 |
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February 2019 |
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Added new Function blocks descriptions and drawings |
0201 |
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December 2017 |
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First version |
0101 |
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2 | © Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 |
Technical Information |
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Propel Application Library (PAL) Software Function Blocks |
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Contents |
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Introduction |
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What is PAL......................................................................................................................................................................................... |
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PAL Basic and Advanced Function Block Overview............................................................................................................. |
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Basic Functions |
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Braking.................................................................................................................................................................................................. |
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Creeping Automotive..................................................................................................................................................................... |
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Creeping.............................................................................................................................................................................................. |
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Drive Modifier Basic......................................................................................................................................................................... |
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Drive State machine with FNR + Hold....................................................................................................................................... |
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Engine Control (basic)..................................................................................................................................................................... |
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Engine Control with Temperature Limitation........................................................................................................................ |
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FNR 2 Switch....................................................................................................................................................................................... |
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FNR 3 Pushbuttons........................................................................................................................................................................ |
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FNR 3 Switch.................................................................................................................................................................................... |
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FNR 3 pin (LED) Output................................................................................................................................................................ |
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Hydrostatic Core Basic.................................................................................................................................................................. |
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Hydrostatic Core Drive State...................................................................................................................................................... |
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Hydrostatic Core (jump).............................................................................................................................................................. |
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Inching Function............................................................................................................................................................................ |
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Mode Transition Control............................................................................................................................................................. |
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Pedal................................................................................................................................................................................................... |
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Redundant Pedal............................................................................................................................................................................ |
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Rocker Pedal.................................................................................................................................................................................... |
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Vehicle Speed.................................................................................................................................................................................. |
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Advanced Functions |
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Antistall.............................................................................................................................................................................................. |
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Command Modifier....................................................................................................................................................................... |
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Command Modifier Multiply...................................................................................................................................................... |
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Cruise Control (basic).................................................................................................................................................................... |
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Cruise Control with Jog Up / Down......................................................................................................................................... |
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Electronic Pressure Control Override ePCOR....................................................................................................................... |
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Electronic Pressure Limiter ePL................................................................................................................................................. |
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Engine Control ECO....................................................................................................................................................................... |
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Engine Overspeed EOS................................................................................................................................................................ |
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Hydromotor Overspeed Protection......................................................................................................................................... |
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Max Hydromotor Torque Control............................................................................................................................................ |
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Stop to Shift..................................................................................................................................................................................... |
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Stop to Shift Driver........................................................................................................................................................................ |
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Temperature Derate...................................................................................................................................................................... |
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Vehicle Speed Limitation............................................................................................................................................................ |
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Service Tool and Documentation |
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Braking Function Example.......................................................................................................................................................... |
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System Builder Sales Tool |
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PAL Function Blocks Deck of Cards......................................................................................................................................... |
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PAL Function Blocks Card Game.............................................................................................................................................. |
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System Control Visualizer Tool |
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Graphical Elements Drag and Drop Function...................................................................................................................... |
30 |
© Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 | 3 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
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 |
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PLUS+1® Compliant Software Function Block |
.scs - PLUS+1® GUIDE |
Safety Manual and Programmers Guide |
.pdf - Adobe PDF |
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PLUS+1 Service Tool Page |
.pfx - PLUS+1® Service Tool |
User Manual snippet |
.doc - MS Word |
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4 | © Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
Introduction
Front Add-on
Rear Add-on
Engine Core
Hydrostatic Core
Function Block |
Basic |
Advanced |
FB-Group |
Input |
Function |
Output |
Antistall |
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Braking |
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Command Modifier |
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Command Modifier Multiply |
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X |
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Creeping |
X |
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X |
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Creeping Automotive |
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X |
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Cruise Control with jog up/ |
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down |
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Cruise Control Basic |
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Drive Modifier Basic |
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Drive Statemachine with FNR |
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+ Hold |
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Engine Control Basic |
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Engine Control ECO |
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Engine Control Temp Limit |
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Engine Overspeed Protection |
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ePCOR (electronic pressure |
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control override) |
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ePL (electronic pressure |
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limiter) |
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FNR 2 Switch |
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FNR 3 Pushbutton |
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FNR 3 Switch |
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FNR LED Output |
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Hydro Motor Overspeed |
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Hydrostatic Core Basic |
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Hydrostatic Core Drive State |
X |
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Hydrostatic Core Drive State |
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with Jump Command |
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Inching |
X |
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Maximum Motor Torque |
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Mode Transition Control |
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Pedal |
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Pedal Redundant |
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Rocker Pedal |
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Stop to Shift |
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Stop to Shift Driver |
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Temperature Derate |
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Vehicle Speed |
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Vehicle Speed Limitation |
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© Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 | 5 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
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 |
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Brake Command |
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Subtract |
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Override |
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Drive Command out |
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Drive Command in |
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& Limit |
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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
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Creep Command |
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Scale & |
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Activation |
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Engine Speed out |
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Limit |
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Engine Speed in |
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6 | © Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
Basic Functions
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
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Creep_Cmd |
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Multiply |
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Activation |
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Drv_Cmd_Out |
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& Limit |
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Drv_Cmd_In |
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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
© Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 | 7 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
Basic Functions
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 |
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Start Protection |
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Drive State |
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Direction Request |
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Range |
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Override |
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State |
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Direction State |
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Check |
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Machine |
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Stop Request |
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Forward
Forward
Braking
Forward
Reversal
Stop
Reverse
Reversal
Reverse
Braking
Reverse
8 | © Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
Basic Functions
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 |
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Scale |
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Ramp |
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Engine Speed Command |
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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 |
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Drive |
Scale |
Temperature |
Ramp |
Engine Speed |
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Limitation |
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Command |
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Temperature |
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Limited |
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 |
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Direction |
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Override |
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Logic |
Request |
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Reverse Input |
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© Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 | 9 |
Technical Information
Propel Application Library (PAL) Software Function Blocks
Basic Functions
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 |
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Reverse Input |
FNR Logic |
Override |
Direction |
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Request |
Neutral Input |
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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 |
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Reverse Input |
FNR Logic |
Override |
Direction Request |
Neutral Input |
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10 | © Danfoss | June 2019 |
BC00000396 | BC262271566298en-000302 |