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PVEA-CI
User guide
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Danfoss PVEA-CI, PVEO-CI User guide

Technical Information
PVEA-CI and PVEO-CI Series 6
Electro-hydraulic Actuators
www.danfoss.com
Technical Information
Revision history Table of revisions
Date Changed Rev
July 2018 Heartbeat message node change. 0106
May 2018 add use case 5 and 6 0105
Oct 2017 Minor edits 0104
Jun 2017 Appended Accessory table 0103
September 2015 Updated EMCY message table 0102
November 2015 Changing Node ID corrected 0001
June 2015 First edition 0000
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Technical Information

Contents

PVEA-CI and PVEO-CI Introduction
Configurable parameters...............................................................................................................................................................5
PVE-CI Communication.................................................................................................................................................................. 6
PVEA-CI and PVEO-CI connector.................................................................................................................................................7
Accessory.............................................................................................................................................................................................7
ISOBUS/J1939 Communication Protocol
Parameter Group Number (PGN)................................................................................................................................................8
Auxiliary Valve Command (AVC).................................................................................................................................................8
Auxiliary Valve Estimated Flow (AVEF)..................................................................................................................................... 9
PVE-CI Diagnostics.........................................................................................................................................................................10
Diagnostic Message 1 (DM1)................................................................................................................................................10
Diagnostic Message 2 (DM2)................................................................................................................................................11
Broadcast Announce Message (BAM)............................................................................................................................... 12
Diagnostic Message 3 (DM3)................................................................................................................................................12
Changing Node ID......................................................................................................................................................................... 12
Commanded address according to ISOBUS/J1939 .....................................................................................................13
PVE-CI Address claim...............................................................................................................................................................13
Address claim request.............................................................................................................................................................14
Commanded address (ISOBUS/J1939)..............................................................................................................................14
ISOBUS/J1939 error codes.......................................................................................................................................................... 15
CANopen Communication Protocol
NMT operations.............................................................................................................................................................................. 17
Boot-up protocol............................................................................................................................................................................18
NMT services supported..............................................................................................................................................................18
State feedback values...................................................................................................................................................................19
LSS slave............................................................................................................................................................................................ 20
PVE-CI switch state global..................................................................................................................................................... 20
PVE-CI switch state selective................................................................................................................................................ 21
Configure Node ID....................................................................................................................................................................22
Configure bit timing parameters........................................................................................................................................ 22
Activate bit timing parameters............................................................................................................................................23
PVE-CI store configurations.................................................................................................................................................. 23
PVE-CI identify non-configured remote slave................................................................................................................24
Identify non-configured slave..............................................................................................................................................24
Fast scan.......................................................................................................................................................................................24
State behavior............................................................................................................................................................................24
PVE-CI heartbeat protocol.....................................................................................................................................................25
Fault handling............................................................................................................................................................................25
PDO mapping procedure.......................................................................................................................................................26
Object dictionary - communication profile..........................................................................................................................26
Device type................................................................................................................................................................................. 26
Error register...............................................................................................................................................................................26
Predefined error field.............................................................................................................................................................. 26
COB-ID SYNC.............................................................................................................................................................................. 27
Manufacturer software version........................................................................................................................................... 27
Store parameters...................................................................................................................................................................... 27
Restore default parameters...................................................................................................................................................28
COB-ID EMCY..............................................................................................................................................................................29
Producer heartbeat time........................................................................................................................................................29
Identity object............................................................................................................................................................................29
PVE-CI emergency consumer...............................................................................................................................................29
RPDO parameter....................................................................................................................................................................... 29
RPDO mapping..........................................................................................................................................................................30
TPDO parameter....................................................................................................................................................................... 30
TPDO mapping..........................................................................................................................................................................30
Object dictionary ...........................................................................................................................................................................30
Standardized device profile..................................................................................................................................................30
Unified Diagnostic Services (UDS) lite....................................................................................................................................32
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Technical Information
Contents
UDS - message ID formation.................................................................................................................................................32
UDS – read data by identifier............................................................................................................................................... 32
UDS – write data by identifier.............................................................................................................................................. 33
UDS – change Node ID .......................................................................................................................................................... 34
UDS – ECU identification........................................................................................................................................................35
PVEA-CI Series 6 diagnostics
LED Characteristic..........................................................................................................................................................................36
Use cases
Use case 1 - Boot-up to operation mode...............................................................................................................................37
Use case 2 - Operation Mode – Error – Operation Mode.................................................................................................37
Use case 3 - Change Node ID globally....................................................................................................................................38
Use case 4 - Change Node ID for specific Node.................................................................................................................. 39
Use Case 5 – Change of baud rate 250 kbit/s to 500 kbit/s:........................................................................................... 41
Use Case 6 – Align cob-id to new configured node id:.................................................................................................... 42
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Technical Information

PVEA-CI and PVEO-CI Introduction

The PVEA-CI and PVEO-CI Series 6 are digitally controlled actuators for the PVG 16 family based on the hydraulic concept known from the analog versions of PVEA and PVEO Series 6.
PVEA-CI and PVEO-CI Series 6

Configurable parameters

Communication protocols available for PVE-CI:
ISO 11783 part 7
•
J1939-21, -71, -73, -81
•
CANopen according to:
CiA 301 version 4.2.0
•
CiA 305 version 1.5.2
•
CiA 408 version 3.0.0
•
Choose and configure the following parameters for the PVE-CI in order to fit into your system.
J1939/ISObus
PVE-CI type PVEO-CI PVEA-CI
Part number 11124002 11121945
Node ID range
0x80-0x8F (128-143)
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Technical Information
PVEA-CI and PVEO-CI Introduction
CANopen
PVE-CI type PVEO-CI PVEA-CI
Part number 11149443 11149437
Node ID range
Heartbeat default 0x00 = off
Heartbeat range 0x00-0x7FFF (0-32767)
COB-ID SYNC default 0x80
TPDO transmission default 0xFF event driven
TPDO transmission range 0x07-0xF0 (1-240)
*
For more information see PVE-CI heartbeat protocol on page 25.
**
For more information see COB-ID SYNC on page 27.
***
For more information see TPDO parameter on page 30.

PVE-CI Communication

The Controller Area Network or simply the CAN bus is an intelligent and efficient bus communication where highly important messages have priority without any delaying message collisions.
The PVE-CI is available with ISOBUS/SAE J1939 baud rate fixed to 250 Kbps or CANopen default baud rate = 250 Kbps.
The following states are valid in both communication protocols:
0x01-0x7F (1-127)
*
**
***
Blocked
Extend
Retract
Float
Hand operation
• The spool and the two normally closed solenoid valves inside the actuator (PVE) are
in neutral position.
• The actuator (PVE) will enter power save mode after 200 ms in blocked state.
• Power Save mode de-energizes the solenoids, while being in blocked state. As soon
as a non-neutral set-point is received by the actuator (PVE) or the spool is moved the Power Save mode is aborted.
The blocked position is considered to be the safe state for the PVE and valve.
• The extend direction is defined as the spool moving away from the PVE and
entering the B-port side.
• The feedback signal equals positive values.
• The retract direction is defined as the spool moving towards the actuator and
entering the A-port side.
• The feedback signal equals negative values.
• The float state is defined as the spool being actuated fully in the side of the B-port.
• When float position is achieved both A- and B-ports are connected to tank in order
to allow oil flow back and forwards between tank and the work port connections.
• Hand operation mode will de-activate the solenoid valves inside the PVE.
• The feedback signal will be transmitted when the spool is moved manually e.g. by a
lever.
• Any failures related to the spool position are ignored and will not be transmitted
nor logged by internal diagnostics. The introduction of any other failures will result in a normal reaction and recovery pattern where a DM1 message is transmitted, etc.
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Technical Information
PVEA-CI and PVEO-CI Introduction

PVEA-CI and PVEO-CI connector

Accessory

*
Emergency
Solenoid is disabled.
stop
1 x 4 pin DEUTSCH
Description Code Number
Loop cable 100mm, DEUTSCH 4-PIN 11007531 Loop cable 175mm, DEUTSCH 4-PIN 11095622 Loop cable 350mm, DEUTSCH 4-PIN 11111916 Cable 4000mm, DEUTSCH 4-PIN 11095741 Seal kit for PVE-CI 11133165 Seal kit for PVM 157B3999 CG 150-2* (CAN gateway) 11153051 Termination Dummy 11007563 120 Ω terminator 11007561
Only to be used with PLUS+1® Service Tool version 7.1.10 or newer.
4-pin layout
1. CAN_High
2. CAN_Low
3. V
BAT
4. V
NEG
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Technical Information

ISOBUS/J1939 Communication Protocol

Parameter Group Number (PGN)

Parameter group number overview
PGN (hex)
0x0CFE3x yy
0x0CFE1x yy
0x18FECA DM1 8 Active fault 1000 ms/event based 0x18FECB DM2 8 Request previous active faults On request 0x18EA00 DM3 3 Clear error log On request
*
x = Node ID (0x80-0x8F), yy = Source address
**

Auxiliary Valve Command (AVC)

The Auxiliary Valve Command ( AVC) is the command value sent from a master controller to control the PVE. Message that provides control of the flow through the auxiliary valve number 0.
*
*
A time guarding error will occour if the PVE does not see a AVC within 250 ms.
Message type
AVC 8 Auxillary Valve Command 250 ms fixed timeout
AVEF 8 Auxillary Valve Estimated Flow Transmission rate: 100 ms
DLC Translation Timing
**
Data length Data page PDU format PDU specific Default priority Parameter group number Transmission repetition rate
8 bytes
0
254
48
3
65072 (00FE3016)
100 ms between messages for each valve or when a parameter is required to change state
The PVE will only accept messages with correct Node ID and ignore any AVC commands if invalid.
Frame format
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
CFE3xxx 8 PFC Reserved Valve
state
Reserved
AVC data
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
PFC Reserved (FF) Valve state Reserved (FF)
Port Flow Command
Request port flow as a percentage of full flow. PFC = 0 is interpreted as a neutral command.
(PFC)
Resolution: 0.4% per bit Valid range: 0 → 100%; 0 → 250; 0x00 – 0xFA
Valve state
In blocked state the value in PFC is ignored.
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Technical Information
ISOBUS/J1939 Communication Protocol
• Bits 8 and 7: Fail safe mode – only blocked (0x00) supported
• Bits 6 and 5: Reserved
• Bits 4 to 1:
Block (neutral) = 0b0000
‒
Extend = 0b0001
‒
Retract = 0b0010
‒
Float = 0b0011
‒
Hand operation = 0b1010
‒
Emergency stop = 0b1110
‒

Auxiliary Valve Estimated Flow (AVEF)

The Auxiliary Valve Estimated Flow (AVEF) is the feedback sent from the PVE-CI to the master controller telling the assumed flow/spool position. Message that provides the estimated flow of auxiliary valve number 0.
Data length Data page PDU format PDU specific Default priority Parameter group number Transmission repetition rate
Frame format
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
CFE1xxx 8 Extend
port flow
AVEF data
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
EPF RPF Valve state Reserved
Extend Port Flow (EPF)
8 bytes
0
254
16
3
65040 (00FE1016)
100 ms (from PVE)
Retract port flow
Estimated flow out of extend port as a percentage of full flow.
Valve state
Reserved
• Resolution: 1% per bit
• Offset: 125; 0x7D
• Valid range: 0 → 100%; 125 → 225;
Retract Port Flow (RPF) Estimated flow out of retract port as a percentage of full flow.
• Resolution: 1% per bit
• Offset: 125; 0x7D
• Valid range: 0 → 100%; 125 → 225; 0x7D - 0xE10x7D - 0xE1
Valve state
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In blocked state the value in PFC is ignored.
Technical Information
ISOBUS/J1939 Communication Protocol
• 0x7D -Bits 8 and 7: Fail safe mode – only blocked (0x00) supported
• Bits 6 and 5: Reserved
• Bits 4 to 1:
Block (neutral) = 0b0000
‒
Extend = 0b0001
‒
Retract = 0b0010
‒
Float = 0b0011
‒
Hand operation = 0b1010
‒
Emergency stop = 0b1110
‒
No additional system related information will be transmitted in the AVEF.

PVE-CI Diagnostics

The following error codes are available on the bus from the PVE-CI:
Error codes
Priority Error DTC (Diagnostic
1 Spool not at set point 0x878FEC External Critical Shutdown Two neutral set-points and
2 Spool cannot reach float 0x878FEE External Critical Shutdown Two neutral set-points and
3 Internal Error 0x8B8FFA Internal Severe Shutdown Two neutral set-points and
4 CAN bus Error 0x938FD7 External Warning Shutdown Two neutral set-points and
5 Temperature Error (120°C in
250 ms)
6 Power supply exceeds
specification (36 VDC for 2000 ms)
7 Power supply is below
specification (9 VDC for 2000 ms)
8 Time guarding error 0x938FE9 External Warning Shutdown Two neutral set-points and
trouble code)
0x908FF1 External Warning Shutdown Two neutral set-points and
0x030273 External Warning Shutdown Two neutral set-points and
0x040273 External Warning Shutdown Two neutral set-points and
Source of Error Lamp Status Regulation Recovery
spool in neutral
spool in neutral
spool in neutral
spool in neutral
spool in neutral
spool in neutral
spool in neutral
spool in neutral
CAN bus Error
If there is a bus-off situation the LED will turn red and a DM1 message will be generated. However the message cannot be send due to the bus-off and the application controller will not receive a DM1 message in the event of this error. The PVEA-CI will contribute on the bus again when the bus-off situation is gone.

Diagnostic Message 1 (DM1)

The active troubleshooting code Diagnostic Message 1 (DM1) is used by the PVE-CI to transmit an active fault onto the CAN bus. The PVE-CI will broadcast one fault at a time on the CAN bus. The highest error priority will be the one broadcasted.
PGN Transmission timing rate Maximum of faults
0x18CEFA
1000 ms or event based
127
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Technical Information
ISOBUS/J1939 Communication Protocol
The DM 1 messages will still be transmitted after the occurrence of the 127th fault, but the fault counter will not increment.
DM1 frame format
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
18CEFAyy
*
yy = Source address.
*
8 Lamp
status
Flash status
Lamp status Used by controller – not related to the LED.
• No fault (default state): 0x00
• Warning type faults–Amber lamp: 0x04
• Critical or severe type faults–Red lamp: 0x10
Flash status Used by controller – not related to LED. Flashing: 0xFF
Fault information Occurrence
counter
Reserved
Fault information
• Bits 24 to 6: SPN of active fault
• Bits 5 to 1: FMI if active fault
Occurrence counter Number of times the active fault has appear previously.

Diagnostic Message 2 (DM2)

The Previous active trouble code Diagnostic Message 2 (DM2) is used by the controller to command the PVE-CI to transmit all previously active faults.
PGN Transmission timing rate Maximum of faults
0x18CEFB
On request
127
DM2 frame format
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
18CEFCBxx 8 Lamp
status
Flash status
Fault information Occurrence
counter
Reserved
Lamp status Used by controller – not related to the LED.
• Info or Warning type faults–Amber lamp: 0x04
• Critical or severe type faults–Red lamp: 0x10
Flash status Used by controller – not related to LED. Flashing: 0xFF
Fault information
• Bits 24 to 6: SPN of active fault
• Bits 5 to 1: FMI if active fault
Occurrence counter Number of times the active fault has appear previously.
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Technical Information
ISOBUS/J1939 Communication Protocol

Broadcast Announce Message (BAM)

The frame format will be in Broadcast Announce Message (BAM) if more than one single fault occurs. The BAM message size depends on the number of previously active faults.
BAM frame format
BAM Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
1CECFFxx 8 BAM No. of bytes No. of
DT1 1CEBFFxx 8 Sequence Lamp
status DT2 1CEBFFxx 8 Sequence Fault 2 cont. Fault 3 DT3 1CEBFFxx 8 Sequence Fault 4 BAM continued
Number of packets How many messages are sent in the complete BAM.
Sequence Identification number of the BAM message in the BAM sequence.
Lamp status Used by controller – not related to the LED.
• Info or Warning type faults–Amber lamp: 0x04
• Critical or severe type faults–Red lamp: 0x10
packets
Reserved DM2 PGN (0x00FECB)
Reserved Fault 1 Fault 2

Changing Node ID

Occurrence counter Number of times the active fault has appear previously.
Fault information of the Fault 1 and 3
Fault information of the Fault 2
• Bits 24 to 6: SPN of active fault
• Bits 5 to 1: FMI if active fault
• Bits 16 to 6: SPN of active fault
• Bits 5 to 1: FMI if active fault

Diagnostic Message 3 (DM3)

The Clear previous active trouble code name Diagnostic Message 3 (DM3) is used by the controller to clear the error log within the PVE-CI.
PGN Transmission timing rate
DM3 frame format
Msg ID DLC Byte 1 Byte 2 Byte 3
18EAxxxx 3 0xCC 0xFE 0x00
The Node ID parameter can be programmed by using:
0x18EA00
On request
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Technical Information
ISOBUS/J1939 Communication Protocol
The Service Tool.
•
Commanded address according to ISOBUS/J1939.
•

Commanded address according to ISOBUS/J1939

Frame format
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
0x1BC7888x 5 0x04 0x2E 0x10 0x01 Node ID
Node ID data
Byte 1 Fixed Byte 2 Fixed Byte 3 Fixed Byte 4 Fixed Byte 5 Node ID Range: 0x80 to 0x8F
Example of changing Node ID from 0x83 to 0x86
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
Application controller 0x1BC78883 5 0x04 0x2E 0x10 0x01 0x86
Example of response from the PVE when changing the Node ID
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4
Positive response (same for all nodes) 0x1BC408F1 4 0x03 0x6E 0x10 0x01 Negative response 0x1BC408F1 4 0x03 0x7F 0x2E 0x31

PVE-CI Address claim

Before a device can participate in sending CAN messages on a network, claim its address. The PVE-CI transmits its device address together with the device name to the network at boot-up.
The Address Claim message contains the following information
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4
0x18EEFFyy*8 Identity
*
yy is the Source address = Node ID (80-8F)
Byte 5 Byte 6 Byte 7 Byte 8
Function Instance (5 bits)
NAME
ECU Instance (3 bits)
Number (LSB)
NAME
Function (8 bits)
Identity Number (2nd byte)
Vehicle System (7 bits)
Manufacturer Code (3 LSB)
Reserved (1 bits)
Arbitrary Adress Capable (1 bit)
Identity Number (5 MSB)
Industry Group (3 bits)
Manufacturer Code (MSB)
Vehicle System Instance (4 bits)
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Technical Information
ISOBUS/J1939 Communication Protocol

Address claim request

The Address claim message can be requested by the master using a request PGN 0x00EE00
Transmission rate: On request.
Frame Format for Request PGN message
Msg ID DLC Byte 1 Byte 2 Byte 3
0x18EAxxxx (Request PGN)
Response: On sending the address claim request the PVE-CI sends address claim message. Both specific and global requests for address claim are supported.

Commanded address (ISOBUS/J1939)

Commanded address is used to Change the Node ID of the valve by using the “Name field” broadcasted in the address claim message. This commanded address request is sent via a BAM once the commanded address is matched and the Node ID is valid. This will make the valve reset and announce itself with the new Node ID.
Only a sub-set of J1939-81 is supported. The three supported capabilities according to J1939-81, Appendix B are:
Support Commanded Address
•
Address Configuration Capability
•
Name Retained Across Power-up Cycles
•
3 Requested PGN (LSB) Requested PGN (MSB) 0x00
0x00 0xEE
Frame format
PGN DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0xFED8 NAME Node ID
Node ID data
DLC Byte 1 Name (see address claim) Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Node ID Range: 0x80 to 0x8F
Example of changing Node ID in the PVEA-CI with name “01 00 20 07 08 FF 02 20” to Node ID 0x81:
Msg ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
BAM 0x1CECFFxx 8 0x20 0x09 0x00 0x02 0xFF 0xD8 0xFE 0x00
BAM No of
bytes
DT1 0x1CEBFFxx 8 0x01 0x01 0x00 0x20 0x07 0x08 0xFF 0x02
Seq. NAME
No of bytes
No of packets
Reserved PGN (0x00FED8)
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