Danfoss PVED-CC4 User guide
User Manual
Electrohydraulic Actuator
PVED-CC4, Series 7
www.danfoss.com
User Manual
PVED-CC4, Series 7
Revision history |
Table of revisions |
|
|
|
|
|
|
|
Date |
Changed |
Rev |
|
|
|
|
|
February 2021 |
First edition |
0101 |
|
|
|
|
2 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual |
|
PVED-CC4, Series 7 |
|
Contents |
|
Reference |
|
Acronyms used for PVG and PVE................................................................................................................................................ |
7 |
Literature reference for PVG/PVE products............................................................................................................................. |
8 |
Standards used for PVED-CC4...................................................................................................................................................... |
9 |
General Information |
|
PVED-CC4 introduction................................................................................................................................................................ |
10 |
PVE stands for PVE actuator ...................................................................................................................................................... |
11 |
Overview for PVED-CC4............................................................................................................................................................... |
12 |
PVG functionality............................................................................................................................................................................ |
14 |
PVED-CC4 functionality |
|
Mechanical sub-system............................................................................................................................................................... |
16 |
Housing........................................................................................................................................................................................ |
16 |
PVED-CC4 Cable kit.................................................................................................................................................................. |
16 |
PVED-CC4 mounting............................................................................................................................................................... |
17 |
Linear Variable Differential Transducer (LVDT).............................................................................................................. |
18 |
Spool neutral spring................................................................................................................................................................ |
18 |
Hydraulic subsystem..................................................................................................................................................................... |
18 |
Computerized sub-system.......................................................................................................................................................... |
19 |
Power On Self Test (POST)..................................................................................................................................................... |
19 |
PVED-CC4 full operational mode overview..................................................................................................................... |
19 |
PVED-CC4 hand operational mode overview................................................................................................................. |
19 |
Emergency mode...................................................................................................................................................................... |
20 |
Fault mode overview............................................................................................................................................................... |
20 |
Settings and system data............................................................................................................................................................ |
20 |
PVED-CC4 Process data.......................................................................................................................................................... |
20 |
OEM data..................................................................................................................................................................................... |
20 |
Spool data................................................................................................................................................................................... |
20 |
General part details.................................................................................................................................................................. |
20 |
PVED-CC4 Logging........................................................................................................................................................................ |
21 |
PVED-CC4 safety description |
|
Definition.......................................................................................................................................................................................... |
22 |
Concept............................................................................................................................................................................................. |
22 |
POST–Power On Self Test............................................................................................................................................................ |
22 |
PVED-CC4 runtime fault monitoring....................................................................................................................................... |
22 |
Fault origin category............................................................................................................................................................... |
22 |
Fault severity level.................................................................................................................................................................... |
23 |
PVED-CC4 fault Reaction............................................................................................................................................................. |
23 |
Recorded and reported solenoid disabling ................................................................................................................... |
23 |
Recorded and reported ignorance .................................................................................................................................... |
23 |
Unrecorded reaction .............................................................................................................................................................. |
23 |
PVED-CC4 fault recovery............................................................................................................................................................. |
23 |
Reboot ......................................................................................................................................................................................... |
23 |
Resume ........................................................................................................................................................................................ |
23 |
Technical data |
|
Declaration of Conformity.......................................................................................................................................................... |
24 |
PVED-CC4 operational conditions........................................................................................................................................... |
24 |
Reaction times................................................................................................................................................................................. |
24 |
PVED-CC4 Dimensions and layout........................................................................................................................................... |
25 |
Hydraulic data................................................................................................................................................................................. |
27 |
Pilot oil system........................................................................................................................................................................... |
27 |
Communication........................................................................................................................................................................ |
28 |
PVED-CC4 LED ..................................................................................................................................................................... |
28 |
CAN........................................................................................................................................................................................... |
29 |
Parameter description............................................................................................................................................................ |
29 |
Commercial identifiers ..................................................................................................................................................... |
30 |
Communication identifiers ............................................................................................................................................. |
30 |
Firmware identifiers........................................................................................................................................................... |
30 |
© Danfoss | February 2021 |
BC368572537192en-000101 | 3 |
User Manual |
|
PVED-CC4, Series 7 |
|
Contents |
|
Service parameters............................................................................................................................................................. |
30 |
Valve interface settings .................................................................................................................................................... |
30 |
Communication parameters........................................................................................................................................... |
30 |
Safety parameters............................................................................................................................................................... |
31 |
Behavior parameters.......................................................................................................................................................... |
31 |
Name field J1939 ................................................................................................................................................................ |
31 |
Function instance................................................................................................................................................................ |
31 |
Component ID additional information........................................................................................................................ |
32 |
Part number.......................................................................................................................................................................... |
32 |
Serial number........................................................................................................................................................................ |
32 |
Software naming................................................................................................................................................................. |
32 |
Scaling..................................................................................................................................................................................... |
32 |
Slope curve............................................................................................................................................................................ |
33 |
Ramp........................................................................................................................................................................................ |
33 |
Invert ports............................................................................................................................................................................ |
34 |
Float threshold..................................................................................................................................................................... |
34 |
AVEF send out time............................................................................................................................................................ |
34 |
AVC time out (AVCTO)....................................................................................................................................................... |
34 |
Power save enable.............................................................................................................................................................. |
34 |
Fault recovery – Fault monitoring mode.................................................................................................................... |
35 |
Fault monitoring General Time Out (GTO)................................................................................................................. |
35 |
Fault monitoring Float Time Out (FTO)....................................................................................................................... |
35 |
KWP2000 Enable.................................................................................................................................................................. |
35 |
KWP2000 Id............................................................................................................................................................................ |
35 |
KWP2000 max time............................................................................................................................................................. |
35 |
Spool curve overview........................................................................................................................................................ |
36 |
Float spools............................................................................................................................................................................ |
36 |
Warnings |
|
PVED-CC4 warnings...................................................................................................................................................................... |
37 |
ISO 11783 CAN interface |
|
Parameter setting.......................................................................................................................................................................... |
38 |
Software ID....................................................................................................................................................................................... |
39 |
Component identification message........................................................................................................................................ |
39 |
Requesting PGN’ s.......................................................................................................................................................................... |
40 |
Fault mode error messages........................................................................................................................................................ |
41 |
State machine and operational modes |
|
Power On Self Test......................................................................................................................................................................... |
43 |
uCSM................................................................................................................................................................................................... |
43 |
AVEF.................................................................................................................................................................................................... |
44 |
AVEF interpretation................................................................................................................................................................. |
44 |
AVEF data..................................................................................................................................................................................... |
46 |
PVED-CC full operational mode................................................................................................................................................ |
47 |
Closed loop....................................................................................................................................................................................... |
47 |
PVED-CC spool positioning ....................................................................................................................................................... |
47 |
Flow control..................................................................................................................................................................................... |
47 |
PVED-CC entering hand operational mode.......................................................................................................................... |
48 |
PVED-CC4 emergency stop........................................................................................................................................................ |
49 |
Error description |
|
Error code walk through.............................................................................................................................................................. |
50 |
Non-expected event................................................................................................................................................................ |
50 |
Recovery....................................................................................................................................................................................... |
50 |
PVED-CC settings...................................................................................................................................................................... |
50 |
General timeout (GTO)............................................................................................................................................................ |
50 |
Float timeout (FTO).................................................................................................................................................................. |
50 |
Auxiliary valve timeout (AVCTO)......................................................................................................................................... |
50 |
Power save (OEM)..................................................................................................................................................................... |
50 |
Spool curve................................................................................................................................................................................. |
50 |
4 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual |
|
PVED-CC4, Series 7 |
|
Contents |
|
Float available (spool)............................................................................................................................................................. |
51 |
PVED-CC4 error messages.......................................................................................................................................................... |
51 |
1’s complement redundancy test....................................................................................................................................... |
51 |
1st boot ....................................................................................................................................................................................... |
51 |
Reserved....................................................................................................................................................................................... |
51 |
Division by zero......................................................................................................................................................................... |
51 |
CapCom values ......................................................................................................................................................................... |
51 |
Variable truncation................................................................................................................................................................... |
52 |
Verified write to cell error ..................................................................................................................................................... |
52 |
Reserved....................................................................................................................................................................................... |
52 |
Interpolation check.................................................................................................................................................................. |
52 |
Estimate calibration values error........................................................................................................................................ |
52 |
PWM calibration values error .............................................................................................................................................. |
52 |
Mechanical Spool Compensation values......................................................................................................................... |
53 |
Reserved....................................................................................................................................................................................... |
53 |
Spool data and Float available............................................................................................................................................. |
53 |
Reserved....................................................................................................................................................................................... |
53 |
Reserved....................................................................................................................................................................................... |
53 |
CRC16 check / Parameter memory..................................................................................................................................... |
53 |
Fall back to old values............................................................................................................................................................. |
54 |
CRC16 check / Program memory........................................................................................................................................ |
54 |
Main spool cannot reach neutral from retract............................................................................................................... |
54 |
LVDT wiring error ..................................................................................................................................................................... |
54 |
Power supply above specified range................................................................................................................................ |
54 |
Power supply below specified range................................................................................................................................ |
54 |
No answer on handshakes ................................................................................................................................................... |
55 |
Power-on self test failed ........................................................................................................................................................ |
55 |
Time value for CL control out of range............................................................................................................................. |
55 |
Main spool cannot reach neutral........................................................................................................................................ |
55 |
Main spool cannot reach float position............................................................................................................................ |
55 |
Main spool not in neutral at boot up................................................................................................................................. |
56 |
Main spool position is greater than the reference....................................................................................................... |
56 |
Main spool position and reference are in opposite directions................................................................................ |
56 |
Float threshold has not been passed................................................................................................................................ |
56 |
Time guarding on Auxiliary Valve Command................................................................................................................ |
56 |
Illegal CAN address ................................................................................................................................................................. |
57 |
Command out of range ......................................................................................................................................................... |
57 |
Scaling error ............................................................................................................................................................................... |
57 |
Ramps error ................................................................................................................................................................................ |
57 |
Float threshold error ............................................................................................................................................................... |
57 |
Dead band compensation error ......................................................................................................................................... |
57 |
Slope error .................................................................................................................................................................................. |
58 |
Shape error.................................................................................................................................................................................. |
58 |
Invert port error ........................................................................................................................................................................ |
58 |
Illegal combination of Port Flow Command and Blocked state.............................................................................. |
58 |
Illegal combination of Port Flow Command and Float state.................................................................................... |
58 |
Port flow command above 100%....................................................................................................................................... |
58 |
Illegal valve state ...................................................................................................................................................................... |
59 |
Illegal valve state and illegal port flow command........................................................................................................ |
59 |
Illegal combination of inverted ports and float properties....................................................................................... |
59 |
Errors overview table............................................................................................................................................................... |
59 |
Ordering |
|
Parameter Agreement Template.............................................................................................................................................. |
61 |
Factory settings for spare part PVED-CC4............................................................................................................................. |
61 |
Code numbers |
|
PVED-CC4 code numbers............................................................................................................................................................ |
62 |
Service Tool |
|
Service Tool Overview.................................................................................................................................................................. |
64 |
© Danfoss | February 2021 |
BC368572537192en-000101 | 5 |
User Manual
PVED-CC4, Series 7
Contents
Requirements.................................................................................................................................................................................. |
64 |
PLUS+1® PVE Service Tool........................................................................................................................................................... |
65 |
Service pages................................................................................................................................................................................... |
65 |
Use of the service tool.................................................................................................................................................................. |
66 |
Examination of a PVED-CC (ECU).............................................................................................................................................. |
67 |
Notes on examination process............................................................................................................................................ |
68 |
Process data screen....................................................................................................................................................................... |
69 |
Live view screen.............................................................................................................................................................................. |
70 |
Spool data screen........................................................................................................................................................................... |
71 |
OEM data screen............................................................................................................................................................................. |
72 |
Diagnostic screen........................................................................................................................................................................... |
73 |
6 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
Reference
Acronyms used for PVG and PVE
|
Acronyms |
Description |
|
|
|
|
ATEX |
Certificated for use in explosive environment |
|
|
|
|
AVC |
Auxiliary Valve Command - ISOBUS/J1939 standard signal for valve control |
|
|
|
|
AVCTO |
Auxiliary Valve Command Time Out - Fault monitoring setting |
|
|
|
|
AVEF |
Auxiliary Valve Estimated Flow - ISOBUS/J1939 standard signal for valve feedback |
|
|
|
|
CAN |
Controller Area Network - Communication method used by PVED |
|
|
|
|
CLC |
Closed Loop Circuit |
|
|
|
|
CRC |
Cyclic Redundancy Check - Method for ensuring validity of data. |
|
|
|
|
-DI |
PVE with Direction Indication |
|
|
|
|
DM1 |
Diagnostic Message 1 - J1939 message informing about present fault |
|
|
|
|
DM2 |
Diagnostic Message 2 - J1939 message informing about fault history |
|
|
|
|
DM3 |
Diagnostic Message 3 - J1939 message clearing fault history |
|
|
|
|
DSM |
Device State Machine. Deterministic description of system process |
|
|
|
|
ECU |
Electronic Control Unit |
|
|
|
|
EH |
Electro Hydraulic |
|
|
|
|
-F |
PVE for Float spool. Two variants: 4 pin with float at 75%. 6 pin with separate float. |
|
|
|
|
FMEA |
Failure Mode Effect Analysis |
|
|
|
|
ISOBUS |
Communication standard for CAN |
|
|
|
|
J1939 |
Communication standard for CAN |
|
|
|
|
LED |
Light Emitting Diode |
|
|
|
|
LS |
Load Sensing |
|
|
|
|
LVDT |
Linear Variable Differential Transducer - Position sensor |
|
|
|
|
NC |
Normally Closed solenoid valve in PVE |
|
|
|
|
NC-H |
Normally Closed standard solenoid valve in PVEH |
|
|
|
|
NC-S |
Normally Closed solenoid valve Super in PVES |
|
|
|
|
NO |
Normally Open solenoid valve in PVE |
|
|
|
|
PLC |
Programmable Logical Circuit |
|
|
|
|
PLUS+1® |
Trademark for Danfoss controllers and programming tool |
|
POST |
Power On Self Test. Boot up evaluation for PVED |
|
|
|
|
Pp |
Pilot Pressure. The oil gallery for PVE actuation |
|
|
|
|
PVB |
Proportional Valve Basic module - valve slice |
|
|
|
|
PVBS |
Proportional Valve Basic module Spool |
|
|
|
|
PVBZ |
Proportional Valve Basic module Zero leakage |
|
|
|
|
PVE |
Proportional Valve Electric actuator |
|
|
|
|
PVEA |
PVE variant with 2-6 % hysteresis |
|
|
|
|
PVED |
PVE variant Digital controlled via CAN communication |
|
|
|
|
PVEH |
PVE variant with 4-9% Hysteresis |
|
|
|
|
PVEM |
PVE variant with 25-35% hysteresis |
|
|
|
|
PVEO |
PVE variant with ON/OFF actuation |
|
|
|
|
PVEP |
PVE variant PWM controled |
|
|
|
|
PVES |
PVE variant with 0-2% hysteresis |
|
|
|
|
PVEU |
PVE variant with US 0-10V |
|
|
|
|
PVG |
Proportional multi-section Valve Group |
|
|
|
|
PVHC |
PV variant with High Current controlled valve actuator |
|
|
|
|
PVM |
Proportional Valve Manual control with handle |
|
|
|
|
PVP |
Proportional Valve Pump side module.Inlet |
|
|
|
|
|
|
© Danfoss | February 2021 |
BC368572537192en-000101 | 7 |
User Manual
PVED-CC4, Series 7
Reference
Acronyms |
Description |
|
|
PVS |
Proportional Valve end plate |
|
|
PVSK |
Proportional Valve end plate crane. Inlet module with Spool Control |
|
|
PWM |
Pulse Width Modulation |
|
|
S4 DJ |
Series 4 Digital J1939 service tool software for PVED-CC |
|
|
SAE |
Society Automotive Engineering |
|
|
-R |
PVE with Ramp function |
|
|
-NP |
PVE with solenoid disable in Neutral Position |
|
|
-SP |
PVE with Spool Position feedback |
|
|
uC |
Microcontroller |
|
|
uCSM |
Microcontroller State Machine |
|
|
UDC |
Power supply Direct Current; also called Vbat for battery voltage |
US |
Steering voltage for the PVE control; also called VS |
Literature reference for PVG/PVE products
Literature reference
Literature title |
Type |
Order |
|
|
number |
|
|
|
PVG 32 Proportional valve group |
Technical Information |
BC152886483 |
|
|
664 |
|
|
|
PVG 100 Proportional valve group |
Technical Information |
BC152886483 |
|
|
475 |
|
|
|
PVG 120 Proportional valve group |
Technical Information |
BC152886483 |
|
|
344 |
|
|
|
PVG 32 Metric ports |
Technical Information |
BC152886484 |
|
|
163 |
|
|
|
PVED-CC Electro-hydraulic actuator |
Technical Information |
520L0665 |
|
|
|
PVED-CX Electro-hydraulic actuator |
Technical Information |
BC152886483 |
|
|
682 |
|
|
|
Basic module for PVBZ |
Technical Information |
BC152886484 |
|
|
167 |
|
|
|
PVSK module with integrated diverter valve and P-disconnect function |
Technical Information |
BC152886484 |
|
|
133 |
|
|
|
PVPV / PVPM pump side module |
Technical Information |
BC152886484 |
|
|
316 |
|
|
|
Combination module PVGI |
Technical Information |
BC152886483 |
|
|
392 |
|
|
|
PVSP/M Priority module |
Technical Information |
BC152886484 |
|
|
066 |
|
|
|
8 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
Reference
Standards used for PVED-CC4
•International Organization for Standardization:
‒ISO 11898-2 Road vehicles, CAN, Part 2, High-speed medium access unit (physical layer)
‒ISO 13766:2006(E) Earth moving machinery, Electromagnetic compatibility
‒ISO 13849 Safety of Machinery
•EN 982: 1996 + A1:2008, Safety of machinery – Safety requirements for fluid power systems and their components, Hydraulics
•SAE J 1939
•ISOBUS: ISO 11783 CAN Interface
•EU Directive: EMC directive 2004/108/EC
© Danfoss | February 2021 |
BC368572537192en-000101 | 9 |
User Manual
PVED-CC4, Series 7
General Information
PVED-CC4 introduction
The Danfoss PVED-CC4 is a digital (D) controlled PVE-Series 7 actuator for PVG 32 and PVG 100. The PVEDCC4 follows the modular Danfoss concept.
CC is an abbreviation for CAN bus Communication. The communication is compliant to the SAE J1939 protocol and the ISOBUS standard for flow control.
The PVED-CC4 has proven its worth and is used in various types of mobile hydraulic applications with high demands to precision and controllability.
The PVED-CC4 can be controlled by a Danfoss PLUS+1® GUIDE application or other devices capable of using communication as defined in this Technical Information.
Customizing of the PVED-CC4 is done by parameter setting. Settings can be made by the PLUS+1® Service Tool, the WebGPI service tool or by a CAN gateway that have the same abilities.
PVG with PVED-CC4 can be delivered with customer defined settings out of factory.
PVG with PVED-CC4
10 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
General Information
PVED-CC4 with DEUTSCH connector |
PVED-CC4 with AMP connector |
PVE stands for PVE actuator
The Danfoss PVE is built on more than thirty years experience of electrical valve control and is the perfect fit for our high performance proportional valves PVG 32, PVG 100 and PVG 120, as it is for our EH steering.
All our products are developed in close cooperation with system manufacturers from the mobile hydraulic market. That is the reason for our high performance in all market segments
The PVE can be controlled from a switch, a joystick, a PLC, a computer or a Danfoss PLUS+1® microcontroller. The PVE is available in multiple variants. A short list here just gives the main variations.
Available PVE variants
Actuation |
On/Off |
|
|
|
Proportional - Closed loop controlled |
|
|
|
Proportional - Direct control |
|
|
Control signal |
Voltage |
|
|
|
PWM |
|
|
|
Current (PVHC) |
|
|
|
CAN bus |
|
|
Precision |
Standard precision |
|
|
|
High precision |
|
|
|
Super high precision |
|
|
Feedback |
Spool position |
|
|
|
Direction indicator |
|
|
|
Error |
|
|
|
None |
|
|
Connectors |
DEUTSCH |
|
|
|
AMP |
|
|
|
DIN/Hirschmann |
|
|
Fault detection and reaction |
Active |
|
|
|
Passive |
|
|
|
None |
|
|
© Danfoss | February 2021 |
BC368572537192en-000101 | 11 |
User Manual
PVED-CC4, Series 7
General Information
Available PVE variants (continued)
Power supply |
11 V – 32 V multi-voltage |
|
|
|
12 V |
|
|
|
24 V |
|
|
Overview for PVED-CC4
With the PVED-CC4 a hydraulic application with PVG can have up to sixteen individually controlled valves on one CAN bus. Giving full control and feedback for every work function.
The oil flow out of the work function (A- or B-port) can be controlled by a combination of the following:
•PVED-CC4 controlling the spool position using pilot oil pressure.
•A handle (PVM) in mechanical interface with the spool.
PVG 32 structural lay-out with naming
AA-port
BB-port
CPVS end plate
DPVB basic module
EConnector pin
T |
Tank port |
P |
Pump supply port |
The PVED-CC4 uses the ISOBUS and J1939 protocol, thus following the standard protocols. The physical layer for CAN communication applies to ISO 11898-2 high speed CAN.
The spool is controlled by flow commands in steps of 0.4% or by spool position with 250 positions in each direction and dead band compensation. Monitored manual operation is possible.
The embedded system also monitors safety. Spool position, communication, electronics, memory, calculations and temperature are continuously evaluated and all violations are broadcasted and logged.
12 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
General Information
To avoid unnecessary power consumption, the PVED-CC4 has the Power Save feature, where power consumption is reduced by almost 90% when the spool is in neutral.
Standard mounted PVG, PVED-CC4 with DEUTSCH connector
Standard mounted PVG, PVED-CC4 with AMP connector
Option mounted PVG with PVSK, PVED-CC4 with DEUTSCH connector
© Danfoss | February 2021 |
BC368572537192en-000101 | 13 |
User Manual
PVED-CC4, Series 7
General Information
Option mounted PVG with PVSK, PVED-CC4 with AMP connector
PVG functionality
This chapter will give an overview of the PVG and its functionality.
Valve section with naming - standard mounted - seen from PVP
The PVG valve distributes oil from pump flow to a particular work function in the application via a specific valve section. This is done by moving the spool (PVBS).
Depending on the choice of components the oil work flow enters the PVG through the PVP (proportional valve pump side module) or the PVSK (proportional valve end plate for crane) and enters the PVB (proportional valve basic module) via the P gallery and leaves through the T gallery.
In the figure above you see a valve section seen from PVP towards PVSK with the PVM and PVE standard mounted. PVM and PVE can in general be interchanged, that is called option mounted.
With the spool in neutral, where it is kept by the neutral spring, the connection to the application via ports is blocked.
Moving the spool towards the PVE, as in figure 4, opens a connection between P and A and also between B and T. This is done by either pushing the PVM or sending a retract command to PVED. The PVED move the spool by letting Pilot Oil Pressure (Pp) push on the right end of the PVBS and releasing pressure from the left end. For details on PVG please see relevant technical information.
Any PVG with PVM can be operated by PVM alone, independent of a power supply. Any PVG with PVEDCC4 can monitor PVBS if power and communication conditions are present.
14 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
This section main focus is to provide a brief overview before heading into the following technical chapters. Understanding this section is regarded as a minimum in order to understand the use of the actuator.
Before any installation and use of the PVED-CC4 it is highly recommended that the user understands the technical chapters as well.
Device state |
POST |
|
machine |
||
Full |
||
DSM |
||
Operational |
||
|
||
|
mode |
Fault
mode Hand Operational
mode
Emergency mode
P301 359
The PVED-CC4 features four different modes of operation: Full Operational mode, Hand Operational mode, Emergency mode and Fault mode.
Prior to operation the PVED-CC4 performs a Power On Self Test (POST) in order to validate the state of electronics, settings and software.
If the PVED-CC4 recognizes violations of standard operation it will immediately give a detailed feedback on this event. If the violation is regarded as possibly dangerous the PVED-CC4 will enter fault mode.
The PVED-CC4 is a mechatronic device, meaning mechanics, hydraulics, electronics and micro-controller interacting with external systems.
The illustration below gives an overview of the actuator tasks. On the left side is external system interaction on the right side internal tasks.
© Danfoss | February 2021 |
BC368572537192en-000101 | 15 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
PVED-CC4 mechatronical interaction
Mechanical sub-system
Housing
The housing of this product protects the internal parts from the environment and gives by design the optimal interface to cabling, Pilot pressure and spool.
PVED-CC4 Cable kit
The cabling is one of the great advantages for CAN systems. It reduces the number of cables and gives a simpler system overview.
All units (ECU e.g. PVED) are connected by the CAN bus, a CAN high and a CAN low wire which are terminated at the ends. Power and ground wires can with respect to maximum current consumption follow the bus wires.
The bus can either be made as a daisy chain, where the stub from bus to ECU is inside the PVED
16 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
|
|
|
|
|
|
|
|
|
|
|
|
ECU |
|
ECU |
|
ECU |
|
|
ECU |
|
ECU |
||
1 |
|
|
2 |
|
3 |
|
|
4 |
|
n |
|
|
|
|
|
|
|
|
|
|
|
|
|
120 Ω termination
P301 361
or with stubs going from the back bone to the ECU.
ECU |
ECU |
ECU |
ECU |
ECU |
1 |
2 |
3 |
4 |
n |
P301 362
Both solutions have advantages and disadvantages. Danfoss supports the daisy chain solution with cables but the PVED-CC4 could easily be used with the back bone solution.
PVED-CC4 mounting
The Danfoss PVG concept is based on parts interchangeability. This is also valid for the PVED-CC4 and makes field retrofitting possible. PVED can be mounted on both ends of PVB.
PVED-CC4 with AMP connector exploded view |
PVED-CC4 with DEUTSCH connector exploded view |
8±0.5Nm |
8±0.5Nm |
[70±4.5lbf-in] |
[70±4.5lbf-in] |
5[0.20] |
5[0.20] |
© Danfoss | February 2021 |
BC368572537192en-000101 | 17 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
W Warning
Deviation from recommended torque can harm performance and module.
Linear Variable Differential Transducer (LVDT)
The Linear Variable Differential Transducer (LVDT) or position sensor is the interface between the mechanical system (spool) and the electronic system.
W Warning
The LVDT must never be mechanically adjusted, bent, damaged or partially blocked as this will lead to incorrect information on spool position.
Spool neutral spring
The PVBS neutral spring is an important safety component as it keeps or moves the PVBS in blocked position when solenoid valves are disabled. The spring will keep the A and B port.
Hydraulic subsystem
The hydraulic subsystem is used for moving the spool and thereby opening the valve for work flow.
Pilot oil diagram
The heart of the hydraulic subsystem is the solenoid valve bridge. It consist of four poppet valves, the two upper ones are normally closed (NC-S) with a small bleed, the two lower ones are normally open (NO).
A continuous modulation of solenoid valves NC1 and NO4 together with a simultaneous energization of NO2 and de-energization of NC3 causes the main spool to move to the right direction and vice versa. When the main spool is stroked to the far right, a simultaneous energization of both NO2 and NO4 and de-energization of both NC1 and NC3 balances the main spool in its stroked position. An emergency stop activated when the spool is stroked will cause all solenoid valves to de-energize causing the main spool to move back to its neutral position by means of the main spool neutral spring and the hydraulic principle.
The Pp will work against the PVBS neutral spring when the spool is moved out of blocked (neutral) and together with the spring when going in blocked. This combined with a larger opening in the NO than in the NC-S will give a faster movement towards blocked than out of blocked.
W Warning
Obstacles for the Pp can have direct influence on spool control. Reduced pilot pressure will limit spool control. Too high Pp can harm the system.
18 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
Computerized sub-system
The PVED-CC4 operation is based on state machines. The top level is according to this figure. Details are available in the data section of this Technical Information.
W Warning
Depending on PVED-CC4 variant, age and software there are variations in communication and control.
Read this technical information before implementing new PVED-CC4 in applications.
DSM for PVED-CC4 |
|
|
|
|
|
Device state |
POST |
|
machine |
||
Full |
||
DSM |
||
Operational |
||
|
||
|
mode |
Fault
mode Hand Operational
mode
Emergency mode
P301 359
•Transition out of POST (Power On Self Test) is controlled by PVED-CC4
•Transition in and out of fault mode is controlled by PVED-CC4
•Transition between Full Operational Mode, Hand Operational Mode and Emergency Mode is controlled by operator.
Power On Self Test (POST)
When power is applied to the PVED-CC4 it will initialize components and validate component states and parameter settings. If test is passed the PVED will enter Full Operational mode otherwise it will enter Fault mode. In both cases it will, if possible, make itself known to the network by an address claim followed by if needed a fault message (DM1) and then Auxiliary Valve Estimated Flow message (AVEF).
PVED-CC4 full operational mode overview
In full operational mode the PVED-CC4 controls the spool based on Auxiliary Valves Commands (AVC) from system master. This mode is characterized by:
•No fault is present
•Full control by CAN bus of PVED
•Fault monitoring is active
•Auxiliary Valve Estimated Flow message (AVEF) is transmitted
PVED-CC4 hand operational mode overview
Hand operational mode is used when the PVG module should be operated manually without the PVED going into failure mode.
In hand operational mode the PVED-CC4 cannot control the spool. This mode is characterized by:
© Danfoss | February 2021 |
BC368572537192en-000101 | 19 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
•No fault is present.
•Spool control by PVED is disabled.
•Fault monitoring on spool behavior is disabled. Is maintained on other parameters.
•Auxiliary Valve Estimated Flow message (AVEF) is transmitted
Emergency mode
Emergency mode is similar to Hand operational mode but is entered without any ramping. This mode is characterized by:
•Entered without any delay
•Similar to hand operational mode
Fault mode overview
In fault mode the PVED-CC4 monitors and reports if possible.
This mode is characterized by:
•One or more faults are present
•LED is yellow or red
•PVED tries to force PVBS to blocked position
•AVC from Master is not followed by the module
•Fault monitoring is active and every second present faults are reported
•Auxiliary Valve Estimated Flow message (AVEF) is transmitted.
Settings and system data
The PVED-CC4 offers a number of settings for both spool control, fault monitoring and general system settings. A number of system information parameters are available via the service tool. Details are available in the data section of this Technical Information.
PVED-CC4 Process data
Process data can be considered as user or situation specific values. They are the runtime settings Ramp timing, scaling of set point, variation of progressivity and port inversion and can be changed during operation by an ISOBUS message.
OEM data
OEM data can be considered as application or system specific values. They are a number of safety settings, performance settings and the module communication identifier. Also a set of fall back values for the process data are stored as OEM data.
Spool data
Spool data are parameters used for linearization of the spool. These parameters gives relation between spool position and flow command in order to comply with the ISOBUS standard of 0.4% flow change for each step of the Auxiliary Valve Command (AVC).
General part details
Information like part number, production date, software identification and Name field are also available.
20 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
PVED-CC4 functionality
PVED-CC4 Logging
An error log with event counter is stored in the EEPROM.
During runtime a temperature histogram for the electronics are stored in the EEPROM.
Memory organization
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Active |
|
Process |
|
|
|
Spool / Flow |
|
Fault |
|
General |
|
|
|
|
|
|
AVC |
|
|
|
Settings |
|
Node ID |
|
||||
|
Parameters |
|
Data |
|
|
table |
|
Monitoring |
|
|
|
|||
|
|
|
|
|
|
|
(excl node) |
|
|
|
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Basic |
|
Process |
|
|
|
Fault |
|
General |
|
Error Log |
|
|
|
|
Spool Data |
|
|
Settings |
|
|
||||
|
Parameters |
|
Data |
|
|
Monitoring |
|
|
general |
|
||
|
|
|
|
|
|
(excl node) |
|
|
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Locked |
|
|
|
|
|
|
|
||
|
Backup |
|
Process |
|
Node Id |
|
|
|
|
Calibration |
|
Error Log |
|
Temperature |
|
|
|
|
|
General |
|
|
Naming |
|
|
|
|
|
|||||
|
Parameters |
|
Data in OEM |
|
|
|
|
data |
|
basic |
|
Log |
|
|
||
|
|
|
Settings |
|
|
|
|
|
|
|
|
|||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
P301 364 |
|
© Danfoss | February 2021 |
BC368572537192en-000101 | 21 |
User Manual
PVED-CC4, Series 7
PVED-CC4 safety description
For a general description on Safety in Application please see PVG 32 Technical Information
BC152886483664.
Definition
The Danfoss definition of safe state transition by fault: Depower solenoids and release spool to neutral spring. PVBS to be forced to blocked position (neutral) by neutral spring.
The PVED-CC4 has Active Fault Reaction, meaning the solenoids are disabled on fault. Less flow than commanded is not regarded as dangerous by the PVED.
Concept
The PVED-CC4 safety concept is based on two elements:
•POST – Power On Self Test
•Runtime fault monitoring and reaction
The basic elements for product safety are:
•Continuous module self monitoring
•Fault recognition and reaction
•Fault reporting and recording
•Fault recovery
POST–Power On Self Test
When powered the PVED evaluates settings, circuit, sensors and spool interface . Passing of the POST is a precondition for entering Full Operational Mode.
PVED-CC4 runtime fault monitoring
After power on set up and POST the runtime fault monitoring takes over. Every time the uCSM enters the safety task a number of feedbacks are evaluated. In parallel the internal handshake between microcontroller and watch dog is running. The faults are categorized by origin and severity level
Fault origin category
•Internal PVED
‒Handshake fault
‒Calculation faults
‒Memory faults
‒Components faults
‒Temperature fault
•PVED PVG interaction
‒Spool position faults
•System interaction /communication fault
‒Power supply
‒Invalid commands
‒Missing commands
‒CAN bus faults
22 | © Danfoss | February 2021 |
BC368572537192en-000101 |
User Manual
PVED-CC4, Series 7
PVED-CC4 safety description
Fault severity level
•Warning. A changes of settings was attempted but could not be followed
•Severe. Based on the present state actuation cannot be continued. This is for fault types permanent and temporary.
PVED-CC4 fault Reaction
In case of recognized unintended behavior the PVED-CC4 can react in three ways.
For some events the reaction is at first occurrence for others after a threshold is passed.
By multiple faults the most severe has priority and the PVED-CC4 will stay in fault mode until recovered from all faults.
Recorded and reported solenoid disabling
Used by severity level Severe and solenoids are disabled.
If the event is regarded safety or performance threatening the solenoids are disabled (spool forced back to blocked), a distress messages is broadcasted on the CAN bus at occurrence and for as long as present and a record is made in the error log.
Recorded and reported ignorance
Used by severity level Warning and solenoids are not disabled.
A distress messages is broadcasted on the CAN bus at occurrence and as long as present and a record is made in the error log.
Unrecorded reaction
By missing handshake from microcontroller the Watch dog disables the solenoids and the CAN bus interface.
PVED-CC4 fault recovery
For events of severity level Severe there are one of two ways of recovery.
Reboot
The event is regarded as system threatening and a system reconfiguration and reevaluation is required.
Resume
The event is regarded as performance/safety threatening but not system threatening. When the fault trigger disappears transmission of two AVC Blocked reactivates the PVED.
For events with severity level Warning no recovery needed. The operator might though need to send a valid setting changes to get a desired performance.
© Danfoss | February 2021 |
BC368572537192en-000101 | 23 |
Loading...