Technical information
Demo kit
PVED-CLS
www.danfoss.com
Technical information
PVED-CLS Demo kit
Revision history Table of revisions
Date Changed Rev
November 2019 First edition 0101
2 | © Danfoss | November 2019 BC320871113117en-000101
Technical information
PVED-CLS Demo kit
Contents
General information
Demo kit components and ordering.........................................................................................................................................4
PVED-CLS demo kit warranty....................................................................................................................................................... 4
Glossary................................................................................................................................................................................................5
PVED-CLS literature references....................................................................................................................................................5
Demo kit purpose.............................................................................................................................................................................6
Modes and features demonstration
On-road and off-road modes....................................................................................................................................................... 7
Steering wheel and auxiliary programs....................................................................................................................................7
Safe state............................................................................................................................................................................................. 8
Button interface and modes
Buttons and icons.............................................................................................................................................................................9
CAN messaging
Configuring CAN message communication.........................................................................................................................11
Messages coming from DM430E display controller..........................................................................................................11
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PVED -CLS
Actuator
L
DM430E Display
DB09
Connector
120 Ohm
Resistor
CAN Bus
12V Power Supply C13
Plug
SASA, MMI, WAS, VSP
Steering Feedback, Status
CAN Bus
Technical information
PVED-CLS Demo kit
General information
Demo kit components and ordering
Included in the kit:
PVED-CLS actuator
•
DM430E display (with Steering Simulation PLUS+1® program)
•
3D printed case
•
DB09 9 pin CAN port access with 120 ohm resistor
•
Internal 12V, 5.0A power supply (C13 power cable not included)
•
Block diagram
PVED-CLS demo kit warranty
Ordering information
Description Material number
PVED-CLS demo kit 11235004
The PVED-CLS demo kit is not covered by warranty. Danfoss is not liable for any damages to any
component in the PVED-CLS demo kit.
For more information, contact your Danfoss representative.
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Technical information
PVED-CLS Demo kit
General information
Glossary
PVED-CLS literature references
AUX Auxiliary
CAN Controller Area Network
DM430E A Danfoss Display Controller
EH Electro-hydraulic
FMI Failure Mode Identifier
GPS Global Positioning System (auto-guidance command)
HMI/MMI Human Machine Interface/Man Machine Interface
PVED-CLS Proportional Valve Electronic Digital - Closed Loop Steering (CLS for short)
SASA Steering Angle Sensor - Absolute
SPN Suspect Parameter Number
VSP Vehicle Speed
WAS Wheel Angle Sensor
For other PVED-CLS documentation (including certificates), please visit the product's webpage: PVED-CLS.
For more information, please contact your Danfoss representative.
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Technical information
PVED-CLS Demo kit
General information
Demo kit purpose
The PVED-CLS demo kit provides tools that serve a variety of purposes.
The demo kit allows the user to:
Simulate steering behaviors
•
Demonstrate functional safety features of PVED-CLS
•
Troubleshoot
•
Train
•
Steering simulation in action
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Technical information
PVED-CLS Demo kit
Modes and features demonstration
On-road and off-road modes
The on-road and off-road modes represent specific operating conditions.
Off-road mode Operating condition when the PVED-CLS allows to transition electrical steering inputs
On-road mode Operating condition when only the hydraulic input from the steering column will be
Off-road mode
(such as GPS or joystick command).
allowed to control steering.
On-road mode
Steering wheel and auxiliary programs
The PVED-CLS can store steering wheel and auxiliary programs in its memory. These are profiles that
determine the sensitivity of steering devices at different vehicle speeds.
These profiles adjust the number of turns it takes to steer from left end-stop to right end-stop (or lock to
lock). This safety feature allows faster wheel turning at slow vehicle speed and limit wheel turning speed
at high vehicle speed. Changing the speed value (up and down arrows) will change the lock to lock value
shown on the right side of the screen when in this mode.
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Technical information
PVED-CLS Demo kit
Modes and features demonstration
Safe state
This mode will appear if necessary CAN messaging is lost, or vehicle speed exceeds safety limits set in the
CLS.
The display will read out the SPN (suspect parameter number) and FMI (Failure mode identifier) for the
given error. These error codes are described in detail in the PVED-CLS user manual found in each firmware
release package.
Safe state and error reporting
For more information on the CLS modes and transitions, refer to the state machine diagrams in the PVED-
CLS user manual found in each firmware release package.
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Technical information
PVED-CLS Demo kit
Button interface and modes
Buttons and icons
The selected mode will be highlighted in green.
Button reference
Button Icon Function
1
2
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On-road
Off-road non reaction
The CLS is powered on but is locked out of EH (electrohydraulic) steering functions.
Only the hydraulic simulation will take place, via steering wheel SASA input. AUX, GPS,
and Variable Rate Steering are disabled.
The CLS will allow EH steering functions and the wheels are prevented from
straightening due to reaction forces.
Technical information
PVED-CLS Demo kit
Button interface and modes
Button reference (continued)
Button Icon Function
3
Off-road reaction/auxiliary program
cycle
Off-road reaction: The CLS will allow EH steering functions and wheels will try to
straighten due to reaction forces.
Auxiliary program cycle: If an auxiliary steering device is enabled (via HMI message)
and activated by its use, the CLS will change to the most recent Aux program it
accessed; additional button 3 presses will cycle through the 5 auxiliary steering
programs stored in the CLS parameters.
4
5
Escape
Home
Steering wheel programs cycle
Navigation keys
ESC
HOME
Pressing button 4 consecutively will cycle through the 5 variable rate steering wheel
programs stored in the CLS parameters.
Up and down arrows: Increases (up) or decreases (down) vehicle speed per
speedometer on main screen; navigate up or down menu items on the HOME menu.
Right and left arrows: Turns steering wheel to the right or left on the main screen;
navigate right of left on the HOME menu.
Enter: Toggles HOME menu items on or off via check mark symbol.
Issues a soft reset command to the PVED-CLS; soft reset works similarly to a power
cycle and may be needed after correcting an error condition.
Navigates user to a menu that controls the CAN messaging from the display controller
to the PVED-CLS.
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Technical information
PVED-CLS Demo kit
CAN messaging
Configuring CAN message communication
Home button menu controlling CAN messaging
All CAN messages sent from the display controller to the PVED-CLS can be toggled on and off. This allows
for other devices sending equivalent messages to be placed on CAN.
Pressing enter on the “communication” option causes the display controller to read the relevant
parameters from the CLS to apply to the simulation. This should be used after making parameter changes
within the PVED-CLS.
Messages coming from DM430E display controller
Message Description
Steering Wheel Angle and Velocity
(SASA)
Vehicle Speed (VSP) Pressing the up and down arrow keys adjusts the speedometer on left side of the screen.
Human-Machine Interface (HMI/
MMI)
CAN based wheel angle (WAS) Wheel Angle simulated based on SASA, AUX (auxiliary), or GPS (curvature command) steering input. The on-
Pressing the left and right arrow keys rotates the on-screen steering wheel.
Requests the steering mode and enables/disables eSteering devices.
screen wheels represent the value generated.
For more information, please see the CAN message content in the PVED-CLS communication protocol
document found in each firmware release package.
Contact your Danfoss representative to access and update the PLUS+1® display program.
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Danfoss
Power Solutions GmbH & Co. OHG
Krokamp 35
D-24539 Neumünster, Germany
Phone: +49 4321 871 0
Danfoss
Power Solutions ApS
Nordborgvej 81
DK-6430 Nordborg, Denmark
Phone: +45 7488 2222
Danfoss
Power Solutions (US) Company
2800 East 13th Street
Ames, IA 50010, USA
Phone: +1 515 239 6000
Danfoss
Power Solutions Trading
(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
Jin Qiao, Pudong New District
Shanghai, China 201206
Phone: +86 21 2080 6201
Products we offer:
Hydro-Gear
www.hydro-gear.com
Daikin-Sauer-Danfoss
www.daikin-sauer-danfoss.com
DCV directional control
•
valves
Electric converters
•
Electric machines
•
Electric motors
•
Gear motors
•
Gear pumps
•
Hydrostatic motors
•
Hydrostatic pumps
•
Orbital motors
•
PLUS+1® controllers
•
PLUS+1® displays
•
PLUS+1® joysticks and
•
pedals
PLUS+1® operator
•
interfaces
PLUS+1® sensors
•
PLUS+1® software
•
PLUS+1® software services,
•
support and training
Position controls and
•
sensors
PVG proportional valves
•
Steering components and
•
systems
Telematics
•
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and
electric components. We specialize in providing state-of-the-art technology and solutions
that excel in the harsh operating conditions of the mobile off-highway market as well as the
marine sector. Building on our extensive applications expertise, we work closely with you to
ensure exceptional performance for a broad range of applications. We help you and other
customers around the world speed up system development, reduce costs and bring vehicles
and vessels to market faster.
Danfoss Power Solutions – your strongest partner in mobile hydraulics and mobile
electrification.
Go to www.danfoss.com for further product information.
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outstanding performance. And with an extensive network of Global Service Partners, we also
provide you with comprehensive global service for all of our components.
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©
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