Data Sheet
Steering Valve Controller
PVED-CLS on OSPE
Electrohydraulic Steering
The PVED-CLS Steering Valve Controller is an
application specific valve controller for the Danfoss
steering valve family. The PVED-CLS offers integrated
flexible software-based electrohydraulic steering
functionality which can be tailored to any off-road
vehicle type by software parameterization. The PVEDCLS also works as a certified Safety Controller.
System Integration
Users integrate and develop the electro-hydraulic
steering system by adjusting typically 20 parameters
with a CAN bus based service and diagnostic tool.
Danfoss offers a graphical-based tool ( PLUS+1
Service Tool).
®
Safety
Safety functions for electrohydraulic steering are
integrated and designed to
•
SIL2 (IEC 61508)
•
PL d (ISO 13849) and
•
AgPL d (EN 16590)
•
AgPL e for roading mode can be achieved by
additional circuitry (hydrostatic steering only)
Features
•
Mount on OSPE, EHPS, EH valves
•
User-programmable steering
functionality
•
Use for front-, rear- or articulated
steered vehicles
•
Category 3 safety architecture (dual
microcontroller)
•
12 pin DEUTSCH DT connector
•
CAN based Wheel Angle Sensor input
•
9 to 32 Vdc power supply operation
•
5V Power supply for external sensors
(250mA)
•
2 CAN 2.0B ports, baud rate (250Kbit/s)
•
1 high-side switch output (9 to 32Vdc,
2A@12Vdc) (e.g. for OSPE cut-off valve
control)
•
1 LED for operational mode indication
•
Designed for SASA steering wheel
sensor
•
Prepared for steering devices with
tactile feedback (AUX steering)
•
Functional safety conforms to IEC
61508, ISO 13849 and EN 16590 (ISO
25119:2010 modified)
•
Fail-silent electrohydraulic steering
principle
•
Suitable for safety architecture
categories 2 and 3
•
Safe on-road mode (SIL 3/AgPL e,
electronics powered, and EH steering
depowered)
•
Main safety functions
Safe state: Redundant shutting-off
‒
the electrohydraulic steering flows
(system fall-back hydrostatic OSP
steering)
Trip to safe state when vehicle speed
‒
> safe speed threshold
Trip to safe state by unintended
‒
steering motion or other malfunction
Safe on-road mode
‒
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Danfoss | Jun 2016 L1309911 | AI00000222en-US0102 | 1
Data Sheet
OSPE with PVED-CLS
Product highlights
Two Microcontroller-Units (MCU) execute the configurable
electrohydraulic steering functionalities such as:
•
Integrated safety functions
•
Auto-steering (ISO 11783)
•
Fast steering (Variable steering ratio)
•
Speed dependent characteristics
•
AUX interface
Joystick steering
‒
Electric Mini-wheel
‒
•
Flow ramping for Jerk elimination for articulated vehicles
•
Steering wheel anti-drift control
•
MMI CAN bus interface
•
KWP2000 CAN service protocol
•
J1939-73 Diagnostics
Comprehensive technical literature online at
powersolutions.danfoss.com
2 | © Danfoss | Jun 2016 L1309911 | AI00000222en-US0102
PVED CLS
11-32 VDC
4212A170001
11
E
10R
9021
05
Safety
tested
Production
monitored
Functional
Safety
11108702
142
P301 596.B
45
84
P301 597.B
Data Sheet
OSPE with PVED-CLS
Dimensions
Module/Size Depth mm Width mm Height mm
PVED-CLS 84 45 142
12 pin DEUTSCH DT connector
Pin Controller function
1 AD2 (AIN)
2 AD3 (AIN)
3 Sensor power ground 4 CAN_H_SAFETY
5 CAN_L_SAFETY
6 Digital output (high-side power switch)
7 Power ground 8 Power supply +
9 CAN_L_MAIN
10 CAN_H_MAIN
11 5V sensor supply +
12 AD1 (AIN)
Use care when wiring mating connector. Above pinouts are for
device pins.
Specifications
Supply voltage 9 to 36 Vdc
Operating temperature
-40 ºC to 90 ºC
(ambient)
Storage temperature -40 ºC to 110 ºC
IP rating (with mating connector
attached)
IP 67 (bounded by DEUTSCH
connector specification)
Connector type DT04-12PA-B016
EMI/RFI rating ISO 14982:1998; ISO 11452-2:2004;
ISO 13766:2006; EN 13309:2010
(ISO 11452-2)
Weight 0.5 kg
Vibration EN 60068-2-6:1996; EN
60068-2-64:2009
Shock EN 60068-2-29 (BS):1993
Functional safety IEC 61508:2010 ISO 25119:2010 EN
16590:2014 ISO 13849-1:2008 ISO
13849-2:2010 Certificate number
Z10150647358001
Software integrity SIL 2 (IEC61508:2010); SRL 3 (EN
16590:2014)
Architecture category PVEDCLS,OSPE valve
PFHd for sensors MTTFd for
sensors
3; ( EN 16590:2014; ISO
13849-1:2008)
Refer to sensor manufacturer datasheet. Achievable diagnostic
coverage with PVED-CLS ≥ 90%.
PFHd for PVED-CLS and valve
MTTFd for PVED-CLS and valve
Safe Failure Fraction
1.68 x 10-8 (IEC 61508:2010) 36
years (per channel, EN 16590:2014)
(SN29500 @ 80 °C)
MTTFd for valves 150 years
CE conformity EMC directive 2004/108/EC; EMC
directive 2009/64/EC
EC type approval E-mark UNECE R10 (Approval
number 10R-059021)
Related product Danfoss part numbers
SASA IID steering wheel sensor 11116505; MTTFd = 73 years
(SN29500 @t 80 °C)
CG150 CAN/USB Gateway 10104136, 11153051
Compatible auxiliary steering
Contact Danfoss PAE
devices
The product is tested to extended test specifications. Contact
Danfoss PAE for further information.
©
Danfoss | Jun 2016 L1309911 | AI00000222en-US0102 | 3
Concept
A category 3 ((EN 16590:2014, ISO 13849:2008) architecture is
designed for safe electrohydraulic steering functions satisfying
AgPL d and PL d respectively. It executes both the steering
functionality as well as the safety functions. One-fault tolerance on
the valve sub-system is achieved by using a category 3 valve subsystem (EH-valve and OSPE cut-off valve). When the
electrohydraulic flow to the cylinder is isolated (fail safe), the
system reverts to a hydrostatic steering architecture.
Safety functions
The PVED-CLS executes four high-level safety functions;
•
’Safe EH-steering shut-off’
•
’Vehicle speed triggered EH-steering shut-off’,
•
’Safe EH-steering’ and
•
’Safe on-road mode’.
AgPL/PL d is realizable by utilizing a suitable sensor configuration.
’Safe EH-steering’ avoids unintended EH-steering flows. If an
unintended EH steering flow or any other malfunction is detected,
the safe state is demanded.
’Safe on-road mode’ can be enabled if PVED-CLS software
functionality is desired while used on public road (hydrostatic
steering only).
Diagnostic performance
The category 3 architecture property allows using the 1oo2 voting
principle which supports achieving a diagnostic coverage ≥ 90%.
Furthermore, for receiving CAN data, a safety protocol ensures the
necessary means for detecting failues in the communication. The
MMI input, SASA input, CAN-based wheel angle input, auxiliary
steering input and vehicle speed information is supplied via CAN
bus. For the highest safety integrity, two messages are received
and the CAN message contents is cross-checked by the
microcontrollers. Each CAN message conforms to a safety
protocol.
The PVED-CLS utilizes two loosely coupled microcontrollers which
both execute the control functions and the safety functions. Input,
intermediate and output data are periodically interchanged and
compared. If a descrepancy is detected, the safe state is
demanded and a diagnostic code is transmitted on the CAN
(J1939-73).
Valve diagnostic
The EH-valve is tested at power-up and continously by means of
the LVDT sensor. The OSPE solenoid valve and cut-off valve is
tested every time an EH-steering functionality is requested by the
MMI.
Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products
already on order provided that such alterations can be made without changes being necessary in specifications already agreed.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
4 | © Danfoss | Jun 2016 L1309911 | AI00000222en-US0102
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