User Manual
PLUS+1® Compliant
PVED_CLS_AUX_STW Function Block
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User Manual
PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
Revision history Table of revisions
Date Changed Rev
November 2018 First edition 0101
2 | © Danfoss | November 2018 AQ00000256en-000101
User Manual
PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
Contents
Before You Begin
Abbreviations
PVED_CLS_AUX_STW Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 7
Status Logic........................................................................................................................................................................................ 7
Fault Logic...........................................................................................................................................................................................7
Configure Communication for the Function Block..............................................................................................................8
Configure Primary Communication for Function Block................................................................................................8
Configure Redundant Communication for Function Block.........................................................................................8
Enabling Checkpoints.....................................................................................................................................................................8
Identical Function Blocks Need Different Namespace Values to Successfully Compile....................................9
Change Namespace Value.......................................................................................................................................................9
Pre-Made Service Screen.............................................................................................................................................................10
IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 11
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
Before You Begin
Before reading this manual, read and understand the safety manual of the entire library (Safety Manual
and Programmer Guide - General, document number AQ00000254).
Warning
Do not change parameters while the machine is driving. Before changing parameters bring the machine
into a safe state to prevent harm for the operator and bystanders.
Warning
Fault detection and diagnostics must be tested with the final application which is assembled from the
function blocks.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
Abbreviations
Abbreviations used in the PVED-CLS function block user manuals are described.
Abbreviation Meaning
AUX JOY Auxiliary Joystick
AUX STW Auxiliary Steering Wheel
CLS Closed Loop Safety
GMC Guidance System Command
GMS Guidance Machine Status
MMI Man Machine Interface
PVED CLS Proportional Valve Electronic Digital Closed Loop Safety
STAT MSG OP Status Message Operation
STAT MSG Status Message
Str Fdbk Steering Feedback
STW Steering Wheel
VSP Vehicle Speed
WAS Wheel Angle Sensor
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User Manual
PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
This function block configures the PVED_CLS_AUX_STW for use with the PVED-CLS.
The inputs of the function block are formatted to a form that the PVED-CLS expects. For more
information, refer to PVED-CLS communication protocol.
Inputs
Enter the PVED_CLS_AUX_STW function block for an overview of its signals.
To avoid compiler errors, use only the data types specified in this table.
Parameter Type Range Unit Description
Para Bus —— —— This bus contains configuration values. You can replace these values with signals
routed from the application if desired.
Loop_Tm U16 0 to 65535 ms Processing time of one program loop.
CAN.Port Port —— —— Determines which CAN port to transmit data from. This variable can be found in
the CAN sub-bus if using the Main Template.
Enable BOOL T/F —— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the
block.
T: Function enabled.
F: Function disabled.
Angle U16 0 to 35991 0.01° Steering angle relative to the 0-index point.
Vel S32 -30000 to
30000
ErrCode U8 0 to 15 —— Error code from sensor.
Chkpt BOOL T/F —— Enables advanced checkpoints with namespace for each Diag signal.
0.01 RPM Steering angle velocity.
0: Reserved.
1: Sensor chip error.
2: Steering angle failure.
3: CAN input message failure.
4: Power failure.
5: CPU failure.
6: Memory failure.
7-13: Reserved.
14: Temperature warning.
15: No error.
T: Include checkpoints when compiled.
F: Do not include checkpoints when compiled.
Parameters
Learn how the function block uses parameters to customize the function.
To avoid compiler errors, use only the data types specified in this table.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
Parameter Type Range Unit Description
CRC_LUT ARRAY[256]U16
PGN_Offset U8
Src_Addr U8 0 to 253 ——
Tx_Rate U16 2*Loop_Tm to
IsRedundant BOOL T/F —— Indicates if the message is redundant.
Outputs
Parameter Type Range Unit Description
OR BOOL T/F —— CAN Tx OverRun flag.
Pend BOOL T/F —— CAN Tx Pending flag.
Diag
Status
Fault U16 0, 0x8001,
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition, all
U16 0, 0x8008 ——
—— ——
0 to 255 —— PGN offset used for the message.
ms
65535
CRC 16 used by the PVED-CLS messages.
Polynomial: 0xC86C
Primary Default: 20
Redundant Default: 21
Source address used by the message.
Default: 79
How often the message is sent.
Default: 50
T: Message is redundant.
F: Message is primary.
Learn how the outputs of the function block work.
T: A new request to send a message is made before the last one is sent.
F: No overrun condition.
T: The last message requested is waiting to be transmitted on the bus.
F: No message is waiting to be sent.
inputs, parameters, and output signals are contained inside of the bus.
This signal indicates if a parameter fault is declared. It is a bitwise code, so
multiple items can be reported at a time. The following status codes are
provided:
0x0000: No fault.
0x8008: At least one parameter is out of range.
0x8002
——
This signal indicates if an input fault is declared. It is a bitwise code, so
multiple items can be reported at a time. The following fault codes are
provided:
0x0000: No fault.
0x8001: An input value is too low.
0x8002: An input value is too high.
Status Logic
This topic describes how status logic is indicated for the function block.
The status code indicates whether the parameters used in the function are within their valid range.
Condition Hex Binary Cause Response Correction
*
Invalid setup. 0x8008
*
Position of set bit in a 16 bit fault or status code. Bit 1 is the least significant bit. Bit 16 set to 1 indicates a standard Danfoss status code or fault code.
1000
At least one parameter is out
of range.
Message transmission is
disabled.
Correct the out of range
parameters.
Fault Logic
Fault logic can indicate problems, causes of problems, and solutions.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
Condition Hex
Input value is too low. 0x8001
Input value is too
high.
*
Position of set bit in a 16 bit fault or status code. Bit 1 is the least significant bit. Bit 16 set to 1 indicates a standard Danfoss status code or fault code.
*
0x8002
Binary Cause Response Correction
0001
0010
An input is too low. Message transmission is
disabled.
An input is too high. Message transmission is
disabled.
Correct the out of range
inputs.
Correct the out of range
inputs.
Configure Communication for the Function Block
The following sequence demonstrates how to setup the function block for primary or redundant
communication.
Note that you must route the PGN_Offset and IsRedundant parameters out from the Parameters page.
Configure Primary Communication for Function Block
For primary communication, set the parameter PGN_Offset to 20 and the parameter IsRedundant to
false.
Enabling Checkpoints
Configure Redundant Communication for Function Block
For redundant communication, set the parameter PGN_Offset to 21 and the parameter IsRedundant to
true.
Chkpt enables the checkpoints for each Diag Bus Signal.
It is pre-connected to a constant True.
Set Chkpt to False if you do not want to use the checkpoints or if you need to free up some memory. Be
aware that Fault and Status signals disappear from the service screen by setting to False.
Warning
The programmer must implement sufficient fault management and is responsible to reach the safe state
according to the safety concept for the application.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
Identical Function Blocks Need Different Namespace Values to Successfully Compile
If you use the same function block more than once in an application, you must change each function
block’s namespace value to avoid compiler errors.
All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1
Service Tool to read block input and output values.
Some function blocks contain non-volatile memory components that store function block operating
parameters.
Both these components use memory names (“aliases”) to allocate memory. Identical memory names
cause compiler errors.
The namespace value adds a unique prefix to each component name to avoid errors. Keep each
namespace value short to save controller memory.
Change Namespace Value
To successfully compile your application, change the namespace value for function blocks that are used
more than once in an application.
®
1. In the PLUS+1® GUIDE menu bar, click the Query/Change button.
2. Click on the function block whose namespace you want to set to a unique value.
The Edit Page window opens.
3. In the Edit Page window, enter a meaningful Namespace value.
Namespace values are case-sensitive.
•
To save controller memory, use a short namespace value.
•
4. Press Enter.
5. Repeat these steps to enter unique namespace values for other identical function blocks.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
Pre-Made Service Screen
This screen gives an overview of the PVED_CLS_AUX_STW function block.
Output Type Description
Angle
Velocity
Error Code
Enabled
PGN Offset
Source Address
Tx Rate
Is Redundant
Status ——
Fault
Deg Steering angle relative to the 0-index point.
RPM Steering angle velocity.
—— Error code from sensor.
0: Reserved
1: Sensor chip error
2: Steering angle failure
3: CAN input message failure
4: Power failure
5: CPU failure
6: Memory failure
7-13: Reserved
14: Temperature warning
15: No error
—— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the block.
—— PGN offset used for the message.
—— Source address used by the message.
ms How often the message is sent.
—— Indicates if the message is redundant.
T: Message is redundant
F: Message is primary
This signal indicates if a parameter fault is declared. It’s a bitwise code, so multiple items can be reported at a time.
The following status codes are provided:
0x0000: No fault.
0x8008: At least one parameter is out of range.
—— This signal indicates if an input fault is declared. It’s a bitwise code, so multiple items can be reported at a time. The
following fault codes are provided:
0x0000: No fault.
0x8001: An input value is too low.
0x8002: An input value is too high.
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PLUS+1® Compliant PVED_CLS_AUX_STW Function Block
PVED_CLS_AUX_STW Function Block
IEC 61508-3 Annex D Supplemental Information
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_AUX_STW
Software Version 1.00
Release Status Released.
Required Knowledge
Revision History
Known Issues Not applicable.
Backward Compatibility
Market Requirements Not
Met
Change Request Direct any change request to your Danfoss sales representative.
Support Direct any request to the PLUS+1® help desk:
OS The software is not hardware specific.
Tool Requirements PLUS+1® GUIDE version 9.1 or later certified version.
Security Not applicable.
Design Level
Certification Not certified.
Requirements to the user:
1. The programmer must fully read and understand all parts of the Safety Manual
before attempting to use the software product.
2. The programmer must have well-founded knowledge about using PLUS+1® tools.
3. The programmer must fully read and understand all parts of the PVED-CLS User
Manual before attempting to use the software product.
Version 1.00.
First release.
——
——
plus1helpdesk@danfoss.com
PLUS+1® Service Tool version 9.1 or later certified version.
All software development has been done using SIL2 processes.
•
The hardware library is not SIL2 certified.
•
Danfoss provides required documentation to certifying bodies on customer request.
•
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Danfoss | November 2018 AQ00000256en-000101 | 11
Danfoss
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