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PVED-CLS-GMS
Operating guide
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Danfoss PVED-CLS-GMS Operating guide

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User Manual
PLUS+1® Compliant
PVED_CLS_GMS Function Block
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User Manual
Revision history Table of revisions
Date Changed Rev
November 2018 First edition 0101
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Contents

Before You Begin Abbreviations PVED_CLS_GMS Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 7
Diagnostic Signals............................................................................................................................................................................7
Status Logic........................................................................................................................................................................................ 8
Configure Communication for the Function Block..............................................................................................................8
Configure Guidance Controller 1.......................................................................................................................................... 9
Configure Guidance Controller 2.......................................................................................................................................... 9
Enabling Checkpoints.....................................................................................................................................................................9
Identical Function Blocks Need Different Namespace Values to Successfully Compile.................................10
Change Namespace Value.....................................................................................................................................................10
Pre-Made Service Screen.............................................................................................................................................................11
IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 12
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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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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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PVED_CLS_GMS Function Block

This function block configures the PVED_CLS_GMS for use with the PVED-CLS.
The inputs of the block are formatted to generate the message identifier that the PVED-CLS transmits. This block receives the message and reformats the data for use in PLUS+1® GUIDE. For more information, refer to PVED-CLS communication protocol.

Inputs

Enter the PVED_CLS_GMS 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.
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.
Chkpt BOOL T/F —— Enables advanced checkpoints with namespace for each Diag signal.
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.
Parameter Type Range Unit Description Src_Addr U8 0 to 253 ——
Dest_Addr U8 0 to 253 ——
Timeout U16 10 to 10000 ms Maximum time in ms between messages before a timeout fault is triggered.
Source address of the PVED-CLS Default: 19
Destination address of auto-guidance controller 1 or 2. Guidance 1 Default: 28 Guidance 2 Default: 29
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Outputs

Learn how the outputs of the function block work.
Parameter Type Range Unit Description Diag
Status
Est_Curve S32 -803200 to
Reset_Reqd BOOL T/F ——
PosCorrect BOOL T/F ——
SystemReady BOOL T/F ——
MechSysLockout BOOL T/F ——
Limit_Status U8 0 to 7 ——
Exit_Reason U8 0 to 63 ——
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition, all
U16 0, 0x8008 ——
0.01 1/km
803175
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.
Estimated curvature.
-803200: Max left. 0: Straight. 803175: Max right.
Request reset command status. T: Reset required. F: Reset not required.
Steering input position status. T: Correct position. F: Incorrect position.
Steering system readiness. T: System is ready. F: System is not ready.
Mechanical system lockout. T: Active. F: Not Active.
Guidance limit status. 0: Not limited. 1: Reserved. 2: Limited high, only lower values result in a change. 3: Limited low, only higher values result in a change. 4-5: Reserved. 6: Non-recoverable fault. 7: Reserved.
Guidance exit reason. 0: No reason/all clear. 1-2: Reserved. 3: Operator override of function. 4: Reserved. 5: GMC timeout. 6: GMC out of range/invalid. 7-23: Reserved. 24: Vehicle speed too high. 25: Alternate guidance or no system active. 26-61: Reserved. 62: Error (Safe State). 63: Reserved.

Diagnostic Signals

Enter the Checkpoints page on the second level of the PVED_CLS_GMS function block to access the function block’s signals.
The page contains checkpoints on input, parameter, and output signals. Other topics in this book describe input, parameter, and output signals.
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PVED_CLS_GMS Function Block
Parameter Type Range Unit Description Est_Curve_NA Reset_Reqd_NA
PosCorrect_NA BOOL T/F —— Steering input position status not available. PosCorrect_Flt BOOL T/F —— Steering input position status faulted. SystemReady_NA BOOL T/F —— Steering system readiness not available. SystemReady_Flt BOOL T/F —— Steering system readiness faulted. MechSysLockout_NA BOOL T/F —— Mechanical system lockout not available. MechSysLockout_Flt BOOL T/F —— Mechanical system lockout faulted. MsgTimedOut
NoMsgReceived
Updated BOOL T/F ——
CAN_RawData ARRAY[8}U8 T/F —— Data passed directly from the CAN receiver.
BOOL T/F —— BOOL T/F ——
BOOL T/F ——
BOOL T/F ——
Estimated curvature not available. Request reset command status not available..
True if the time since the last status message has exceeded the value determined by Timeout. T: The message has timed out, block outputs set to zero/false. NA signals set true. F: No error.
No message has been received yet from the device. T: No message received since power on. F: A message has been received since power on.
Pulses TRUE for one loop when new data is available. T: Received new data. F: Did not receive new data.

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
*
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.
0x8008
*
1000 At least one parameter is out
of range.
Status code reported. Correct the out of range
parameters.

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 Dest_Addr parameter out from the Parameters page.
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Configure Guidance Controller 1 For guidance controller 1, set the parameter Dest_Addr to 28.

Enabling Checkpoints

Configure Guidance Controller 2 For guidance controller 2, set the parameter Dest_Addr to 29.

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.
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Warning
The programmer must implement sufficient fault management and is responsible to reach the safe state according to the safety concept for the application.

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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Pre-Made Service Screen

This screen gives an overview of the PVED_CLS_GMS function block.
Output Type Description Source Address Dest Address Timeout ms Maximum time in ms between messages before a timeout fault is triggered.
Status ——
Reset Reqd
Mech Lockout
Est Curvature
PosCorrect
System Ready
No Msg Rcv T/F
Msg Timed Out T/F
Limit Status Exit Reason
—— Source address used by the message. ——
T/F Request reset command status.
T/F Mechanical system lockout.
1/km Estimated Curvature.
T/F Steering input position status.
T/F Steering system readiness.
—— Guidance limit status. —— Guidance exit reason.
Destination address used by the message.
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.
T: Reset required. F: Reset not required.
T: Active. F: Not active.
-8032.00: Maximum left. 0: Straight.
8031.75: Maximum right.
T: Correct position. F: Incorrect position.
T: System is ready. F: System is not ready.
No message has been received yet from the device. T: No message received since power on. F: A message has been received since power on.
True if the time since the last status message has exceeded the value determined by Timeout. T: The message has timed out, block outputs set to zero/false. NA signals set true. F: No error.
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IEC 61508-3 Annex D Supplemental Information

The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_GMS 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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