User Manual
PLUS+1® Compliant
PVED_CLS_MA_STAT_Msg_1 Function
Block
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User Manual
PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
Revision history Table of revisions
Date Changed Rev
September 2020 First edition 0101
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User Manual
PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
Contents
Before You Begin
Abbreviations
PVED_CLS_MA_STAT_Msg_1 Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 6
Status Logic........................................................................................................................................................................................ 7
Configure Communication for the Function Block..............................................................................................................7
Enabling Checkpoints.....................................................................................................................................................................7
Identical Function Blocks Need Different Namespace Values to Successfully Compile....................................8
Change Namespace Value.......................................................................................................................................................8
Pre-Made Service Screen............................................................................................................................................................... 9
IEC 61508-3 Annex D Supplemental Information.................................................................................................................9
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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 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_MA_STAT_Msg_1 Function Block
Abbreviations
Abbreviations used in the PVED-CLS function block user manuals are described.
Item Description
AUX JOY Auxiliary Joystick
AUX STW Auxiliary Steering Wheel
CLS Closed Loop Safety
GMC Guidance System Command
GMS Guidance Machine Status
MA Multi-Axis
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
WAL Wheel Angle Limit
WAS Wheel Angle Sensor
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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
PVED_CLS_MA_STAT_Msg_1 Function Block
This function block configures the PVED_CLS_MA_STAT_Msg_1 function block for use with the PVEDCLS.
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
Inputs to the PVED_CLS_MA_STAT_Msg_1 function block are described.
To avoid compiler errors, use only the data types specified in this table.
Item Type Range Description [Unit]
Port Port —— Determines which CAN port to receive 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.
Parameters
The PVED_CLS_MA_STAT_Msg_1 function block uses parameters to customize how it functions.
To avoid compiler errors, use only the data types specified in this table.
Item Type Range Description [Unit]
Timeout U16 10-10000 Maximum time between messages before a timeout fault is triggered.
[ms]
PGN_Offset U8 0-255 PGN offset used for the message.
Addr U8 0-253 Address of the PVED-CLS. Default of 19 for primary, and 90 for secondary.
Outputs
Outputs of the PVED_CLS_MA_STAT_Msg_1 function block are described.
Item Type Range Description [Unit]
ReqdSpoolPos S16 -1000-1000 Requested Spool Position. Negative values correspond to spool movement to the
left. Positive values correspond to movement to the right.
[0.01 mm]
ActSpoolPos S16 -1000-1000 Actual Spool Position. Negative values correspond to spool movement to the left.
Positive values correspond to movement to the right.
[0.01 mm]
AD1 U16
0- 6000
Data from the external analog input 1. Measured value at the external AD1 input.
[mV]
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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
PVED_CLS_MA_STAT_Msg_1 Function Block
Item Type Range Description [Unit]
AD2 U16
Updated BOOL T/F Pulses TRUE for one loop when new data is available.
CAN_RawData (ARRAY[8]U8) —— Data passed directly from the CAN receiver.
NoMsgReceived BOOL T/F No message has been received yet from the device.
MsgTimedOut BOOL T/F True if the time since the last status message has exceeded the value determined
ReqdSpoolPos_NA BOOL T/F ReqdSpoolPos signal is not available.
ActSpoolPos_NA BOOL T/F ActSpoolPos signal is not available.
AD1_NA BOOL T/F AD1 signal is not available.
AD2_NA BOOL T/F AD2 signal is not available.
Status U16 {0,
0- 6000
0x8008}
Data from the external analog input 2. Measured value at the external AD2 input.
[mV]
T: Received new data.
F: Did not receive new data.
T: No message received since power on.
F: A message has been received since power on.
by Timeout.
T: The status message has timed out, block outputs set to zero/false. NA signals
set true.
F: No error.
T: Not available.
F: OK.
T: Not available.
F: OK.
T: Not available.
F: OK.
T: Not available.
F: OK.
Status of the parameters of the block.
Status Logic
This topic describes how status logic is indicated for the PVED_CLS_MA_STAT_Msg_1 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.
—— Correct the out of range
parameters.
Configure Communication for the Function Block
Route the Addr parameter out from the Parameters page to set up the function block for
communication.
Enabling Checkpoints
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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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
PVED_CLS_MA_STAT_Msg_1 Function Block
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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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
PVED_CLS_MA_STAT_Msg_1 Function Block
Pre-Made Service Screen
This screen gives an overview of the PVED_CLS_MA_STAT_Msg_1 function block.
Item Description
Address Source address of the PVED-CLS.
PGN Offset PGN offset used for the message.
Timeout Maximum time in ms between messages before a timeout fault is triggered.
Reqd Spool Pos Requested spool position.
Act Spool Pos Actual spool position.
AD1 Data from the external analog input 1. Measured value at the external AD1 input.
AD2 Data from the external analog input 2. Measured value at the external AD2 input.
Status This signal indicates if a parameter fault is declared. It is a bitwise code, so multiple items can be reported at a time.
Msg Timed Out True if the time since the last status message has exceeded the value determined by Timeout.
No Msg Rcv No message has been received yet from the device.
IEC 61508-3 Annex D Supplemental Information
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_MA_STAT_Msg_1
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.
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.
——
——
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PLUS+1® Compliant PVED_CLS_MA_STAT_Msg_1 Function Block
PVED_CLS_MA_STAT_Msg_1 Function Block
Label Description
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.
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
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Phone: +49 4321 871 0
Danfoss
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Phone: +45 7488 2222
Danfoss
Power Solutions (US) Company
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Ames, IA 50010, USA
Phone: +1 515 239 6000
Danfoss
Power Solutions Trading
(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
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Shanghai, China 201206
Phone: +86 21 2080 6201
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