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PVED-CLS-STAT-MSG-4
Operating guide
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Danfoss PVED-CLS-STAT-MSG-4 Operating guide

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User Manual
PLUS+1® Compliant
PVED_CLS_STAT_MSG_4 Function Block
www.danfoss.com
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User Manual
Revision history Table of revisions
Date Changed Rev
November 2018 First edition 0101
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User Manual

Contents

Before You Begin Abbreviations PVED_CLS_STAT_MSG_4 Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 6
Diagnostic Signals............................................................................................................................................................................7
Status Logic........................................................................................................................................................................................ 8
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.............................................................................................................. 10
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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_STAT_MSG_4 Function Block

This function block configures the PVED_CLS_STAT_MSG_4 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_STAT_MSG_4 function block for an overview of its signals.
To avoid compiler errors, use only the data types specified in this table.
Item Type Range Para Bus —— —— This bus contains configuration values. You can replace these values with signals
CAN.Port Port —— —— Determines which CAN port to transmit data from. This variable can be found in the
Chkpt BOOL T/F —— Enables advanced checkpoints with namespace for each Diag signal.
Unit
Description
routed from the application if desired.
CAN sub-bus if using the Main Template.
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 Addr U8 0 to 253 —— Source address of the PVED-CLS.
Primary default: 19 Redundant default: 90
Timeout U16 10 to 10000 ms Maximum time in ms between messages before a timeout fault is triggered.

Outputs

Learn how the outputs of the function block work.
Parameter Type Range Unit Description Diag
Status
STAT_MSG
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition,
U16 0, 0x8008 ——
Bus —— —— This bus provides the output values for the block.
all 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.
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PVED_CLS_STAT_MSG_4 Function Block
Parameter Type Range Unit Description
Flow_Cmd S16 -10000 to
10000
IdealOilVolPerRev S16 0 to 65534 cm3 Ideal oil volume sums the total desired oil volume per revolution
CalcFlowStpt S16 -10000 to
10000
STW_AngDiff U16 0 to 36000 0.01 Deg
Updated BOOL T/F ——
CAN_RawData ARRAY[8]U8 —— —— Data passed directly from the CAN receiver.
NoMsgReceived BOOL T/F ——
MsgTimedOut BOOL T/F ——
Flow_Cmd_NA BOOL T/F ——
IdealOilVolPerRev_NA BOOL T/F ——
CalcFlowStpt_NA BOOL T/F ——
STW_AngDiff_NA BOOL T/F ——
0.01%
0.01% Flow setpoint describes the flow command before ramps and soft
Flow command.
before EFU, soft stop and ramps functionality is applied in the STW/AUX algorithm.
stop functionality is applied in STW/AUX algorithm. Steering Angle Difference. Steering wheel position difference to
ideal position in STW/AUX algorithm. Pulses TRUE for one loop when new data is available.
T: Received new data. F: Did not receive new data.
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 status message has timed out, block outputs set to zero/false. NA signals set true. F: No error.
Indicates if the related signal is available. T: Signal is not available. F: Signal available.
Indicates if the related signal is available. T: Signal is not available. F: Signal available.
Indicates if the related signal is available. T: Signal is not available. F: Signal available.
Indicates if the related signal is available. T: Signal is not available. F: Signal available.

Diagnostic Signals

Enter the Checkpoints page on the second level of the PVED_CLS_STAT_MSG_4 function block to access the signals of the function block.
The page contains checkpoints on input, parameter, and output signals. Other topics in this book describe input, parameter, and output signals.
Name Type Range Unit Description CalcFlowStpt_Rsvd
FlowCmd_Rsvd
STW_AngDiff_Rsvd BOOL T/F ——
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BOOL T/F ——
BOOL T/F ——
Indicates if the related signal is reserved. T: Signal is reserved. F: Signal available.
Indicates if the related signal is reserved. T: Signal is reserved. F: Signal available.
Indicates if the related signal is reserved. T: Signal is reserved. F: Signal available.
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PVED_CLS_STAT_MSG_4 Function Block

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.

Configure Communication for the Function Block

0x8008
*
1000 At least one parameter is out
of range.
Status code reported. Correct the out of range
parameters.
The following sequence demonstrates how to setup the function block for primary or redundant communication.
Note, you need to route the Addr parameter out from the Parameters page.

Configure Primary Communication for Function Block For primary communication, set the parameter Addr to 19.

Enabling Checkpoints

Configure Redundant Communication for Function Block For redundant communication, set the parameter Addr to 90.

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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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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PVED_CLS_STAT_MSG_4 Function Block

Pre-Made Service Screen

This screen gives an overview of the PVED_CLS_STAT_MSG_4 function block.
Item Unit Description Address Timeout ms Maximum time in ms between messages before a timeout fault is triggered.
Flow Cmd % Flow command. Ideal Oil Per Vol cm Ideal oil volume sums the total desired oil volume per revolution before EFU, soft stop and ramps functionality is
Calc Flow Setpoint
STW Angle Diff Msg Timed Out T/F
No Msg Rcv T/F
—— Source address of the PVED-CLS.
applied in the STW/AUX algorithm.
% Flow setpoint describes the flow command before ramps and soft stop functionality is applied in STW/AUX
Deg
algorithm. Steering angle difference. Steering wheel position difference to ideal position in STW/AUX algorithm.
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.

IEC 61508-3 Annex D Supplemental Information

The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_STAT_MSG_4 Software Version 1.00 Release Status Released. Required Knowledge
Revision History
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.
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PVED_CLS_STAT_MSG_4 Function Block
Label Description
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.
—— ——
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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