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PVED-CLS-STAT-MSG-5
Operating guide
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Danfoss PVED-CLS-STAT-MSG-5 Operating guide

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User Manual
PLUS+1® Compliant
PVED_CLS_STAT_MSG_5 Function Block
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User Manual
Revision history Table of revisions
Date Changed Rev
November 2018 First edition 0101
2 | © Danfoss | November 2018 AQ00000265en-000101
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Contents

Before You Begin Abbreviations PVED_CLS_STAT_MSG_5 Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 6
Diagnostic Signals............................................................................................................................................................................8
Status Logic........................................................................................................................................................................................ 8
Configure Communication for the Function Block..............................................................................................................9
Configure Primary Communication for Function Block................................................................................................9
Configure Redundant Communication for Function Block.........................................................................................9
Enabling Checkpoints.....................................................................................................................................................................9
Identical Function Blocks Need Different Namespace Values to Successfully Compile....................................9
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_STAT_MSG_5 Function Block

This function block configures the PVED_CLS_STAT_MSG_5 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_5 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
U16 0, 0x8008 ——
Bus —— —— This bus provides the output values for the block.
addition, 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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Parameter Type Range Unit Description
FDA_ErrCond BOOL T/F ——
FDA_Spool_Dir S8 -1 to 1 ——
FDA_WAS_DirChg S8 -1 to 1 ——
FDA_STW_Moved S8 -1 to 1 ——
FDA_FltCond BOOL T/F ——
FDA_WAS_Pos S16 -10000 to
10000
FDA_Spool_Pos S16 -1000 to 1000 0.01 mm
FDA_ConfCount U16 0 to 10240 ms Fault detection algorithm – confidence counter value.
FDA_STW_Vel S16 -3000 to 3000 0.1 RPM Fault detection algorithm – steering wheel angle velocity.
Spool_Diag_Type U8 0 to 3 ——
Spool_Ctrl_Flg BOOL T/F ——
FDA_Stat BOOL T/F ——
Updated BOOL T/F ——
CAN_RawData ARRAY[8]U8 —— —— Data passed directly from the CAN receiver.
NoMsgReceived BOOL T/F ——
MsgTimedOut BOOL T/F ——
FDA_ErrCond_NA BOOL T/F ——
0.01%
Fault detection algorithm – error condition. T: Active F: Inactive
Fault detection algorithm – spool direction.
-1: Left 0: Neutral 1: Right.
Fault detection algorithm – wheel angle change.
-1: Left 0: Neutral. No change. 1: Right.
Fault detection algorithm – steering wheel angle change.
-1: Left 0: Neutral. No steering wheel activation. 1: Right
Fault detection algorithm – fault condition T: Active F: Inactive.
Fault detection algorithm – measured wheel angle.
-10000 corresponds to the left most position. 0 corresponds to the neutral position. 10000 corresponds to the right most position.
Fault detection algorithm – actual spool position. Negative values correspond to spool movement to the left. Positive values correspond to spool movement to the right.
Spool diagnostic type. 0: Spool monitoring active. 1: Spool movement check active. 2: Parallel execution of spool monitoring and spool movement check active. 3: No spool diagnostics active.
Spool control flag. T: Spool control enable. F: Spool control disabled.
Fault detection algorithm – status. T: Fault detection algorithm enabled. F: Fault detection algorithm muted.
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.
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Parameter Type Range Unit Description
FDA_Spool_Dir_NA BOOL T/F ——
FDA_WAS_DirChg_NA BOOL T/F ——
FDA_STW_Moved_NA BOOL T/F ——
FDA_FltCond_NA BOOL T/F ——
FDA_Stat_NA BOOL T/F ——
Spool_Ctrl_Flg_NA BOOL T/F ——
Spool_Ctrl_Flg_Flt BOOL T/F ——
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.
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 faulted. T: Signal is faulted. F: Signal ok.

Diagnostic Signals

Enter the Checkpoints page on the second level of the PVED_CLS_STAT_MSG_5 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 FDA_ErrCond_Rsvd BOOL T/F ——
FDA_FltCond_Rsvd BOOL T/F ——
FDA_WAS_Pos_Rsvd BOOL T/F ——
FDA_Spool_Pos_Rsvd BOOL T/F ——
FDA_STW_Vel_Rsvd BOOL T/F ——
FDA_Stat_Rsvd 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.
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.

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.
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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.

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.
®
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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_STAT_MSG_5 function block.
Output Type Description Address Timeout ms Maximum time in ms between messages before a timeout fault is triggered.
Msg Timed Out T/F
No Msg Rcv T/F
FDA Err Cond FDA Flt Cond
FDA Conf Count Ms Fault detection algorithm – confidence counter value. Spool Ctrl Flg T/F
Spool Diag
FDA Stat T/F
—— Source address of the PVED-CLS.
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. —— T/F Fault detection algorithm – fault condition.
Fault detection algorithm – error condition.
T: Active.
F: Inactive.
Spool control flag.
T: Spool control enabled.
F: Spool control disabled
Spool diagnostic type.
0: Spool monitoring active.
1: Spool movement check active.
2: Parallel execution of spool monitoring and spool movement check active.
3: No spool diagnostics active.
Fault detection algorithm – status.
T: Fault detection algorithm enabled.
F: Fault detection algorithm muted.
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Output Type Description FDA Spool Dir T/F
FDA Spool Pos %
FDA WAS DirChg ——
FDA WAS Pos %

IEC 61508-3 Annex D Supplemental Information

Fault detection algorithm – spool direction.
-1: Left 0: Neutral 1: Right
Fault detection algorithm – Actual spool position. Negative values correspond to spool movement to the left. Positive values correspond to spool movement to the right.
Fault detection algorithm – Wheel angle change. 0x0000: No fault. 0x8008: At least one parameter is out of range.
Fault detection algorithm – Measured wheel angle.
-100% corresponds to the left most position. 0 corresponds to the neutral position. 100% corresponds to the right most position.
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_STAT_MSG_5 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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