User Manual
PLUS+1® Compliant
PVED_CLS_STAT_MSG_OP Function
Block
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User Manual
PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
Revision history Table of revisions
Date Changed Rev
September 2019 Updated software version number 0102
November 2018 First edition 0101
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User Manual
PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
Contents
Before You Begin
Abbreviations
PVED_CLS_STAT_MSG_OP Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 6
Diagnostic Signals............................................................................................................................................................................9
Status Logic........................................................................................................................................................................................ 9
Configure Communication for the Function Block..............................................................................................................9
Configure Primary Communication for Function Block................................................................................................9
Configure Redundant Communication for Function Block...................................................................................... 10
Enabling Checkpoints...................................................................................................................................................................10
Identical Function Blocks Need Different Namespace Values to Successfully Compile.................................10
Change Namespace Value.....................................................................................................................................................11
Pre-Made Service Screen.............................................................................................................................................................11
IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 12
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP 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_STAT_MSG_OP 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_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
This function block configures the PVED_CLS_STAT_MSG_OP 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_OP 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
CRC_LUT ARRAY[256]U16
Addr U8 0 to 253 —— Source address of the PVED-CLS.
Timeout U16 10 to 10000 ms Maximum time in ms between messages before a timeout fault is triggered.
—— ——
CRC 16 used by the PVED-CLS messages.
Polynomial: 0xC86C
Primary default: 19
Redundant default: 90
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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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Parameter Type Range Unit Description
CurrentStateValue
CurrentState
AUX_Allowed
EH_Allowed
STW_ProgChgAllowed
DevChgAllowed BOOL T/F ——
GPS1_Allowed BOOL T/F ——
GPS2_Allowed BOOL T/F ——
U8 0 to 255 ——
BUS —— ——
BOOL —— ——
BOOL —— ——
BOOL —— ——
Current operation state. The signals map to the Boolean
signals in the CurrentState bus.
0x00: CurrentState.On_Road
0x10: CurrentState.Off_Road_Reaction
0x11: CurrentState.Off_Road_NonReaction
0x20: CurrentState.STW1
0x21: CurrentState.STW2
0x22: CurrentState.STW3
0x23: CurrentState.STW4
0x24: CurrentState.STW5
0x30: CurrentState.AUX1
0x31: CurrentState.AUX2
0x32: CurrentState.AUX3
0x33: CurrentState.AUX4
0x34: CurrentState.AUX5
0x40: CurrentState.GPS1
0x41: CurrentState.GPS2
0xD0: CurrentState.Safety_Chk
0xE0: CurrentState.Service_Mode
0xE1: CurrentState.Calib_WAS
0xE2: CurrentState.Calib_Spl
0xE3: CurrentState.Calib_Joy
0xF0: CurrentState.Initialization
0xFF: CurrentState.Safe_State
See description of CurrentStateValue for the available signals.
T: State is active.
F: State inactive
AUX steering device lockout status.
T: AUX device steering allowed.
F: AUX device steering prohibited.
Electro-hydraulic steering device lockout status.
T: EH device steering allowed.
F: EH device steering prohibited by an external switch.
Lock-out status for STW/AUX program changes.
T: Program changes allowed.
F: Program changes prohibited.
Lock-out status for steering device changes
T: Steering device changes allowed.
F: Steering device changes prohibited.
GPS receiver selection.
T: GPS1 Steering selected.
F: GPS1 Steering not selected.
GPS receiver selection.
T: GPS2 Steering selected
F: GPS2 Steering not selected.
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Parameter Type Range Unit Description
ServiceModeState
CAN_RawData ARRAY[8]U8 —— —— Data passed directly from the CAN receiver.
Updated BOOL T/F ——
MsgTimedOut BOOL T/F ——
NoMsgReceived BOOL T/F ——
CRC_Fail BOOL T/F ——
InvalidSeqNum BOOL T/F ——
AUX_Allowed_NA BOOL T/F ——
U8 0 to 255 ——
Service Mode State. When not in service-mode, this value is
set to 0xFF.
0x00: Direct output control reset
0x01: Direct output control/Direct output control active
0x02…0x0F: Reserved
0x10: WAS calibration reset.
0x11: WAS calibration in progress.
0x12…0x1C: Reserved
0x1D: WAS calibration counter update.
0x1E: WAS calibration failure
0x1F: WAS calibration complete
0x20: Spool calibration reset
0x21: Spool calibration inactive
0x22: Spool calibration arming
0x23: Spool calibration armed
0x24: Spool calibration in progress
0x25: Spool parameters plausibility check
0x26: Spool parameters ready to update
0x27: Spool parameters update
0x28…0x2C: Reserved
0x2D: Spool calibration counter update
0x2E: Spool calibration failure
0x2F: Spool calibration complete
0x30: Joystick calibration reset
0x31: Joystick calibration in progress
0x32…0x3C: Reserved.
0x3D: Joystick calibration counter update.
0x3E: Joystick calibration failure.
0x3F: Joystick calibration complete.
0x40…0xFC: Reserved.
0xFD: No analog joystick configured.
0xFE: No wheel angle sensor configured.
0xFF: Information not available.
Pulses TRUE for one loop when new data is available.
T: Received new data.
F: Did not receive new data.
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.
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.
Detects if the CRC in a message does not match the
calculated CRC that is performed over the data.
T: CRC mismatch.
F: No error.
On a failure, data is switched to safe values.
Detects an invalid sequence number.
T: The CAN counter value does not match the running value.
A message may have been missed.
F: No error.
On a failure, data is switched to safe values.
Indicates if the related signal is available.
T: Signal is not available.
F: Signal available.
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Parameter Type Range Unit Description
AUX_Allowed_Flt U8 0 to 3 ——
EH_Allowed_NA U8 0 to 255 ——
EH_Allowed_Flt BOOL T/F ——
STW_ProgChgAllowed_NA BOOL T/F ——
STW_ProgChgAllowed_Flt BOOL T/F ——
DevChgAllowed_NA BOOL T/F ——
DevChgAllowed_Flt BOOL T/F ——
Indicates if the related signal is faulted.
T: Signal is faulted.
F: Signal ok.
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.
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.
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_OP 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.
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, 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.
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Configure Redundant Communication for Function Block For redundant communication, set the parameter Addr to 90.
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.
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.
®
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Change Namespace Value
To successfully compile your application, change the namespace value for function blocks that are used
more than once in an application.
Pre-Made Service Screen
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.
This screen gives an overview of the PVED_CLS_STAT_MSG_OP function block.
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Output Type Description
Address
Timeout ms Maximum time in ms between messages before a timeout fault is triggered.
Status ——
Aux Allowed
EH Allowed
Str Chg
Allowed
Inval Seq Num
Current State
Allow Prog Chg
GPS1 allowed
GPS2 allowed
Svc Mode State
Msg Timed Out T/F
No Msg Rcv T/F
CRC Fail
—— Source address of the PVED-CLS.
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.
—— AUX steering device lockout status.
T: AUX device steering allowed.
F: AUX device steering prohibited
—— Electro-hydraulic steering device lockout status.
T: EH steering allowed.
F: EH steering prohibited by an external switch.
—— Lock-out status for STW/AUX program changes
T: Program changes allowed.
F: Program changes prohibited.
—— Detects an invalid sequence number.
T: The CAN counter value does not match the running value. A message may have been missed.
F: No error.
—— Current operation state.
—— Lock-out status for STW/AUX program changes.
T: Steering device changes allowed.
F: Steering device changes prohibited.
—— GPS1 steering selection.
T: GPS1 steering selected.
F: GPS1 steering not selected.
—— GPS2 steering selection.
T: GPS2 steering selected.
F: GPS2 steering not selected.
—— Service mode state. When not in service-mode, this value is set to 0xFF.
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.
—— Detects if the CRC in a message does not match the calculated CRC that is performed over the data.
T: CRC mismatch.
F: No error.
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_OP
Software Version 1.01
Release Status Released.
Required Knowledge
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.
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PLUS+1® Compliant PVED_CLS_STAT_MSG_OP Function Block
PVED_CLS_STAT_MSG_OP Function Block
Label Description
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.
Version 1.01.
——
——
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 | September 2019 AQ00000260en-000102 | 13
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