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User Manual
PLUS+1® Compliant
PVED_CLS_Str_Fdbk Function Block
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User Manual
PLUS+1 Guide PVED_CLS_Str_Fdbk Function Block
Revision history Table of revisions
Date Changed Rev
November 2018 First edition 0101
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PLUS+1 Guide PVED_CLS_Str_Fdbk Function Block
Contents
Before You Begin
Abbreviations
PVED_CLS_Str_Fdbk Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 7
Diagnostic Signals............................................................................................................................................................................7
Status Logic........................................................................................................................................................................................ 7
Configure Communication for the Function Block..............................................................................................................8
Configure Primary Communication for Function Block................................................................................................8
Configure Redundant Communication for Function Block.........................................................................................8
Change Namespace Value............................................................................................................................................................ 9
Pre-Made Service Screen............................................................................................................................................................... 9
IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 10
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User Manual
PLUS+1 Guide PVED_CLS_Str_Fdbk 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 Guide PVED_CLS_Str_Fdbk 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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PLUS+1 Guide PVED_CLS_Str_Fdbk Function Block
PVED_CLS_Str_Fdbk Function Block
This function block configures the PVED_CLS_Str_Fdbk 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_Str_Fdbk 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
PGN_Offset U8
Src_Addr U8 0 to 253 ——
Timeout U16 10 to 10000 ms Maximum time in ms between messages before a timeout fault is triggered.
—— ——
0 to 255 —— PGN offset used for the message.
CRC 16 used by the PVED-CLS messages.
Polynomial: 0xC86C
Default: 24.
Source address of the PVED-CLS.
Primary Default: 19
Redundant Default: 90
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PVED_CLS_Str_Fdbk Function Block
Outputs
Learn how the outputs of the function block work.
Parameter Type Range Unit Description
Diag
Status
Est_EH_Flow S16 -10000 to
Est_Whl_Ang S16 -10000 to
Lock_to_Lock U8 0 to 80 0.1 Rev
Diagnostic Signals
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition, all
U16 0, 0x8008 ——
0.01%
10000
0.01%
10000
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 electro-hydraulic flow. Negative values represent flow to the left.
Zero represents neutral. Positive values represent flow to the right.
Estimated wheel angle. Negative values represent left. Zero represents center.
Positive values represent right.
Number of desired steering wheel revolutions lock to lock.
Enter the Checkpoints page on the second level of the PVED_CLS_Str_Fdbk 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.
Parameter Type Range Unit Description
Est_EH_Flow_NA
Est_Whl_Ang_NA
Lock_to_Lock_NA BOOL T/F —— Lock to lock not available.
Lock_to_Lock_Rsvd BOOL T/F —— Lock to lock value is in the reserved range.
MsgTimedOut
NoMsgReceived
CRC_Fail BOOL T/F ——
InvalidSeqNum BOOL T/F ——
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 electro-hydraulic flow not available.
Estimated wheel angle 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.
Detects if the CRC in a message does not match the calculated CRC that is
performed on 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.
F: No error.
On a failure, data is switched to safe values.
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.
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PVED_CLS_Str_Fdbk Function Block
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 that you must route the Src_Addr parameter out from the Parameters page.
Configure Primary Communication for Function Block For primary communication, set the parameter Src_Addr to 19.
Configure Redundant Communication for Function Block
For redundant communication, set the parameter Src_Addr to 90.
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PVED_CLS_Str_Fdbk 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_Str_Fdbk function block.
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PVED_CLS_Str_Fdbk Function Block
Output Type Description
PGN Offset
Source Address
Timeout
Status ——
Est EH Flow
Est Whl Ang %
Lock to Lock Rev Number of desired steering wheel revolutions lock to lock.
IEC 61508-3 Annex D Supplemental Information
—— PGN offset used for the message.
—— Source address used by the message.
ms Maximum time in ms between messages before a timeout fault is triggered.
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.
% Estimated Electro-Hydraulic Flow. Negative values represent flow to the left. Zero represents neutral. Positive values
represent flow to the right
Estimated Wheel Angle. Negative values represent left. Zero represents center. Positive values represent right.
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_Str_Fdbk
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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