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PVED-CLS-WAS
Operating guide
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Danfoss PVED-CLS-WAS Operating guide

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User Manual
PLUS+1® Compliant
PVED_CLS_WAS 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 AQ00000271en-000101
User Manual

Contents

Before You Begin Abbreviations PVED_CLS_WAS Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 7
Diagnostic Signals............................................................................................................................................................................7
Status Logic........................................................................................................................................................................................ 7
Fault Logic...........................................................................................................................................................................................7
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....................................8
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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User Manual

PVED_CLS_WAS Function Block

This function block configures the PVED_CLS_WAS for use with the PVED-CLS.
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

Enter the PVED_CLS_WAS 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.
Loop_Tm U16 0 to 65535 ms Processing time of one program loop. 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.
Enable BOOL T/F —— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the
block. T: Function enabled. F: Function disabled.
WhlAng U16 0 to 5000 mV Wheel angle sensor signal in millivolts. This voltage signal is passed along
unmodified to the PVED-CLS. The PVED-CLS performs the scaling based on the parameters. (P3185, P3187, P3189). 0 - 99: Error condition. 100 - 4900: Valid wheel angle signal for the PVED-CLS to scale. 4901 - 5000: Error condition.
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
—— ——
0 to 255 —— PGN offset used for the message.
CRC 16 used by the PVED-CLS messages. Polynomial: 0xC86C
Primary Default: 18 Redundant Default: 19
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Parameter Type Range Unit Description Src_Addr U8 0 to 253 ——
Tx_Rate U16 2*Loop_Tm to
65535
ms

Outputs

Learn how the outputs of the function block work.
Parameter Type Range Unit Description OR BOOL T/F —— CAN Tx OverRun flag.
Pend BOOL T/F —— CAN Tx Pending flag.
Diag
Status
Fault U16 0, 0x8002 ——
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition, all inputs,
U16 0, 0x8008 ——
Source address used by the message. Default: 250
How often the message is sent. Default: 50
T: A new request to send a message is made before the last one is sent. F: No overrun condition.
T: The last message requested is waiting to be transmitted on the bus. F: No message is waiting to be sent.
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.
This signal indicates if an input fault is declared. It is a bitwise code, so multiple items can be reported at a time. The following fault codes are provided: 0x0000: No fault. 0x8002: An input value is too high.

Diagnostic Signals

Enter the Checkpoints page on the second level of the PVED_CLS_WAS 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. 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.
Message transmission is disabled.
Correct the out of range parameters.

Fault Logic

Fault logic can indicate problems, causes of problems, and solutions.
Condition Hex
Input value is too high.
*
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.
*
0x8002
Binary Cause Response Correction
0010
An input is too high. Message transmission is
disabled.
Correct the out of range inputs.
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PVED_CLS_WAS Function Block

Configure Communication for the Function Block

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 PGN_Offset to 18.

Enabling Checkpoints

Configure Redundant Communication for Function Block For redundant communication, set the parameter PGN_Offset to 19.

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_WAS function block.
Output Type Description Angle Signal mV
Enabled Source Address PGN Offset Tx Rate Status ——
Fault
—— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the function block. —— Source address used by the message. —— PGN offset used for the message. ms How often the message is sent out.
—— This signal indicates if an input fault is declared. It’s a bitwise code, so multiple items can be reported at a time.
Wheel angle sensor signal in millivolts. This voltage signal is passed along unmodified to the PVED-CLS. The PVED­CLS performs the scaling based on the parameters. (P3185, P3187, P3189) 0 - 99: Error condition. 100 - 4900: Valid wheel angle signal for the PVED-CLS to scale. 4901 - 5000: Error condition.
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.
The following fault codes are provided: 0x0000: No fault. 0x8002: An input value is too high.

IEC 61508-3 Annex D Supplemental Information

The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_WAS Software Version 1.00 Release Status Released. Required Knowledge
Revision History
Known Issues Not applicable.
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_WAS Function Block
Label Description
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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