Danfoss PVED-CX User guide [zh]

PVED-CX 4

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PVED-CX 4

	2017	6		0503
	2014	9		EB
	2014	2	- DITA CMS	EA
	2009	10 2011 5		AA through DC

2 | © Danfoss | 2017 6

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PVED-CX 4
PVG PVE ............................................................................................................................................................	7
PVG/PVE .................................................................................................................................................................	8
PVED-CX .....................................................................................................................................................................	8
PVED-CX ....................................................................................................................................................................................	9
PVED-CX ..................................................................................................................................................................................	10
PVG
PVG ...........................................................................................................................................................................................	12
PVED-CX
PVED-CX ..................................................................................................................................................................................	13
......................................................................................................................................................................................	13
...............................................................................................................................................................................................	13
PVED-CX ...................................................................................................................................................................	13
......................................................................................................................................................................................	14
(LVDT)...............................................................................................................................................	14
............................................................................................................................................................................	14
......................................................................................................................................................................................	15
........................................................................................................................................................................	15
PVED-CX ..................................................................................................................................................................................	16
......................................................................................................................................................................................	17
...........................................................................................................................................................................................	18
............................................................................................................................................................................	18
......................................................................................................................................................................................	18
–ASSIST ..............................................................................................................................	18
PVED-CX ..................................................................................................................................................................................	19
PVED-CX ........................................................................................................................................................................	19
–
......................................................................................................................................................................................	20
...........................................................................................................................................................................................	20
.................................................................................................................................................................................	21
...........................................................................................................................................................................................	21
...........................................................................................................................................................................................	21
.................................................................................................................................................................................	21
ASIC ..........................................................................................................................................................................................	21
...........................................................................................................................................................................................	21
PVED-CX .............................................................................................................................................................................	21
PVED-CX
POST – .........................................................................................................................................................................	22
ASSIST – .....................................................................................................................................	22
PVED-CX ..........................................................................................................................................................	22
......................................................................................................................................................................................	22
............................................................................................................................................................................	22
............................................................................................................................................................................	23
......................................................................................................................................................................................	23
.......................................................................................................................................................................	23
......................................................................................................................................................................................	23
......................................................................................................................................................................................	23
PVED-CX ........................................................................................................................................................................	24
...........................................................................................................................................................................................	24
PVED-CX ........................................................................................................................................................................	25
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PVED-CX 4
PVED-CX ........................................................................................................................................................................	26
.....................................................................................................................................................................................................	26
PVED-CX ...................................................................................................................................................................	26
PVED-CX ........................................................................................................................................................................	30
PVED-CX ........................................................................................................................................................................	31
.....................................................................................................................................................................................................	32
PVED-CX LED .............................................................................................................................................................................	32
CAN................................................................................................................................................................................................	32
...........................................................................................................................................................................................	33
PVED-CX ...................................................................................................................................................................	33
......................................................................................................................................................................................	33
...............................................................................................................................................	33
...........................................................................................................................................................................................	34
ID..........................................................................................................................................................................................	34
EDS – ............................................................................................................................................................	35
EDS – .......................................................................................................................................................	35
.........................................................................................................................................................	36
....................................................................................................................................................	36
..........................................................................................................................................	36
............................................................................................................................................................................	37
...........................................................................................................................................................................	37
..........................................................................................................................................	37
..............................................................................................................................................................	37
..............................................................................................................................................................	38
......................................................................................................................................................................................	38
............................................................................................................................................................................	38
.................................................................................................................................................................................	39
(EMCY)......................................................................................................................................................................	39
CAN EMCY ...........................................................................................................................................	39
............................................................................................................................................................................	39
EMCY ....................................................................................................................................................................	40
NMT ...........................................................................................................................................................................	40
NMT ...........................................................................................................................................................................	40
............................................................................................................................................................................	41
PVED-CX ..............................................................................................................................................................	41
ID....................................................................................................................................................	42
1 ..........................................................................................................................................................	42
....................................................................................................................................................	42
...............................................................................................................................................	42
2 ID...................................................................................................................................................................	43
3 ID...............................................................................................................................................	43
4 ..........................................................................................................................................................	44
LSS ...................................................................................................................................................................................	44
ID .................................................................................................................................................................	44
..................................................................................................................................................................	44
.......................................................................................................................................................................	45
.......................................................................................................................................................................	45
ID ............................................................................................................................................................	46
SDO EDS..................................................................................................................................................................................	46
EDS ............................................................................................................................................................................	46
NNI ............................................................................................................................................................................	46
EDS ............................................................................................................................................................................	47
NNI ............................................................................................................................................................................	47
..................................................................................................................................................................	48
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PVED-CX 4
...........................................................................................................................................................................................	48
......................................................................................................................................................................................	48
NMT ...........................................................................................................................................................................	48
......................................................................................................................................................................................	48
..................................................................................................................................................................	49
PVED-CX 0x21..................................................................................................................................................................	49
PVED-CX NID....................................................................................................................................................................	50
...........................................................................................................................................................................................	51
.................................................................................................................................................................................	52
PVED-CX ................................................................................................................	52
................................................................................................................................	53
ASSIST.................................................................................................................................................................................................	53
ASSIST ..................................................................................................................................................................	53
ASSIST .......................................................................................................................................................................	54
ASSIST LED ............................................................................................................................................................................	55
ASSIST ......................................................................................................................................................................	56
ASSIST .......................................................................................................................................................................	57
PVED-CX DSM ..............................................................................................................................................	58
......................................................................................................................................................................................	58
......................................................................................................................................................................................	58
......................................................................................................................................................................................	58
DEVICE_MODE_ACTIVE ................................................................................................................................................	59
PVED-CX .........................................................................................................................................................	60
PVED-CX ........................................................................................................................................................	60
ASSIST ................................................................................................................................................................................	60
FAULT_REACTION ...........................................................................................................................................................	61
.............................................................................................................................................................................	61
......................................................................................................................................................................................	61
...........................................................................................................................................................................................	61
PVED-CX ..................................................................................................................................................................................	64
1 • ...........................................................................................................................................................	65
2 • .................................................................................................................................................	65
3 • ..........................................................................................................................................................................	65
4 • ................................................................................................................................................................	66
5 • .............................................................................................................................................	66
6 • ...............................................................................................................................	67
7 • .............................................................................................................................................	67
8 • ...................................................................................................................................	67
9 • uC .........................................................................................................................................................	68
10 • ..............................................................................................................................................................	68
11 • RTOS ......................................................................................................................................................................	69
12 • LVDT ............................................................................................................................................................	69
13 • LVDT ...........................................................................................................................................................	69
14 • .........................................................................................................................................................	70
15 • RAM .......................................................................................................................................................................	70
16 • ..............................................................................................................................................................	71
17 • ....................................................................................................................................................	71
18 • .................................................................................................................................................................................	71
19 • EEPROM ......................................................................................................................................................	72
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PVED-CX 4
20 • EEPROM ......................................................................................................................................................	72
21 • EEPROM ......................................................................................................................................................	73
22 • ....................................................................................................................................................	73
23 • .................................................................................................................................................................................	73
24 • CAN .........................................................................................................................................................	74
25 • ...........................................................................................................................................	74
26 • .........................................................................................................................................................	75
27 • ..............................................................................................................................................................	75
28 • .................................................................................................................................................................................	75
29 • .................................................................................................................................................................................	76
30 • .........................................................................................................................................................	76
31 • ..............................................................................................................................................................	77
32 • ................................................................................................................................................	77
33 • ....................................................................................................................................................	77
34 • CAN ...........................................................................................................................	78
35 • CAN .........................................................................................................................................	78
36 • ........................................................................................................................................................................	79
37 • CAN ..............................................................................................................................................................	79
38 • DSM ........................................................................................................................................................	80
39 • A/D ...............................................................................................................................................................	80
40 • ASSIST .........................................................................................................................................................	80
41 • ASSIST .........................................................................................................................................................	81
42 • ................................................................................................................................	81
43 • ASSIST ...............................................................................................................................................	82
44 • ASSIST ..........................................................................................................................................	82
45 • ASSIST .........................................................................................................................................................	82
46 • ASSIST ......................................................................................................................................	83
47 • ASSIST .................................................................................................................................	83
48 • ASSIST A .......................................................................................................................................	84
49 • ASSIST B .......................................................................................................................................	84
50 • ASSIST A .......................................................................................................................................	84
51 • ASSIST B .......................................................................................................................................	85
52 • ...................................................................................................................................................	85
53 • ..............................................................................................................................................	86
54 • ..........................................................................................................................................	86
55 • ..............................................................................................................................................................	87
56 • ID .................................................................................................................................................................	87
57 • EEPROM ......................................................................................................................................................	88
58 • .........................................................................................................................................................	88
...........................................................................................................................................................................................	89
.................................................................................................................................................................................	89
PVED-CX ...................................................................................................................................................	89
PVG PVED-CX .........................................................................................................................................	90
PVE-CX .....................................................................................................................................................................................	91

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PVED-CX 4

PVG PVE

ASIC	- PVE
ATEX
AVC	- ISOBUS/J1939
AVCTO	-
AVEF	- ISOBUS/J1939
CAN	- PVED
CLC
CRC	-
-DI	PVE
DM1	1 - J1939
DM2	2 - J1939
DM3	3 - J1939
DSM
ECU
EH
-F	PVE 4 75% 6
FMEA
ISOBUS	CAN
J1939	CAN
LED
LS
LVDT	-
NC	PVE
NC-H	PVEH
NC-S	PVES
NO	PVE
PLC
PLUS+1
POST	PVED
Pp	PVE
PVB	-
PVBS
PVBZ
PVE
PVEA	2-6 % PVE
PVED	CAN PVE
PVEH	4-9 % PVE
PVEM	25-35 % PVE
PVEO	PVE
PVEP	PWM PVE
PVES	0-2 % PVE
PVEU	0-10V PVE

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PVED-CX 4

PVG
PVHC	PV
PVM
PVP
PVS
PVSK
PWM
S4 DJ	J1939 4 PVED-CC
SAE
-R	PVE
-NP	PVE
-SP	PVE
uC
uCSM
UDC	Vbat
US	PVE VS

PVG/PVE

PVG 32		520L0344
PVG 100		520L0720
PVG 120		520L0356
PVG 32		11051935
PVED-CC		520L0665
PVED-CX		11070179
PVBZ		520L0721
P PVSK		520L0556
PVPV / PVPM		520L0222
PVGI		520L0405
PVSP/M		520L0291

PVED-CX

‒ISO 11898-2 CAN 2

‒ISO 13766:2006(E)

‒ISO 13849

•CAN

‒CiA 3.01 v4.02 CANopen

‒CiA 4.08 v1.51

•IEC 61508

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PVED-CX 4

PVED-CX

PVED-CX PVG 32 4

CX CAN

PVED-CX

PVG PVED-CX 2 (SIL2) 2006/42/EC IEC61508

(PVSK) PVED-CX

PVED-CX IEC61508 TÜV SÜD

PVED-CX PVG

PVED-CX

PVED-CX

W

PVED-CX

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PVED-CX 4

W

/

PVED-CX

PVG 12 PVED-CX PVGPVED-CXPVED

A B

•PVED-CX

•(PVM)

•PVG (PVSK) PVED-CX SIL2 PVSK PVSK HPCO PVG

PVED-CX –

1	–	6	–
2	–	7	–
3	–PVED-CX PVG	8	–
4	–	9	–
5	–	10 –

PVED-CX CANopen CiA301v402

CiA408v151

CAN ISO 11898-2 CAN

127

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PVED-CX 4

PVED-CX 90%

PVED-CX PVG 32 PVE

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PVED-CX 4

PVG

PVG

PVG

— PVP

P -> A

		Pilot oil supply
PVE						B port		Oil	A port
									PVB

		PVM
Electronics
		Neutral spring
NC Solenoid valve	<- Retract towards PVE	PVBS
LVDT
	Extend away from PVE ->
NO solenoid valve
		V310072.A

PVG (PVBS)

PVP PVSK PVG P PVB T

PVP PVM PVE PVSK PVM PVE

P

4 PVE P A B TPVM PVED PVED (Pp) PVBSB PVG

PVM PVG PVM PVED-CX PVG

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PVED-CX 4

PVED-CX

PVED-CX

PVED-CX

PVED-CX

PVED-CX

System controller

Neighbor module

PVED-CX section

PVED-CX

Spool

Application hydraulic system

Application electrical system

			Poppet valve
Function			Solenoids
			Oil pressure

Control	ASIC	Closed loop
	LVDT

Set point via CAN

PWM

CommunicationAnalogue reporting

CAN reporting

LED status

CAN signal acceptance

Message sanity

Hand shake - component sanity

Monitoring

Memory check

Calculation vs execution

Redundant calculation

Component environment

Safety

Logging Ignore input

Deactivate solenoids

Deactivate all modules in section

Reaction

CANbus reporting

Logging

LED setting

V310078.A

PVED-CX

PVED-CX

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PVED-CX 4

PVED-CX

•CAN

•CAN

•Vbat

•Vbat2

System

Controller

PVED-CX #1	PVED-CX #2	PVED-CX #n
Cable harness	Cable harness	Cable harness
Vbat
Vneg
CANN__HH
CAN_L		120 ohm
Vbat2

<![if ! IE]> <![endif]>out LVDT in LVDT out Vbat2 in Vbat2 Vbat3 L CAN H CAN Vneg Vbat

<![if ! IE]> <![endif]>out LVDT in LVDT out Vbat2 in Vbat2 Vbat3 L CAN H CAN Vneg Vbat

<![if ! IE]> <![endif]>out LVDT in LVDT out Vbat2 in Vbat2 Vbat3 L CAN H CAN Vneg Vbat

V310008.B

1.Vbat2 Vbat2 out –Vbat2 in

2.Vbat3 Vbat2 out

3.LVDT out –LVDT in

PVG PVED-CX

•PVED PVB

•PVP

•CAN

W

(LVDT)

(LVDT)

W

PVED LVDT

PVBS PVBS6 bar A B

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PVED-CX 4

PVED-CX

Set point

Electronics

Pp

NC1

NC3

Spool

LVDT

NO4

NO2

1.0 [0.039]

Tank

V310073.A

(NC-S)(NO)

Pp PVBS NONC-S

W

Pp Pp

PVED-CX PVED-CC 4 ASICASIC CANPVED-CX 2-8

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PVED-CX 4

PVED-CX

	Vbat3
	Vbat2 out	Safety
	Vbat2 in
		switch
<![if ! IE]> <![endif]>harness	CAN		Solenoid valve
<![if ! IE]> <![endif]>Cable			enable	Analogue	Solenoid valve
		Controller			control
	LVDT in		Spool Set-point	Control
	from
	neighbor A
				Closed loop
	LVDT out to neighbor B			feed back
			Spool position	Position	Mech linkage.
	Neighbor B			sensor
	Vbat3

		Vbat2 out
				Safety
		Vbat2 in
				switch
<![if ! IE]> <![endif]>harness						Solenoid valve
		CAN
<![if ! IE]> <![endif]>Cable						enable	Analogue				Solenoid valve
				Controller							control
		LVDT in				Spool Set-point	Control
		from
		neighbor A								Closed loop
		LVDT out to neighbor B								feed back
						Spool position	Position				Mech linkage.
							sensor

Neighbor A

Solenoid

Valves

Pilot oil pressure build up

Main Spool

Solenoid

Valves

Pilot oil pressure build up

Main Spool

	Vbat3
	Vbat2 out	Safety
	Vbat2 in
		switch				V310 207.A
<![if ! IE]> <![endif]>harness	CAN		Solenoid valve
<![if ! IE]> <![endif]>Cable			enable	Analogue	Solenoid valve	Solenoid
		Controller			control
	LVDT in		Spool Set-point	Control		Valves
	from
	neighbor A					Pilot oil
				Closed loop
						pressure
				feed back
	LVDT out to neighbor B					build up
			Spool position	Position	Mech linkage.	Main Spool
				sensor
	MOSFET

PVED-CX

TPVED-CX

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PVED-CX 4

PVED-CX

- LED

–CANopen

CANopen

CANopen CAN (CiA) CiA

PVED-CX (DSM) (CSM) DSM

PVED-CX

PVED-CX DSM CSM

Device state machine

Communication state machine

Power on

NOT_READY

INIT
DISABLED	FAULT
HOLD	FAULT_HOLD
DEVICE_MODE_	FAULT_
ACTIVE	REACTION

Initialisation

Reset

Application

Reset

Communication

Initialising

Pre-Operational

Stopped

Operational

V310034.A

PVED-CX (POST)

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PVED-CX 4

PVED-CX

PVED

类型相关。

PVED-CX

参见PVED-CX 22

PVED-CX

•LED

PVED-CX

•PVM

•LED

–ASSIST

ASSIST

ASSIST

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PVED-CX 4

PVED-CX

•4

•LVDT

•ASIC

•ASIC

•ID ID

PVED-CX

PVED-CX CANopen

(EDS) CiA

PVED-CX

PVED-CX

•FIFO

•EEPROM

•6

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PVED-CX 4

–

(PVM) Pp

	Vbat3
	Vbat2 out	Safety
	Vbat2 in
		switch
<![if ! IE]> <![endif]>harness	CAN		Solenoid valve		Solenoid valve
<![if ! IE]> <![endif]>Cable			enable	Analogue
		Controller			control
	LVDT in		Spool Set-point	Control
	from
	neighbor A
				Closed loop
	LVDT out to neighbor B			feed back
			Spool position	Position	Mech linkage.
	Neighbor B			sensor
	Vbat3

	Vbat2 out
		Safety
	Vbat2 in	switch
<![if ! IE]> <![endif]>harness				Solenoid valve
	CAN
<![if ! IE]> <![endif]>Cable				enable	Analogue			Solenoid valve
		Controller						control
	LVDT in			Spool Set-point	Control
	from
	neighbor A						Closed loop
	LVDT out to neighbor B						feed back
				Spool position	Position			Mech linkage.
					sensor

Solenoid

Valves

Pilot oil pressure build up

Main Spool

Solenoid

Valves

Pilot oil pressure build up

Main Spool

	Neighbor A
	Vbat3
	Vbat2 out	Safety
	Vbat2 in
		switch				V310 207.A
<![if ! IE]> <![endif]>harness	CAN		Solenoid valve		Solenoid valve
<![if ! IE]> <![endif]>Cable			enable	Analogue		Solenoid
		Controller			control
	LVDT in		Spool Set-point	Control		Valves
	from
	neighbor A					Pilot oil
				Closed loop		pressure
				feed back
	LVDT out to neighbor B					build up
			Spool position	Position	Mech linkage.	Main Spool
				sensor

PVED / CAN

ASIC

PWM ASIC

ASIC PWM

ASIC (LVDT)ASIC LVDTCAN

20 | © Danfoss | 2017 6

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PVED-CX 4

–

ASIC

PVED-CX

CAN

CAN 0.7 mm0.7 mm

50

PVED-CX CAN

CAN

PVG

PIC ASIC PIC CAN

ASIC

LVDT ASIC

(PCB)

PVED-CX

PVED-CX PVED-CX 50090%

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PVED-CX 4

PVED-CX

PVED-CX

PVED-CX

•POST –

•ASSIST –

POST –

ASSIST

POST

ASSIST –

ASSIST

•PVG

PVED-CX

关。

CAN ISO 11898-2 CAN

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PVED-CX 4

PVED-CX

LVDT LVDT“ ”

•EEPROM

•FLASH

•- 0

•-

/

•PIC

•ASIC LVDT

•ADC

•ASIC PWM

PCB

•PCB

•PCB

•PCB

PVED

•POST

•ASSIST

PVED-CX

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PVED-CX 4

PVED-CX

PVED

响。

PVED

PVED-CX

PVED-CX PVED

近邻监控仍然活跃

近邻监控仍然活跃

CAN	CANopen
	RAM EDS 50
	EEPROM EDS ID 255
	EEPROM
	PVED-CX LED

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PVED-CX 4

PVED-CX

PVED-CX

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PVED-CX 4

PVED-CX

PVED-CX

		CAN
POST
ASSIST
	*	*		**
				**

PVED-CXPVED-CX

/

21 ± 0.5 cSt (P-T) 13.3 ± 0.5 bar

-
		50 ms	200 ms
		-	150 ms
		1000 ms	4000 ms
		-	175 ms
CAN	-	-	1000 ms
ASSIST	4
0.02Hz	-	0 %	1 %

PVED-CX

				LED
10 SP_POS_OUT			5	SP_POS_IN
9	CAN_L		4	not connected
8	CAN_H		3	Vbat 3
	7	Vneg	2	Vbat2 IN
	6	Vbat	1	Vbat2 OUT

V310 021.A

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PVED-CX 4

J0

Long cable 4000 ±50 mm / Short cable 1000 ±50 mm

135

J1

Jn Strip + Wirequard 51418
2 x 1.5 mm2 + 3 x 0.75 mm2 Roboslepp	J2

Marking Part No. + prod. week-year

8 x 0.75 mm2 Roboslepp

Jn

V310192.B

(4000 mm) CAN

(1000 mm) Jn 120 Ohm CAN

W

PVED-CX 0°C [32°F]

	J0 /	J1	J2	Jn
CAN *		9	9	9
CAN		8	8	8
		7	7	7
Vbat		6	6	6
Vbat 2		2	–	–

* CAN ISO 11898-2

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PVED-CX 4

PVED-CX

J1

J2

J3

J4

J5

J6

J7

J0

							V310199.B
J1
		J1	J2	J3		...	Jn
		Jn	J1	J2		...	Jn-1
ID		20	21	22		...	26
ID		26	20	21		...	25
- Vbat Vbat2				36 V
				80 W
- AMP JPT				IP 66
				-30 °C →+90 °C
				[-22 °F →+194 °F]
				-40 °C →+100 °C
				[-40 °F →+212 °F]
				+10 °C →+30 °C
				[50 °F →+86 °F]

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