Danfoss PVED-CX User guide

Technical Information

Electrohydraulic Actuators

PVED-CX Series 4

powersolutions.danfoss.com

Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Revision history	Table of revisions
	Date	Changed	Rev
	Jun 2017	Spool positioning data corrected	0503
	September 2014	Index corrected	EB
	February 2014	Converted to Danfoss layout-DITA CMS	EA
	October 2009 to May 2011	Various updates	AA through DC

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Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Contents
Reference
Acronyms used for PVG and PVE................................................................................................................................................	7
Literature reference for PVG/PVE products.............................................................................................................................	8
Standards used for PVED-CX........................................................................................................................................................	8
Reading guide....................................................................................................................................................................................	9
General Information
PVED-CX introduction..................................................................................................................................................................	10
Overview...........................................................................................................................................................................................	11
PVG functionality
PVG functionality............................................................................................................................................................................	13
PVED-CX functionality
PVED-CX functionality..................................................................................................................................................................	14
Mechanical subsystem.................................................................................................................................................................	14
Housing........................................................................................................................................................................................	14
Cable kit........................................................................................................................................................................................	14
Mounting.....................................................................................................................................................................................	15
Linear Variable Differential Transducer (LVDT)..............................................................................................................	15
Spool neutral spring................................................................................................................................................................	15
Hydraulic subsystem.....................................................................................................................................................................	16
Electrical and electronic subsystem........................................................................................................................................	16
Communication..............................................................................................................................................................................	17
Computerized subsystem...........................................................................................................................................................	18
Operational modes........................................................................................................................................................................	19
Full operational.........................................................................................................................................................................	19
Hand operational......................................................................................................................................................................	19
Automatic system safety integrity self test – ASSIST ..................................................................................................	19
Settings..............................................................................................................................................................................................	20
Logging..............................................................................................................................................................................................	20
Normal operation – self and neighbor supervision concept
Set point command.......................................................................................................................................................................	21
Spool supervision...........................................................................................................................................................................	21
Solenoid control.............................................................................................................................................................................	22
Position reporting..........................................................................................................................................................................	22
Neighbor supervision...................................................................................................................................................................	22
Microcontroller supervision.......................................................................................................................................................	22
ASIC supervision.............................................................................................................................................................................	22
Temperature supervision............................................................................................................................................................	22
Power save........................................................................................................................................................................................	22
Safety description
POST – Power On Self Test..........................................................................................................................................................	23
ASSIST – Automatic System Safety Integrity Test...............................................................................................................	23
Runtime fault monitoring...........................................................................................................................................................	23
Communication fault..............................................................................................................................................................	23
Spool position fault..................................................................................................................................................................	23
System data fault......................................................................................................................................................................	24
Electrical fault.............................................................................................................................................................................	24
Temperature fault and correction......................................................................................................................................	24
Test fault.......................................................................................................................................................................................	24
Fault level..........................................................................................................................................................................................	24
Fault reaction...................................................................................................................................................................................	25
Fault reporting................................................................................................................................................................................	25
Fault recovery..................................................................................................................................................................................	25
Data section
Operational conditions................................................................................................................................................................	26
Performance.....................................................................................................................................................................................	26
Dimensions and layout................................................................................................................................................................	26
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Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Contents
Hydraulic data.................................................................................................................................................................................	29
Electrical data..................................................................................................................................................................................	30
Communication..............................................................................................................................................................................	31
LED ................................................................................................................................................................................................	31
CAN................................................................................................................................................................................................	31
Spool control...................................................................................................................................................................................	32
Spool positioning.....................................................................................................................................................................	32
Closed loop.................................................................................................................................................................................	32
Spool monitoring, control and fault reaction.................................................................................................................	32
Parameter settings.........................................................................................................................................................................	33
Node Id.........................................................................................................................................................................................	33
EDS parameters – constants read only.............................................................................................................................	34
EDS parameters – variables read write.............................................................................................................................	34
Error register. Variable read only.........................................................................................................................................	35
Conversion of identity parameters to comparable values........................................................................................	35
Reading guide for product code and serial number....................................................................................................	35
Reading guide............................................................................................................................................................................	36
Reading guide for numbers .................................................................................................................................................	36
Error log. Variables, read only, voilatile.............................................................................................................................	36
Error list. Variable read only..................................................................................................................................................	36
Instantaneous temperature. Variable read only............................................................................................................	37
Temperature log.......................................................................................................................................................................	37
Safety Switch status.................................................................................................................................................................	37
Safety Relevant Features.............................................................................................................................................................	38
Emergency msg. (EMCY)........................................................................................................................................................	38
EMCY publishing order on CAN bus..................................................................................................................................	38
Reset Emergency Message....................................................................................................................................................	38
EMCY consumer behavior.....................................................................................................................................................	39
NMT reset application.............................................................................................................................................................	39
NMT reset communication....................................................................................................................................................	39
Reload Command.....................................................................................................................................................................	40
Important Points for PVED-CX Valve Configuration..........................................................................................................	40
Changing Node ID using Layer Setting Service..................................................................................................................	41
Step-1: Switch To Configuration Mode..................................................................................................................................	41
Switch To Configuration Mode Global Way....................................................................................................................	41
Switch to Configuration Mode Selective Way................................................................................................................	41
Step-2: Configure Node ID..........................................................................................................................................................	42
Step-3: Store New Assigned Node-ID.....................................................................................................................................	42
Step-4: Switch to Normal Mode................................................................................................................................................	43
LSS Enquiry Services......................................................................................................................................................................	43
Enquire Vendor-ID Command..............................................................................................................................................	43
Enquire Product Code Command.......................................................................................................................................	43
Enquire Revision Number Command................................................................................................................................	44
Enquire Serial Number Command......................................................................................................................................	44
Enquire Device Node-ID Command...................................................................................................................................	45
EDS access by SDO........................................................................................................................................................................	45
Set EDS parameter....................................................................................................................................................................	45
Set NNI example........................................................................................................................................................................	45
Enquire EDS parameter..........................................................................................................................................................	46
Enquire NNI example...............................................................................................................................................................	46
Enquire error log example.....................................................................................................................................................	46
Valve Operation..............................................................................................................................................................................	47
Normal Operation.....................................................................................................................................................................	47
NMT boot up object.................................................................................................................................................................	47
Heartbeat Message..................................................................................................................................................................	47
Getting to Device Mode Active...........................................................................................................................................	48
PVED-CX node 0x21.................................................................................................................................................................	48
PVED-CX node NID...................................................................................................................................................................	49
Set point.......................................................................................................................................................................................	50
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Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Contents
The Sync message:...................................................................................................................................................................		50
Transmission of PVED-CX Spool Pos. Messages on Sync Msg..................................................................................		51
Hand Operational Mode and Full Operational Mode configuration ....................................................................		51
ASSIST.................................................................................................................................................................................................		52
ASSIST Pre-Trigger Command.............................................................................................................................................		52
ASSIST Run Command............................................................................................................................................................		53
LED by ASSIST ...........................................................................................................................................................................		54
CANCEL ASSIST Command....................................................................................................................................................		55
ASSIST Abort Message............................................................................................................................................................		56
State Machine
Important points about PVED-CX DSM Implementation................................................................................................		57
INIT state:...........................................................................................................................................................................................		57
DISABLED state:..............................................................................................................................................................................		57
HOLD state:.......................................................................................................................................................................................		58
DEVICE_MODE_ACTIVE state:....................................................................................................................................................		58
Hand Operational Mode........................................................................................................................................................		59
Full Operational Mode ...........................................................................................................................................................		59
ASSIST Mode ..............................................................................................................................................................................		59
FAULT_REACTION state:..............................................................................................................................................................		59
FAULT_HOLD state:.......................................................................................................................................................................		60
FAULT state:.....................................................................................................................................................................................		60
State Transition...............................................................................................................................................................................		60
Limitations and Known Software Issues
Warnings
PVED-CX warnings.........................................................................................................................................................................		63
Error codes
Index 1 • Common Name: Reserved........................................................................................................................................		64
Index 2 • Common Name: Supply voltage too high..........................................................................................................		64
Index 3 • Supply voltage too low..............................................................................................................................................		64
Index 4 • Illegal state command................................................................................................................................................		65
Index 5 • Division by zero, illegal SW operation..................................................................................................................		65
Index 6 • Internal table value corrupted, illegal SW operation......................................................................................		66
Index 7 • Wrong data interpretation, truncation of values.............................................................................................		66
Index 8 • Interpolation fault, illegal SW operation.............................................................................................................		67
Index 9 • No handshake to uC....................................................................................................................................................		67
Index 10 • Watchdog not starting............................................................................................................................................		67
Index 11 • RTOS error....................................................................................................................................................................		68
Index 12 • LVDT verification fault.............................................................................................................................................		68
Index 13 • Neighbor LVDT fault.................................................................................................................................................		69
Index 14 •Temperature sensor fault........................................................................................................................................		69
Index 15 • Fault In RAM................................................................................................................................................................		69
Index 16 • Temperature average to high...............................................................................................................................		70
Index 17 • Code memory check fault......................................................................................................................................		70
Index 18 • Reserved.......................................................................................................................................................................		71
Index 19 • EEPROM write fault...................................................................................................................................................		71
Index 20 • EEPROM content fault..............................................................................................................................................		71
Index 21 • EEPROM mirror fault.................................................................................................................................................		72
Index 22 • Dead band parameter out of range....................................................................................................................		72
Index 23 • Reserved.......................................................................................................................................................................		72
Index 24 • CAN error frame warning........................................................................................................................................		73
Index 25 • Signal from master missing...................................................................................................................................		73
Index 26 • Recovered from Bus off...........................................................................................................................................		74
Index 27 • Command signal error.............................................................................................................................................		74
Index 28 • Reserved.......................................................................................................................................................................		74
Index 29 • Reserved.......................................................................................................................................................................		75
Index 30 • Spool not at set point..............................................................................................................................................		75
Index 31 • Spool out of neutral..................................................................................................................................................		76
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Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Contents
Index 32 • Spool out of neutral at boot up............................................................................................................................	76
Index 33 • Electronics to warm..................................................................................................................................................	76
Index 34 • CAN spool position from neighbor missing....................................................................................................	77
Index 35 • Neighbor CAN spool position fault.....................................................................................................................	77
Index 36 • No set point.................................................................................................................................................................	78
Index 37 • CAN stack error...........................................................................................................................................................	78
Index 38 • DSM initialization failed..........................................................................................................................................	79
Index 39 • A/D converting fault.................................................................................................................................................	79
Index 40 • ASSIST. State fault......................................................................................................................................................	79
Index 41 • ASSIST. Timing fault..................................................................................................................................................	80
Index 42 • Neighbor. Spool out of neutral at boot up.......................................................................................................	80
Index 43 • ASSIST. Neighbor reporting fault.........................................................................................................................	80
Index 44 • ASSIST. Spool not returned to neutral...............................................................................................................	81
Index 45 • ASSIST. Step fault.......................................................................................................................................................	81
Index 46 • ASSIST. Neighbor spool does not steer out.....................................................................................................	82
Index 47 • ASSIST. Neighbor spool not returned to neutral............................................................................................	82
Index 48 • ASSIST: A port gives to high flow.........................................................................................................................	83
Index 49 • ASSIST: B port gives to high flow.........................................................................................................................	83
Index 50 • ASSIST: A port gives to low flow...........................................................................................................................	83
Index 51 • ASSIST: B port gives to less flow...........................................................................................................................	84
Index 52 • Neighbor. Spool out of neutral.............................................................................................................................	84
Index 53 • Neighbor. Spool not at set point.........................................................................................................................	85
Index 54 • Neighbor. Spool position reporting fault.........................................................................................................	85
Index 55 • Reference voltage fault...........................................................................................................................................	86
Index 56 • Node ID fault...............................................................................................................................................................	86
Index 57 • EEPROM address fault..............................................................................................................................................	86
Index 58 • Error code buffer........................................................................................................................................................	87
Ordering
Settings Agreement......................................................................................................................................................................	88
Parameter Agreement Template..............................................................................................................................................	88
Factory settings for spare part PVED-CX..........................................................................................................................	88
PVED-CX setting agreement for PVG.................................................................................................................................	89
PVED-CX code numbers..............................................................................................................................................................	90

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Reference

Acronyms used for PVG and PVE

Acronyms	Description
ASIC	Application Specific Integrated Circuit - the part of the PVE where spool position is controled to
	follow setpoint
ATEX	Certificated for use in explosive environment
AVC	Auxillery Valve Comand - ISOBUS/J1939 standard signal for valve control
AVCTO	Auxillery Valve Comand Time Out - Fault monitoring setting
AVEF	Auxillery Valve Estimated Flow - ISOBUS/J1939 standard signal for valve feedback
CAN	Controller Area Network - Communication method used by PVED
CLC	Closed Loop Circuit
CRC	Cyclic Redundancy Check - Method for ensuring validity of data.
-DI	PVE with Direction Indication
DM1	Diagnostic Message 1 - J1939 message informing about present fault
DM2	Diagnostic Message 2 - J1939 message informing about fault history
DM3	Diagnostic Message 3 - J1939 message clearing fault history
DSM	Device State Machine. Deterministic description of system process
ECU	Electronic Control Unit
EH	Electro Hydraulic
-F	PVE for Float spool. Two variants: 4 pin with float at 75%. 6 pin with separate float.
FMEA	Failure Mode Effect Analysis
ISOBUS	Communication standard for CAN
J1939	Communication standard for CAN
LED	Light Emitting Diode
LS	Load Sensing
LVDT	Linear Variable Differential Transducer - Position sensor
NC	Normally Closed solenoid valve in PVE
NC-H	Normally Closed standard solenoid valve in PVEH
NC-S	Normally Closed solenoid valve Super in PVES
NO	Normally Open solenoid valve in PVE
PLC	Programmable Logical Circuit
PLUS+1®	Trademark for Danfoss controllers and programming tool
POST	Power On Self Test. Boot up evaluation for PVED
Pp	Pilot Pressure. The oil gallery for PVE actuation
PVB	Proportional Valve Basic module - valve slice
PVBS	Proportional Valve Basic module Spool
PVBZ	Proportional Valve Basic module Zero leakage
PVE	Proportional Valve Electric actuator
PVEA	PVE variant with 2-6 % hysteresis
PVED	PVE variant Digital controlled via CAN communication
PVEH	PVE variant with 4-9% Hysteresis
PVEM	PVE variant with 25-35% hysteresis
PVEO	PVE variant with ON/OFF actuation
PVEP	PVE variant PWM controled
PVES	PVE variant with 0-2% hysteresis
PVEU	PVE variant with US 0-10V

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Reference

Acronyms	Description
PVG	Proportional multi-section Valve Group
PVHC	PV variant with High Current controlled valve actuator
PVM	Proportional Valve Manual control with handle
PVP	Proportional Valve Pump side module.Inlet
PVS	Proportional Valve end plate
PVSK	Proportional Valve end plate crane. Inlet module with Spool Control
PWM	Pulse Width Modulation
S4 DJ	Series 4 Digital J1939 service tool software for PVED-CC
SAE	Society Automotive Engineering
-R	PVE with Ramp function
-NP	PVE with solenoid disable in Neutral Position
-SP	PVE with Spool Position feedback
uC	Microcontroller
uCSM	Microcontroller State Machine
UDC	Power supply Direct Current; also called Vbat for battery voltage
US	Steering voltage for the PVE control; also called VS

Literature reference for PVG/PVE products

Literature reference

Literature title	Type	Order
		number
PVG 32 Proportional valve group	Technical Information	520L0344
PVG 100 Proportional valve group	Technical Information	520L0720
PVG 120 Proportional valve group	Technical Information	520L0356
PVG 32 Metric ports	Technical Information	11051935
PVED-CC Electro-hydraulic actuator	Technical Information	520L0665
PVED-CX Electro-hydraulic actuator	Technical Information	11070179
Basic module for PVBZ	Technical Information	520L0721
PVSK module with integrated diverter valve and P-disconnect function	Technical Information	520L0556
PVPV / PVPM pump side module	Technical Information	520L0222
Combination module PVGI	Technical Information	520L0405
PVSP/M Priority module	Technical Information	520L0291

Standards used for PVED-CX

•International Organization for Standardization:

‒ISO 11898-2 Road vehicles, CAN, Part 2, High-speed medium access unit (physical layer)

‒ISO 13766:2006(E) Earth moving machinery, Electromagnetic compatibility

‒ISO 13849 Safety of Machinery

•CAN in Automation:

‒CiA 3.01 v4.02 CANopen protocol.

‒CiA 4.08 v1.51 Device specific protocol for proportional valves.

•IEC 61508

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Reference

Reading guide

•Sections Overview and section PVG functionality give a general description of the PVG to give basic domain knowledge.

•Section PVED-CX functionality is a thorough description of PVED-CX subsystems and their interaction.

•Sections Normal operation – self and neighbor supervision concept on page 21 and section Safety description on page 23 are thorough descriptions of control, monitoring, safety features and behaviors.

•Section Data details for application engineers.

•Section PVED-CX warnings lists warnings relevant to the PVED-CX.

•Section Error codes is a walkthrough of module error codes, potential cause and counter action.

•Section Ordering shows the ordering guidelines.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

General Information

PVED-CX introduction

The Danfoss PVED-CX is a PVE-Series 4 actuator for the PVG 32.

CX is an abbreviation for CAN bus communication and eXtended safety.

The PVED-CX is intended for markets where a documented extended safety is needed. In particular cranes, man-lifts and telehandlers are in focus.

A PVG with PVED-CX is designed to meet Safety Integrity Level 2 (SIL2). So when performing a Risk and Hazard Analysis, as mandated by the EU Machinery Directive 2006/42/EC, the Danfoss customer can cut down on external safety systems and easier get an IEC61508 certified system.

A product specific wiring harness is part of the PVED-CX concept as use of the special Danfoss end plate for cranes (PVSK) is.

Certification of the PVED-CX system appliance to the IEC61508 is made by TÜV SÜD, Munich, Germany.

PVG with PVED-CX

PVED-CX, front view

PVED-CX, back view

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

General Information

W Warning

Please work through all warnings before implementing actuators in any application. The list of warnings must not be seen as a full list of potential dangers. Depending on application and use other potential dangers can occur.

W Warning

All brands and all types of directional control valves – including proportional valves – can fail and cause serious damage. It is therefore important to analyze all aspects of the application. Because the proportional valves are used in many different operation conditions and applications, the machine builder/ system integrator alone is responsible for making the final selection of the products – and assuring that all performance, safety and Warning requirements of the application are met.

Overview

The PVG is a sectioned spool valve stack with up to 12 individually controlled proportional valves. With the PVED-CX the PVG can operate as one or more control sections.

A control section is a group of two to eight PVED-CX connected by one cable kit with mutual monitoring and the feature that any PVED can bring the entire control section to safe state if a fault is found.

The oil flow out of the work section (A- or B-port) can be controlled by a combination of the following:

•PVED-CX controlling the spool position using pilot oil pressure.

•A handle (PVM) in mechanical interface with the spool.

•The oil flow into the PVG can be controlled using an electrically controlled main oil valve (PVSK) as end cover. The PVED-CX is foreseen as PVSK controller in the Danfoss SIL2 concept. The PVSK can also supply an additional PVG via the High Pressure Carry Over (HPCO) port.

PVED-CX functionalities – block diagram

1	– Neutral springs	6	– Electronics
2	– Solenoids	7	– Power for solenoids
3	– PVG with PVED-CX	8	– Analog neighbor information
4	– Safety switch	9	– Neighbor surveillance can cut the oil flow

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

General Information

5 – Emergency

10 – Set points and feedback

The PVED-CX uses the CANopen protocol, thus following the standard protocol CiA301v402 and the device specific protocol for proportional valves CiA408v151 with a minimum set of vendor specific additions.

The physical layer for CAN communication applies to ISO 11898-2 high speed CAN.

The spool is controlled by spool position with 127 positions each direction and dead band compensation. Monitored manual operation is possible.

Electronics and spool control are independently power supplied and the redundant system monitoring can shut down the whole control section in case of failures.

The redundant monitoring continuously evaluates spool position, communication, electronics, memory, calculations and temperature.

To avoid needless power consumption the PVED-CX has the Power Save feature, where power consumption is reduced by almost 90% when the spool is in neutral.

PVG 32 with PVED-CX overview, PVE option mounted

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVG functionality

PVG functionality

This chapter will give an overview of the PVG functionality.

Valve section with naming - standard mounted - seen from 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

The PVG valve distributes oil from pump flow to a particular work function in the application via a specific valve section. This is done by moving the spool (PVBS).

Depending on the choice of components the oil work flow enters the PVG through the PVP (proportional valve pump side module) or the PVSK (proportional valve end plate for crane) and enters the PVB (proportional valve basic module) via the P gallery and leaves through the T gallery.

When looking at figure 4 you see the valve section from PVP towards PVSK with the PVM and PVE standard mounted. When PVM and PVE are interchanged it’s called option mounted.

With the spool in neutral, where it is kept by the neutral spring, the connection to the application via ports is blocked.

Moving the spool towards the PVE, as in figure 4, opens a connection between P and A and also between B and T. This is done by either pushing the PVM or sending a retract command to PVED. The PVED move the spool by letting Pilot Oil Pressure (Pp) push on the right end of the PVBS and releasing pressure from the left end. For details on PVG32 please see PVG 32 Proportional valves, Technical information, 520L0334.

Any PVG with PVM can be operated by PVM alone independent of power supply. Any PVG with PVED-CX can monitor PVBS if power and communication conditions are present.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

PVED-CX functionality

This section has focus on how the PVED-CX works and interacts. Understanding of this must be regarded as a pre-condition for understanding module settings and system operation.

The PVED-CX is a mechatronic device, meaning a mechanical, a hydraulic, an electric, an electronic and a computer system interacting with external mechanical, hydraulic, electrical, electronic and computerized systems.

PVED-CX mechatronical interaction

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

Mechanical subsystem

Housing

The housing of the PVED-CX protects the internal parts from the environment and gives by design the optimal interface to cabling, Pilot pressure and spool.

Cable kit

A special cable kit has been designed for the PVED-CX making it possible to operate in control sections of two to eight modules with neighbor monitoring.

The cable has five incoming wires:

•CAN high signal wire

•CAN low signal wire

•Vbat for electronic power supply

•Vbat2 for solenoid power supply

•Ground

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

Cable kit principle

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

Three wires are added between the modules:

1.Vbat2 power supply. This wire is looped as a Vbat2 out – Vbat2 in between the modules and goes through the safety switches in the modules.

2.Vbat3 power supply is a transformation of Vbat2 out from the last module and now used for powering the solenoid valves.

3.LVDT out – LVDT in signal wire. This connects the analogue spool position signal from one module to the neighbor microcontroller.

The termination in the last connector is optional.

Mounting

The Danfoss PVG concept is based on parts interchangeability. This is also valid for the PVED-CX and makes field retrofitting possible.

•PVED can be mounted on both ends of PVB.

•Cable kit can be mounted with first or last connector next to PVP.

•Cable kit can be delivered with and without CANbus termination.

W Warning

Deviation from recommended torque can harm performance and module.

Linear Variable Differential Transducer (LVDT)

The Linear Variable Differential Transducer (LVDT) or position sensor is the interface between the mechanical system (spool) and the electronic system.

W Warning

The LVDT must never be mechanically adjusted, bent, damaged or partially blocked as this will lead to incorrect information on spool position.

Spool neutral spring

The PVBS neutral spring is an important safety component as it keeps or moves the PVBS in blocked position when solenoid valves are disabled. The spring will keep the A and B port closed as long as the differential pressure is below 6 bar.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

Hydraulic subsystem

The hydraulic subsystem is used for moving the spool and thereby opening the valve for work flow.

Pilot oil diagram

Set point

Electronics

Pp

NC1

NC3

Spool

LVDT

NO4

NO2

1.0 [0.039]

Tank

V310073.A

The heart of the hydraulic subsystem is the solenoid valve bridge. It consist of four poppet valves, the two upper ones are normally closed (NC-S) with a small bleed, the two lower ones are normally open (NO).

The Pp will work against the PVBS neutral spring when the spool is moved out of blocked (neutral) and together with the spring when going in blocked. This combined with a larger opening in the NO than in the NC-S will give a faster movement towards blocked than out of blocked.

W Warning

Obstacles for the Pp can have direct influence on spool control. Reduced pilot pressure will limit spool control. Too high Pp can harm the system.

Electrical and electronic subsystem

The PVED-CX is based on the known PVED-CC series 4 technology with the ASIC core controlling the main functionality of the solenoid valves, and a micro-controller system as Module Safety Manager and interface between the analogue ASIC and the CAN bus communication. The micro-controller also monitors its neighbor PVED-CX and has the ability to disable spool actuation for the whole control section.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

Function blocks for electronics

	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

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
<![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

Controller:	The build in micro-controller.
Safety switch:	MOSFET for collective solenoid disabling inside the control section.
Position sensor:	Mechanical electrical interface.
Analogue control:	A closed loop control of spool position based on set point. Feedback to system is actual spool
	position and error state.

Communication

The PVED-CX has three methods of communication.

•Optical from module

•Analogue one way communication

•Digital two way communication

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

Optical – LED

Blinking and steady light is implemented to facilitate maintenance and application engineering.

Analogue

Analogue communication is implemented.

An analogue signal is sent from active module to monitoring module to enforce redundancy. Module under surveillance is referred to as neighbor module in settings.

The operational mode of the module under surveillance (neighbor) decides the behavior of the monitoring module.

Digital – CANopen

The CANopen communication is the main method. It is used for:

•Control of module by master. Master defines state transition and set points.

•Reporting from module to master. Module reports spool position and safety violation

•Setting in module by master. Some parameters can be changed.

•Inquiry from master to module.

CANopen is a communication protocol defined by the society CAN in Automation (CiA). For details in the protocol we refer to CiA.

Computerized subsystem

The PVED-CX operates according to defined Device State Machines (DSM) giving conditions for transition between states. The Communication State Machine (CSM) is pre-condition for the DSM.

State transitions depends on internal conditions e.g. the sanity of the PVED-CX and can also depend on external conditions e.g. application controller commands and changes in preconditions for normal valve operation.

DSM and CSM for PVED-CX

Device state machine

Communication state machine

		Power on	Initialisation
			Reset
			Application
	NOT_READY
			Reset
			Communication
	INIT		Initialising
	DISABLED	FAULT
			Pre-Operational
	HOLD	FAULT_HOLD	Stopped
	DEVICE_MODE_	FAULT_	Operational
	ACTIVE	REACTION
			V310034.A
	18 | © Danfoss | Jun 2017		11070179 | BC00000068en-US0503

Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

When power is applied to the PVED-CX it will initialize components and validate component states and parameter settings. This is the power on self test (POST).

If test is passed the PVED will enter Disabled State and make it self known to the controller as active. Otherwise it will enter Fault mode and if possible also generate a fault message.

When the state is Device Mode Active or Device Mode Disabled module reporting can be trusted when in fault states report validity is related to the fault type.

Operational modes

The PVED-CX has three accessible operational modes for normal operations.

•Full operational. Spool position is controlled and monitored. Device Mode Active.

•Hand operational. Spool position is monitored. Device Mode Disabled.

•Automatic system safety integrity self test. Device Mode Active.

It is not mandatory for all modules in the same Control Section to be in the same Operational Mode.

Fault monitoring is active independent of operational mode.

See Safety description on page 23 section.

Full operational

In full operational mode the PVED-CX controls the spool and monitors the neighbor spool.

This mode is characterized by:

•Set point is received from Master and acted on by the module

•Solenoid valves are enabled by local switch if not in Power Save

•Neighbor monitoring of set point and spool position is active

•Spool position reporting is active

•No fault is present

•LED green

Hand operational

In hand operational mode the PVED-CX cannot control the spool.

This mode is characterized by:

•Spool position is defined by PVM and spool neutral spring

•Set point is not calculated. Master module does not have to send

•Solenoid valves are disabled by local switch

•Neighbor monitoring of spool reporting is active

•Spool position reporting is active

•No fault is present

•LED green.

Automatic system safety integrity self test – ASSIST

The ASSIST is as a tool for end-of-line test and maintenance test especially in connection with parts replacement and system modification.

In the ASSIST the system ability to recognize spool movement as fault and signal incongruence is tested automatically. This also includes the redundancy created by the cable harness.

The following is tested:

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

PVED-CX functionality

•Main spool kept in and brought back to neutral by spring

•The 4 magnetic solenoids

•The LVDT sensor

•The ASIC spool position reporting

•The ASIC closed loop control of the main spool position

•Node Id and neighbor node Id validity

This mode is characterized by:

•Solenoid valves are activated but not controlled by master device

•Fault monitoring and reporting has a mode specific pattern

Settings

The PVED-CX offers a number of settings for both system information and system operation. The parameters are, as required in CANopen, organized in an Electronic Data Sheet (EDS). The available parameters are both fixed parameters and variable parameters. For details in the protocol we refer to CiA.

Logging

During operation the PVED-CX logs data, that can be accessed at any time.

•Error history. A runtime log, cleared by reset and power off, keeps track of error order in a FIFO buffer

•Error counts. For each error code an occurrence counter is maintained in the EEPROM

•Temperature (current)

•Temperature histogram. For every 6 minutes of run time the current temperature is logged

Please find details in the Data section.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Normal operation – self and neighbor supervision concept

The main spool is kept in blocked/neutral position by the neutral spring. By use of the handle (PVM) or the solenoid valves and the Pp the spool can be moved to any position and so open for system pressure to the application.

Function cooperation in control section

	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

Set point command

The Set Point for the PVED is broadcasted on CAN bus by the System Main Controller/Master. During transmission the signal is evaluated for irregularity by all modules on the bus but only modules programmed for the specific signal will perform further calculations.

Upon reception the micro-controller (relevant module and neighbor) evaluates the validity of the set point.

If the set point is valid, and not blocked when power save is active, a local switch in the ASIC is conected by the microcontroller and the solenoid valves are enabled.

The controller transforms the digital message to a PWM signal and sends it to the ASIC. The ASIC evaluate if the PWM is in the valid range.

Spool supervision

At any time the ASIC monitors the spool position via the position sensor (LVDT) feedback. This determines the spool position for the closed loop control. Additionally the spool position is sent from the

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Normal operation – self and neighbor supervision concept

ASIC to the neighbor microcontroller as an analogue signal and the LVDT feedback is also fed to the microcontroller for generation of the CAN message.

Solenoid control

Based on set point and spool position the ASIC performs a closed loop control at a fixed frequency controlling the solenoid bridge.

Position reporting

The PVED-CX sends, when operating as a system configured module, continued spool position reports. This is intended as information for comparison for the application controller and the neighbor module

CAN: Spool position is calculated and broadcasted on the CAN bus with redundant representation of data. Spool position is reported as blocked when closer to neutral than approx. 0.7 mm.

Spool position is reported as not blocked when further from neutral than approx. 0.7 mm. When the spool is further from neutral than software dead-band threshold the spool position is calculated as an averaged value over the last 50 ms.

Analogue: Spool position is sent as an analogue signal to neighbor microcontroller.

Neighbor supervision

The special PVED-CX cable kit ensures that the supervising module has the spool position from the supervised module as an analogue value and also the reported spool position via CAN bus. If supervised module is in Full Operational mode the set point from the controller is also known.

The neighbor microcontroller compares the analogue and the CAN spool position values. In Full Operational Mode the spool position is also compared to the set point. Any deviation will raise an error.

Spool monitoring in PVG, see Cable kit principle.

Microcontroller supervision

The microcontroller has mutual watch dog functionality with a PIC giving redundant ability to shut down the ASIC. The PIC can also shut down CAN communication.

ASIC supervision

The ASIC feeder signal for the LVDT is monitored by the microcontroller.

Temperature supervision

The temperature of the electronic printed circuit board (PCB) is continuously monitored. This has two purposes:

•Calculated expected system reaction time must reflect temperature changes in oil viscosity.

•Component temperature conditions are within specified values.

Power save

To minimize energy consumption the PVED-CX has a power save functionality. If the set point for the PVED-CX has been blocked for more than 500ms the solenoids will be deactivated by the local switch. This reduces power consumption by 90 %.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Safety description

The Danfoss definition of safe state transition by fault is: Spool is placed in blocked position (neutral). The PVED-CX has Active Fault Reaction, e.g. brings the system into a safe state on fault.

The PVED-CX safety concept is based on three elements:

•POST – Power On Self Test

•ASSIST – Automatic System Safety Integrity Test

•Runtime fault monitoring and reaction

The basic elements for product safety are:

•Continuous module monitoring

•Fault recognition and reaction

•Fault reporting and recording

•Fault recovery

POST – Power On Self Test

Passing of the Power On Self Test is a pre condition for Full Operational Mode and ASSIST. The POST evaluates internal signals, memory state, internal settings and neighbor connection.

ASSIST – Automatic System Safety Integrity Test

The Automatic System Safety Integrity Self Test evaluates the electrical wiring connections, module inter communication, spool monitoring and hydraulic spool control.

The ASSIST is an optional test but must be passed in case of:

•First time use of PVG

•Changes in settings

•Cable kit replacement and manipulation

•Module replacement

Runtime fault monitoring

The fault monitoring is a part of the continuous self and neighbor monitoring. A number of conditions will force the Device State Machine transition to fault mode. For details see sections: Data section and

Error codes.

Communication fault

Communication faults interrupts application (system) and module cooperation. These faults are mainly connected to wiring faults, disabled controllers and illegal commands.

•Loss of communication

•Valid communication with invalid data

•Communication disturbance

The CAN communication is based on a physical layer applying to ISO 11898-2 high speed CAN. Faults handled by this standard are not considered relevant for this document with recovery from bus off as an exception.

Spool position fault

Spool position faults are directly related to the hydraulic performance of the application. These faults indicate difference between demanded and actual spool position.

The following categories of position faults are recognized:

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Safety description

•Spool further out than demanded.

•Spool in opposite direction to demanded.

•Spool not in neutral: Target window monitoring

The spool position is determined by LVDT contact to spool end. LVDT faults are treated as electrical faults.

Spool position is handled with tolerance as stated in Data section with consideration to mechanical delay and temperature influence.

System data fault

The data handling is depending on the quality of stored data and the range of input data. To avoid faults the following is monitored:

•Degradation of EEPROM.

•Degradation of FLASH.

•Sanity of look up tables

•Undefined calculations – division by 0

•Interpolation replaced by extrapolation

•Unwanted truncation

•Interrupted write process - Data mirror

•Inconsistency in spool position calculation

Electrical fault

The quality/presence of the following electrical signals is monitored to guarantee behavior within specification.

•Reciprocal watch dog signals between PIC and microprocessor

•Battery voltage in specified level

•LVDT feeder signals from ASIC

•Analogue to digital converter ADC

•PWM (Pulse width Modulated) signal from micro processor to ASIC

Temperature fault and correction

Electronic component reliability and electronic component life time are influenced by temperature as well as oil viscosity is. Temperature measurements on PCB is used for

•Interrupting spool control if PCB temperature is to high

•Interrupting spool control if PCB average temperature is to high

•Delay spool monitoring time out if PCB temperature is to low

•Determine product work hours based on temperature histogram

Test fault

The PVED has two tests with special status.

•POST. Power On Self Test for module integrity before operation.

•ASSIST. Automatic System Safety Integrity Self Test for module cooperation in control section.

Fault level

The PVED-CX has three fault severity levels.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Safety description

•Warning

•Critical

•Severe

Warning

Warning is entered if the fault is expected to have external origin and the PVED performance is certain not to suffer once the state is passed. Warning has no influence on neighbor modules activity.

Critical

Critical is entered if reliability of a defined element of the system could be threatened. Critical has influence on neighbor modules activity.

Severe

Severe is entered if system reliability could be threatened. Severe has influence on neighbor modules activity.

Threshold not passed

If a fault precondition is present the PVED keeps track but operates as requested until an eventual threshold is passed e.g. spool not at demanded position but only for a short time.

For every fault related to a time or occurrence threshold a counter is established. The counter is started and reset according to a fault depending scheme.

Fault reaction

The fault reaction has highest priority in the PVED-CX. Depending on the fault the PVED immediately goes into a defined fault state. Any fault of a higher severity will override any present less severe fault.

Warning Local switch is disabled. Solenoid valves disabled.

Spool monitoring and reporting still active. Comparison set point-actual position is disabled

Fault monitoring still active depending on operation mode.

Neighbor monitoring still active

Critical and Safety switch is disabled. Solenoid valves disabled in the whole control section.

Severe Spool monitoring and reporting still active. Comparison set point-actual position is disabled

Fault monitoring still active depending on operation mode.

Neighbor monitoring still active

Fault reporting

Fault reporting is a part of the communication task and has lower priority than fault reaction.

CAN bus	Appropriate emergency messages are sent out according to the CANopen standard.
	In case of multiple errors Servere has precedence over Critical that has precedence over
	Warning. Errors of same severity are broadcast in order of occurrence.
Error logs	Fault is stored in an EDS log in RAM over last 50 errors using a first in first out buffer.
	Fault is stored in an EDS log in EEPROM showing occurrence of every fault Id. Max 255.
	The Error log in the EEPROM cannot be reset.
Light emitting diode	To ensure easy maintenance the PVED-CX utilizes the LED to indicate state of the
	module.

Fault recovery

Module and system fault recovery requires that all faults have disappeared.

Warning	Recovery is possible with software reset command.
Critical	Recovery is possible with software reset command.
Severe	Recovery is only possible with power cycle.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Data section

Operational conditions

The PVED-CX will only operate according to this table.

Operational conditions

Mode	Supply
	Power	CAN control	Pilot oil pressure	Oil main pressure
Electronic test. POST	Mandatory	Optional	Optional	Optional
System test. ASSIST	Mandatory	Mandatory	Mandatory	Disabled
Manual operation	Optional*	Optional*	Optional	Mandatory**
Full operation	Mandatory	Mandatory	Mandatory	Mandatory**

*Mandatory if spool position information is requested.

**If hydraulic performance is expected.

A pre-condition for electrical performance according to this technical information is interconnection of the PVED-CX in control sections. A control section is two to eight PVED-CX connected by a cable kit.

Danfoss defines safe state as spool set to blocked/neutral position.

Performance

Reaction time for actuation

Function @ 21 cSt @ 13,3 bar	Solenoids	Time
Reaction time, neutral to max spool travel	Powered	Min 50 ms / Max 200 ms
Reaction time, max spool travel to neutral	Powered	Max 150 ms
Reaction time, power on to max spool travel	Powered	Min 1000 ms / Max 4000 ms
Reaction time, max spool travel to neutral	Disabled	Max 175 ms
Power up, from power on to CAN active		1000 ms (up to 1250 ms by unstable
		power supply)
ASSIST run time per module		4 seconds
Hysteresis @0.02Hz		Typ 0% / Max 1%
Oil viscosity: 21.0 ± 0.5 cSt, Pilot. Pilot pressure (P-T): 13.3 ±0.5 bar.

Dimensions and layout

Connector pin out

				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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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Data section

Cable dimensions

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

Long cable kit (4000 mm) is without CAN bus termination.

Short cable kit (1000 mm) is with 120 Ohm CAN bus termination in connector Jn.

W Warning

Cable is specific designed for use with PVED-CX. When handling cable at temperature below 0°C [32°F] avoid twisting and rough handling.

Cable color codes and external connection

Description	J0 / wire ends	J1	J2	Jn
CAN low*	Yellow	9	9	9
CAN high	Orange	8	8	8
Ground	Brown	7	7	7
Vbat	Red	6	6	6
Vbat 2	Green	2	–	–

* CAN wires are only intended for communication according to ISO 11898-2.

PVED-CX with cable kit

J1

J2

J3

J4

J5

J6

J7

J0

V310199.B

Cable can be mounted with J1 as the rightmost.

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Technical Information

PVED-CX, Series 4 Electrohydraulic Actuator

Data section

Neighbor guide

Node connector	J1	J2	J3	...	Jn
Neighbor connector	Jn	J1	J2	...	Jn-1
Example
Node Id	20	21	22	...	26
Neighbor node Id	26	20	21	...	25

Cable kit specification

Voltage - Vbat, Vbat2		Maximum 36 V
Power		Maximum 80 W
Grade of enclosure - version with AMP JPT connector		IP 66
Ambient temperature	Use	-30 °C → +90 °C
		[-22	°F → +194 °F]
	Storage	-40 °C → +100 °C
		[-40	°F → +212 °F]
	Recommended long time storage	+10	°C → +30 °C
	conditions in packaging	[50 °F → +86 °F]

PVED-CX dimensions, mm [in]

	100.3 [3.95]
	69.5 [2.74]
	25.0 [0.98]
<![if ! IE]> <![endif]>92.7 [3.65]	<![if ! IE]> <![endif]>102.6 [4.04]	<![if ! IE]> <![endif]>118.4 [4.66]
	<![if ! IE]> <![endif]>23.6 [0.93]
	24.5 [0.97]
	55.3 [2.18]

106 [4.17]

V310033.A

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