Technical Information
Electrohydraulic Actuators
PVED-CX Series 4
powersolutions.danfoss.com
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Revision history |
Table of revisions |
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Date |
Changed |
Rev |
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Jun 2017 |
Spool positioning data corrected |
0503 |
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September 2014 |
Index corrected |
EB |
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February 2014 |
Converted to Danfoss layout-DITA CMS |
EA |
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October 2009 to May 2011 |
Various updates |
AA through DC |
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2 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information |
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PVED-CX, Series 4 Electrohydraulic Actuator |
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Contents |
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Reference |
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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 |
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PVED-CX introduction.................................................................................................................................................................. |
10 |
Overview........................................................................................................................................................................................... |
11 |
PVG functionality |
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PVG functionality............................................................................................................................................................................ |
13 |
PVED-CX functionality |
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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 |
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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 |
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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 |
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Operational conditions................................................................................................................................................................ |
26 |
Performance..................................................................................................................................................................................... |
26 |
Dimensions and layout................................................................................................................................................................ |
26 |
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 3 |
Technical Information |
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PVED-CX, Series 4 Electrohydraulic Actuator |
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Contents |
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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 |
4 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information |
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PVED-CX, Series 4 Electrohydraulic Actuator |
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Contents |
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The Sync message:................................................................................................................................................................... |
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50 |
Transmission of PVED-CX Spool Pos. Messages on Sync Msg.................................................................................. |
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51 |
Hand Operational Mode and Full Operational Mode configuration .................................................................... |
51 |
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ASSIST................................................................................................................................................................................................. |
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52 |
ASSIST Pre-Trigger Command............................................................................................................................................. |
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52 |
ASSIST Run Command............................................................................................................................................................ |
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53 |
LED by ASSIST ........................................................................................................................................................................... |
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54 |
CANCEL ASSIST Command.................................................................................................................................................... |
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55 |
ASSIST Abort Message............................................................................................................................................................ |
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56 |
State Machine |
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Important points about PVED-CX DSM Implementation................................................................................................ |
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57 |
INIT state:........................................................................................................................................................................................... |
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57 |
DISABLED state:.............................................................................................................................................................................. |
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57 |
HOLD state:....................................................................................................................................................................................... |
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58 |
DEVICE_MODE_ACTIVE state:.................................................................................................................................................... |
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58 |
Hand Operational Mode........................................................................................................................................................ |
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59 |
Full Operational Mode ........................................................................................................................................................... |
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59 |
ASSIST Mode .............................................................................................................................................................................. |
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59 |
FAULT_REACTION state:.............................................................................................................................................................. |
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59 |
FAULT_HOLD state:....................................................................................................................................................................... |
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60 |
FAULT state:..................................................................................................................................................................................... |
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60 |
State Transition............................................................................................................................................................................... |
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60 |
Limitations and Known Software Issues |
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Warnings |
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PVED-CX warnings......................................................................................................................................................................... |
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63 |
Error codes |
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Index 1 • Common Name: Reserved........................................................................................................................................ |
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64 |
Index 2 • Common Name: Supply voltage too high.......................................................................................................... |
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64 |
Index 3 • Supply voltage too low.............................................................................................................................................. |
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64 |
Index 4 • Illegal state command................................................................................................................................................ |
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65 |
Index 5 • Division by zero, illegal SW operation.................................................................................................................. |
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65 |
Index 6 • Internal table value corrupted, illegal SW operation...................................................................................... |
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66 |
Index 7 • Wrong data interpretation, truncation of values............................................................................................. |
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66 |
Index 8 • Interpolation fault, illegal SW operation............................................................................................................. |
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67 |
Index 9 • No handshake to uC.................................................................................................................................................... |
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67 |
Index 10 • Watchdog not starting............................................................................................................................................ |
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67 |
Index 11 • RTOS error.................................................................................................................................................................... |
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68 |
Index 12 • LVDT verification fault............................................................................................................................................. |
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68 |
Index 13 • Neighbor LVDT fault................................................................................................................................................. |
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69 |
Index 14 •Temperature sensor fault........................................................................................................................................ |
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69 |
Index 15 • Fault In RAM................................................................................................................................................................ |
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69 |
Index 16 • Temperature average to high............................................................................................................................... |
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70 |
Index 17 • Code memory check fault...................................................................................................................................... |
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70 |
Index 18 • Reserved....................................................................................................................................................................... |
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71 |
Index 19 • EEPROM write fault................................................................................................................................................... |
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71 |
Index 20 • EEPROM content fault.............................................................................................................................................. |
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71 |
Index 21 • EEPROM mirror fault................................................................................................................................................. |
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72 |
Index 22 • Dead band parameter out of range.................................................................................................................... |
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72 |
Index 23 • Reserved....................................................................................................................................................................... |
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72 |
Index 24 • CAN error frame warning........................................................................................................................................ |
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73 |
Index 25 • Signal from master missing................................................................................................................................... |
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73 |
Index 26 • Recovered from Bus off........................................................................................................................................... |
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74 |
Index 27 • Command signal error............................................................................................................................................. |
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74 |
Index 28 • Reserved....................................................................................................................................................................... |
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74 |
Index 29 • Reserved....................................................................................................................................................................... |
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75 |
Index 30 • Spool not at set point.............................................................................................................................................. |
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75 |
Index 31 • Spool out of neutral.................................................................................................................................................. |
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76 |
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 5 |
Technical Information |
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PVED-CX, Series 4 Electrohydraulic Actuator |
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Contents |
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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 |
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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 |
6 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Acronyms |
Description |
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ASIC |
Application Specific Integrated Circuit - the part of the PVE where spool position is controled to |
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follow setpoint |
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ATEX |
Certificated for use in explosive environment |
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AVC |
Auxillery Valve Comand - ISOBUS/J1939 standard signal for valve control |
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AVCTO |
Auxillery Valve Comand Time Out - Fault monitoring setting |
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AVEF |
Auxillery Valve Estimated Flow - ISOBUS/J1939 standard signal for valve feedback |
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CAN |
Controller Area Network - Communication method used by PVED |
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CLC |
Closed Loop Circuit |
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CRC |
Cyclic Redundancy Check - Method for ensuring validity of data. |
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-DI |
PVE with Direction Indication |
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DM1 |
Diagnostic Message 1 - J1939 message informing about present fault |
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DM2 |
Diagnostic Message 2 - J1939 message informing about fault history |
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DM3 |
Diagnostic Message 3 - J1939 message clearing fault history |
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DSM |
Device State Machine. Deterministic description of system process |
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ECU |
Electronic Control Unit |
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EH |
Electro Hydraulic |
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-F |
PVE for Float spool. Two variants: 4 pin with float at 75%. 6 pin with separate float. |
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FMEA |
Failure Mode Effect Analysis |
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ISOBUS |
Communication standard for CAN |
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J1939 |
Communication standard for CAN |
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LED |
Light Emitting Diode |
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LS |
Load Sensing |
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LVDT |
Linear Variable Differential Transducer - Position sensor |
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NC |
Normally Closed solenoid valve in PVE |
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NC-H |
Normally Closed standard solenoid valve in PVEH |
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NC-S |
Normally Closed solenoid valve Super in PVES |
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NO |
Normally Open solenoid valve in PVE |
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PLC |
Programmable Logical Circuit |
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PLUS+1® |
Trademark for Danfoss controllers and programming tool |
POST |
Power On Self Test. Boot up evaluation for PVED |
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Pp |
Pilot Pressure. The oil gallery for PVE actuation |
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PVB |
Proportional Valve Basic module - valve slice |
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PVBS |
Proportional Valve Basic module Spool |
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PVBZ |
Proportional Valve Basic module Zero leakage |
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PVE |
Proportional Valve Electric actuator |
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PVEA |
PVE variant with 2-6 % hysteresis |
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PVED |
PVE variant Digital controlled via CAN communication |
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PVEH |
PVE variant with 4-9% Hysteresis |
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PVEM |
PVE variant with 25-35% hysteresis |
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PVEO |
PVE variant with ON/OFF actuation |
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PVEP |
PVE variant PWM controled |
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PVES |
PVE variant with 0-2% hysteresis |
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PVEU |
PVE variant with US 0-10V |
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© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 7 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Reference
Acronyms |
Description |
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PVG |
Proportional multi-section Valve Group |
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PVHC |
PV variant with High Current controlled valve actuator |
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PVM |
Proportional Valve Manual control with handle |
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PVP |
Proportional Valve Pump side module.Inlet |
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PVS |
Proportional Valve end plate |
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PVSK |
Proportional Valve end plate crane. Inlet module with Spool Control |
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PWM |
Pulse Width Modulation |
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S4 DJ |
Series 4 Digital J1939 service tool software for PVED-CC |
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SAE |
Society Automotive Engineering |
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-R |
PVE with Ramp function |
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-NP |
PVE with solenoid disable in Neutral Position |
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-SP |
PVE with Spool Position feedback |
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uC |
Microcontroller |
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uCSM |
Microcontroller State Machine |
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UDC |
Power supply Direct Current; also called Vbat for battery voltage |
US |
Steering voltage for the PVE control; also called VS |
Literature reference
Literature title |
Type |
Order |
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number |
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PVG 32 Proportional valve group |
Technical Information |
520L0344 |
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PVG 100 Proportional valve group |
Technical Information |
520L0720 |
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PVG 120 Proportional valve group |
Technical Information |
520L0356 |
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PVG 32 Metric ports |
Technical Information |
11051935 |
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PVED-CC Electro-hydraulic actuator |
Technical Information |
520L0665 |
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PVED-CX Electro-hydraulic actuator |
Technical Information |
11070179 |
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Basic module for PVBZ |
Technical Information |
520L0721 |
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PVSK module with integrated diverter valve and P-disconnect function |
Technical Information |
520L0556 |
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PVPV / PVPM pump side module |
Technical Information |
520L0222 |
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Combination module PVGI |
Technical Information |
520L0405 |
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PVSP/M Priority module |
Technical Information |
520L0291 |
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•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
8 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
Reference
•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.
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 9 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
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 |
10 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
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.
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 |
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 11 |
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
12 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
This chapter will give an overview of the PVG functionality.
Valve section with naming - standard mounted - seen from PVP
P -> A
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Pilot oil supply |
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PVE |
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B port |
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Oil |
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A port |
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PVB |
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PVM |
Electronics |
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Neutral spring |
NC Solenoid valve |
<- Retract towards PVE |
PVBS |
LVDT |
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Extend away from PVE -> |
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NO solenoid valve |
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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.
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 13 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
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
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Poppet valve |
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Function |
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Solenoids |
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Oil pressure |
Control |
ASIC |
Closed loop |
LVDT |
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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
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.
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
14 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
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 |
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Vneg |
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CANN__HH |
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CAN_L |
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120 ohm |
Vbat2 |
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<![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.
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.
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.
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.
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 15 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
PVED-CX functionality
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.
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.
16 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
PVED-CX functionality
Function blocks for electronics
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Vbat3 |
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Vbat2 out |
Safety |
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Vbat2 in |
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switch |
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<![if ! IE]> <![endif]>harness |
CAN |
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Solenoid valve |
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<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
Solenoid valve |
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Controller |
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control |
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LVDT in |
Spool Set-point |
Control |
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from |
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neighbor A |
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Closed loop |
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LVDT out to neighbor B |
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feed back |
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Spool position |
Position |
Mech linkage. |
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Neighbor B |
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sensor |
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Vbat3 |
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Vbat2 out |
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Safety |
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Vbat2 in |
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switch |
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<![if ! IE]> <![endif]>harness |
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Solenoid valve |
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CAN |
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<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
Solenoid valve |
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Controller |
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control |
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LVDT in |
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Spool Set-point |
Control |
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from |
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neighbor A |
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Closed loop |
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LVDT out to neighbor B |
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feed back |
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Spool position |
Position |
Mech linkage. |
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sensor |
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Solenoid
Valves
Pilot oil pressure build up
Main Spool
Solenoid
Valves
Pilot oil pressure build up
Main Spool
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Neighbor A |
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Vbat3 |
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Vbat2 out |
Safety |
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Vbat2 in |
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switch |
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V310 207.A |
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<![if ! IE]> <![endif]>harness |
CAN |
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Solenoid valve |
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<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
Solenoid valve |
Solenoid |
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Controller |
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control |
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LVDT in |
Spool Set-point |
Control |
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Valves |
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from |
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neighbor A |
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Pilot oil |
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Closed loop |
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pressure |
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feed back |
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LVDT out to neighbor B |
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build up |
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Spool position |
Position |
Mech linkage. |
Main Spool |
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sensor |
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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 |
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position and error state. |
The PVED-CX has three methods of communication.
•Optical from module
•Analogue one way communication
•Digital two way communication
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 17 |
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.
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 |
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Power on |
Initialisation |
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Reset |
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Application |
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NOT_READY |
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Reset |
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Communication |
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INIT |
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Initialising |
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DISABLED |
FAULT |
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Pre-Operational |
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HOLD |
FAULT_HOLD |
Stopped |
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DEVICE_MODE_ |
FAULT_ |
Operational |
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ACTIVE |
REACTION |
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V310034.A |
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18 | © Danfoss | Jun 2017 |
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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.
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.
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
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.
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:
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 19 |
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
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.
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.
20 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
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
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Vbat3 |
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Vbat2 out |
Safety |
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Vbat2 in |
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switch |
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<![if ! IE]> <![endif]>harness |
CAN |
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Solenoid valve |
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Solenoid valve |
<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
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Controller |
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control |
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LVDT in |
Spool Set-point |
Control |
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from |
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neighbor A |
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Closed loop |
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LVDT out to neighbor B |
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feed back |
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Spool position |
Position |
Mech linkage. |
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Neighbor B |
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sensor |
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Vbat3 |
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Vbat2 out |
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Safety |
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Vbat2 in |
switch |
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<![if ! IE]> <![endif]>harness |
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Solenoid valve |
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CAN |
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<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
Solenoid valve |
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Controller |
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control |
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LVDT in |
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Spool Set-point |
Control |
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from |
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neighbor A |
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Closed loop |
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LVDT out to neighbor B |
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feed back |
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Spool position |
Position |
Mech linkage. |
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sensor |
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Solenoid
Valves
Pilot oil pressure build up
Main Spool
Solenoid
Valves
Pilot oil pressure build up
Main Spool
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Neighbor A |
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Vbat3 |
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Vbat2 out |
Safety |
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Vbat2 in |
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switch |
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V310 207.A |
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<![if ! IE]> <![endif]>harness |
CAN |
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Solenoid valve |
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Solenoid valve |
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<![if ! IE]> <![endif]>Cable |
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enable |
Analogue |
Solenoid |
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Controller |
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control |
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LVDT in |
Spool Set-point |
Control |
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Valves |
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from |
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neighbor A |
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Pilot oil |
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Closed loop |
pressure |
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feed back |
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LVDT out to neighbor B |
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build up |
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Spool position |
Position |
Mech linkage. |
Main Spool |
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sensor |
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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.
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
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 21 |
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.
Based on set point and spool position the ASIC performs a closed loop control at a fixed frequency controlling the solenoid bridge.
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.
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.
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.
The ASIC feeder signal for the LVDT is monitored by the microcontroller.
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.
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 %.
22 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
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
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.
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
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 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 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:
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 23 |
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.
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
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
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
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.
The PVED-CX has three fault severity levels.
24 | © Danfoss | Jun 2017 |
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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.
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 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. |
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. |
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 25 |
Technical Information
PVED-CX, Series 4 Electrohydraulic Actuator
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.
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. |
|
|
|
|
|
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
26 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |
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.
© Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 | 27 |
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
28 | © Danfoss | Jun 2017 |
11070179 | BC00000068en-US0503 |