Danfoss SASA User guide
Technical Information
Steering
SASA Sensor
powersolutions.danfoss.com
Technical Information
SASA Sensor
Revision history |
Table of revisions |
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Nov 2017 |
Replaced SAK Adapter image on page 20 |
0102 |
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March 2016 |
First edition |
0101 |
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2 | © Danfoss | Nov 2017 |
BC00000356en-US0102 |
Technical Information |
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SASA Sensor |
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Contents |
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Sensor type SASA general |
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Versions, code numbers and weights for SASA sensor |
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SASAIIC |
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SASAIIC CAN message protocol.................................................................................................................................................. |
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SASAIIC parameter setup............................................................................................................................................................... |
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SASAIIC technical data.................................................................................................................................................................... |
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SASAIID |
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SASAIID CAN message protocol.................................................................................................................................................. |
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SASAIID configuration protocol................................................................................................................................................ |
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Read data by identifier............................................................................................................................................................ |
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Write data by identifier........................................................................................................................................................... |
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SASAIID configuration data list................................................................................................................................................. |
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SASAIID technical data................................................................................................................................................................. |
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Dimensions SASA sensor |
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SAK |
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Code number and weight, SAK adapter kit.......................................................................................................................... |
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SAK adapter kit................................................................................................................................................................................ |
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Installation |
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Wiring guidelines........................................................................................................................................................................... |
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© Danfoss | Nov 2017 |
BC00000356en-US0102 | 3 |
Technical Information
SASA Sensor
Sensor type SASA general
The SASA sensor detects the absolute position and speed of the steering wheel. The sensor can be used in electro-hydraulic steering systems using Danfoss OSPE, EHI, or EHPS steering valves with programmable controller or in any other steering system where the rotation of the steering wheel must be detected as an electronic signal.
There are two versions available of SASA sensors:
SASAIIC used for PVED-CL actuator. SASAIIC has single CAN output signal and “fail silent” concept
SASAIID used for PVED-CLS actuator and general usage. SASAIID has dual CAN output signal.
The use of SASA sensor is relevant e.g. for variable steering ratio and closed loop set-ups where steering wheel position and steering angle have to match.
The SASA sensor also can be used for “kick out” of Auto-steering. When the steering valve is in autoguidance mode, and the driver wants to swap to manual steering, a signal from the SASA sensor will deactivate the Auto-steering and the steering wheel movement has priority.
SASA is based on a non-contact inductive principle giving a very high resolution. The sensor features a robust design and resists e.g. electro-magnetic radiation.
The output is a CAN signal, which makes it easy to interface to advanced vehicle controllers and to Danfoss PVED-CLS actuators for steering valves.
The steering wheel shaft turns the rotor of the SASA sensor, and the sensor is simply mounted between steering unit and steering column. The shaft of the steering column must be 15 mm longer when using SASA sensor.
In cases where customers want to use the same steering column in applications with and without SASA sensors, Danfoss offers an adapter kit type SAK to built in between column and sensor.
The SASA sensor offers the following features:
•High resolution < 0.1°
•Output CAN signal
•High safety
‒SASAIIC: “fail silent” concept
‒SASAIID: two output messages concept
•SASAIID is PLUS+1® Compliant
•Flanged in between steering unit and column
•Compact design
4 | © Danfoss | Nov 2017 |
BC00000356en-US0102 |
Technical Information
SASA Sensor
Versions, code numbers and weights for SASA sensor
Code number |
Type |
Supply |
Termination |
Cable length |
Connector |
Weight |
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voltage |
resistor |
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11088656 |
SASAIIC, CAN |
9 - 32 VDC |
No |
500 mm |
AMP code no. |
0.25 |
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[0.55] |
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2-967059-1 |
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11099289 |
SASAIIC, CAN |
9 - 32 VDC |
No |
500 mm |
DEUTSCH DT04-4P- |
0.25 |
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[0.55] |
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CE02 |
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11116505 |
SASAIID, CAN |
6 - 36 VDC |
No |
500 mm |
DEUTSCH DT04-4P- |
0.25 |
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[0.55] |
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CE02 |
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© Danfoss | Nov 2017 |
BC00000356en-US0102 | 5 |
Technical Information
SASA Sensor
SASAIIC
SASAIIC CAN message protocol
Interface: CAN 2.0 B
Baud rate: 125 kBaud, 250 kBaud (default), 500 kBaud
SASA returns cyclic the following CAN message every 5, 10 (default) or 20 ms.
301 h |
Data |
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0 |
1 |
2 |
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4 |
5 |
6 |
7 |
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Low byte |
High byte |
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High byte |
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Low byte |
High byte |
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Low byte |
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ID |
Steering angle |
Count |
Steering angle change |
Status |
CRC-16 |
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Identifier
Steering angle
Count
Steering angle change
Status
301h (11 bit)
12 bit word (0 – 4095) relative to a 0-index point. 0 = 0 degrees
4095 = 359,912 degrees
Overflow at 4095 for CW activation shall increment 0 Underflow at 0 for CCW activation shall decrement 4095 Byte (0-255)
Increments 1 for each message
Difference between 2 transmitted position values in succession.
16 bit integer with 2’s complementary encoding for negative values (-32768 to 32767). -4095 = -359,912 degrees
0 = 0 degrees
4095 = 359,912 degrees
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5 |
4 |
3 |
2 |
1 |
0 |
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- |
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Progamming mode |
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Programming mode
Normal state is 1
Response with a 0 when starting the programming sequence
(See the programming sequence described below under setup message)
CRC-16 |
The standard CRC16 polynomial is used (x^16+x^15+x^2+1) |
6 | © Danfoss | Nov 2017 |
BC00000356en-US0102 |
Technical Information
SASA Sensor
SASAIIC
SASAIIC parameter setup
Setup message: sensor can be programmed as shown in the CAN setup message below.
0C0h |
Data |
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0 |
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
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Low byte |
High byte |
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ID |
Baud rate |
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Data rate |
Set 0- |
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Programming |
CRC-16 |
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index |
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sequence |
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Identifier |
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0C0h (11 bit) |
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Baud rate |
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During the programming sequence, byte 0 is set to: |
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•02h for 125 kBaud
•03h for 250 kBaud (default)
•04h for 500 kBaud
Data rate |
During the programming sequence, byte 1 is set to: |
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• 02h for 5 ms |
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• 03h for 10 ms (default) |
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• 04h for 20 ms |
Set 0-index |
If byte 2 is set to AAh during the programming sequence, the actual angle will be |
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stored as a reference value (0 degree) in persistent memory. |
Programming sequence
CRC-16
The following sequence is used when programming the sensor.
1.The controller unit sends a setup message where byte 4 is set to AAh and byte 5 is set to 55h.
2.The sensor answers with a 0 on the status byte (bit 0).
3.The control unit then sends a setup message where byte 4 is set to 0Fh and byte 5 is set to F0h.
The first and second message shall match.
4.After receiving the last message the programming takes place in the sensor if the parameters are in the defined range, the timeout period has not been exceeded and the CRC-16 check is correct in both messages.
5.After programming the status bit in the output message changes back from 0 to 1.
6.If the controller's second message does not come within 1 second after the controller's first message, the programming sequence will be aborted.
The standard CRC16 polynomial is used (x^16+x^15+x^2+1)
© Danfoss | Nov 2017 |
BC00000356en-US0102 | 7 |
Technical Information
SASA Sensor
SASAIIC
SASAIIC technical data
Mechanical
Input range: |
Continuous 360° rotation |
Rotor torque: |
≤ 0.2 N•m |
Expected life: |
> 10 million cycles |
Electrical
Supply voltage: |
9 - 32 VDC |
Power consumption: |
<1 W |
Output
CAN V2.0B, (compatible to J1939)
Termination resistor: |
120 ohm (optional) |
Baud rate: |
125, 250 or 500 kb/s |
Angle: |
12-bit word (0 - 4095) relative to a programmable 0-index point. |
Resolution: |
< 0.1° |
Linearity: |
1% of full scale |
Angle change: |
16 bit integer with 2’s complementary encoding for negative values (-32768 to 32767). |
Safety function
If a failure occurs, the SASA CAN transceiver will be disabled.
Environmental
Operating temperature: |
-30° to 85°C [-22 to 185°F] |
Storage temperature: |
-40° to 105°C |
Sealing: |
IP65 |
EMI/RFI Rating: |
100 V/m |
Vibration: |
Meets IEC 60068-2-64 |
Shock: |
Meets IEC 60068-2-27 test Ea |
8 | © Danfoss | Nov 2017 |
BC00000356en-US0102 |
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