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SASA
Data sheet
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User guide
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Installation guide
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Danfoss SASA User guide

Technical Information
Steering
SASA Sensor
powersolutions.danfoss.com
Technical Information
Revision history Table of revisions
Date Changed Rev
Nov 2017 Replaced SAK Adapter image on page 20 0102
March 2016 First edition 0101
2 | © Danfoss | Nov 2017 BC00000356en-US0102
Technical Information

Contents

Sensor type SASA general Versions, code numbers and weights for SASA sensor SASAIIC
SASAIIC CAN message protocol..................................................................................................................................................6
SASAIIC parameter setup...............................................................................................................................................................7
SASAIIC technical data....................................................................................................................................................................8
SASAIID
SASAIID CAN message protocol..................................................................................................................................................9
SASAIID configuration protocol................................................................................................................................................12
Read data by identifier............................................................................................................................................................12
Write data by identifier...........................................................................................................................................................14
SASAIID configuration data list.................................................................................................................................................17
SASAIID technical data.................................................................................................................................................................18
Dimensions SASA sensor SAK
Code number and weight, SAK adapter kit..........................................................................................................................20
SAK adapter kit................................................................................................................................................................................20
Installation
Wiring guidelines...........................................................................................................................................................................22
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Technical Information

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
•
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Technical Information

Versions, code numbers and weights for SASA sensor

Code number Type Supply
voltage
11088656 SASAIIC, CAN 9 - 32 VDCNo 500 mm AMP code no.
11099289 SASAIIC, CAN 9 - 32 VDCNo 500 mm DEUTSCH DT04-4P-
11116505 SASAIID, CAN 6 - 36 VDCNo 500 mm DEUTSCH DT04-4P-
Termination resistor
Cable length Connector Weight
2-967059-1
CE02
CE02
kg [lb]
0.25 [0.55]
0.25 [0.55]
0.25 [0.55]
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Technical Information

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
0
Low byte1High byte
ID Steering angle Count Steering angle change Status CRC-16
2 3
5 6
Low byte4High byte
Low byte
Identifier 301h (11 bit)
7 High byte
Steering angle
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
Count Byte (0-255)
Increments 1 for each message
Steering angle change
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
Status
7 6 5 4 3 2 1 0
- - - - - - - Progamming mode
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)
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Technical Information
SASAIIC

SASAIIC parameter setup

Setup message: sensor can be programmed as shown in the CAN setup message below.
0C0h Data
0 1 2 3 4 5 6
ID Baud rate Data rate Set 0-
index
Identifier 0C0h (11 bit)
Baud rate During the programming sequence, byte 0 is set to:
02h for 125 kBaud
•
03h for 250 kBaud (default)
•
04h for 500 kBaud
•
Data rate During the programming sequence, byte 1 is set to:
02h for 5 ms
•
03h for 10 ms (default)
•
04h for 20 ms
•
Programming sequence
Low byte7High byte CRC-16
Set 0-index If byte 2 is set to AAh during the programming sequence, the actual angle will be
stored as a reference value (0 degree) in persistent memory.
Programming sequence
CRC-16 The standard CRC16 polynomial is used (x^16+x^15+x^2+1)
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).
The control unit then sends a setup message where byte 4 is set to 0Fh and
3.
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.
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Technical Information
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 V Power consumption: <1 W
DC
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
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