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November 2018 First edition 0101
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
2 |
©
Danfoss | November 2018 AQ00000270en-000101
Before You Begin
Abbreviations
PVED_CLS_STW Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................7
Outputs................................................................................................................................................................................................ 7
Status Logic........................................................................................................................................................................................ 7
Fault Logic...........................................................................................................................................................................................8
Configure Communication for the Function Block..............................................................................................................8
Configure Primary Communication for Function Block................................................................................................8
Configure Redundant Communication for Function Block.........................................................................................8
Enabling Checkpoints.....................................................................................................................................................................8
Identical Function Blocks Need Different Namespace Values to Successfully Compile....................................9
Change Namespace Value.......................................................................................................................................................9
Pre-Made Service Screen.............................................................................................................................................................10
IEC 61508-3 Annex D Supplemental Information..............................................................................................................11
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
Contents
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Danfoss | November 2018 AQ00000270en-000101 | 3
Before reading this manual, read and understand the safety manual of the entire library (Safety Manual
and Programmer Guide - General, document number AQ00000254).
W
Warning
Do not change parameters while the machine is driving. Before changing parameters bring the machine
into a safe state to prevent harm for the operator and bystanders.
W
Warning
Fault detection and diagnostics must be tested with the final application which is assembled from the
function blocks.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
Before You Begin
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©
Danfoss | November 2018 AQ00000270en-000101
Abbreviations used in the PVED-CLS function block user manuals are described.
Abbreviation Meaning
AUX JOY Auxiliary Joystick
AUX STW Auxiliary Steering Wheel
CLS Closed Loop Safety
GMC Guidance System Command
GMS Guidance Machine Status
MMI Man Machine Interface
PVED CLS Proportional Valve Electronic Digital Closed Loop Safety
STAT MSG OP Status Message Operation
STAT MSG Status Message
Str Fdbk Steering Feedback
STW Steering Wheel
VSP Vehicle Speed
WAS Wheel Angle Sensor
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
Abbreviations
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This function block configures the PVED_CLS_STW for use with the PVED-CLS.
The inputs of the function block are formatted to a form that the PVED-CLS expects. For more
information, refer to PVED-CLS communication protocol.
Inputs
Enter the PVED_CLS_STW function block for an overview of its signals.
To avoid compiler errors, use only the data types specified in this table.
Parameter Type Range Unit Description
Para Bus —— —— This bus contains configuration values. You can replace these values with signals
routed from the application if desired.
Loop_Tm U16 0 to 65535 ms Processing time of one program loop.
CAN.Port Port —— —— Determines which CAN port to transmit data from. This variable can be found in
the CAN sub-bus if using the Main Template.
Enable BOOL T/F —— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the
block.
T: Function enabled.
F: Function disabled.
Angle U16 0 to 35991 0.01° Steering angle relative to the 0-index point.
Vel S32 -30000 to
30000
0.01 RPM Steering angle velocity.
ErrCode U8 0 to 15 —— Error code from sensor.
0: Reserved.
1: Sensor chip error.
2: Steering angle failure.
3: CAN input message failure.
4: Power failure.
5: CPU failure.
6: Memory failure.
7-13: Reserved.
14: Temperature warning.
15: No error.
Chkpt BOOL T/F —— Enables advanced checkpoints with namespace for each Diag signal.
T: Include checkpoints when compiled.
F: Do not include checkpoints when compiled.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
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Parameters
Learn how the function block uses parameters to customize the function.
To avoid compiler errors, use only the data types specified in this table.
Parameter Type Range Unit Description
CRC_LUT ARRAY[256]U16
—— ——
CRC 16 used by the PVED-CLS messages.
Polynomial: 0xC86C
PGN_Offset U8 0 to 255 —— PGN offset used for the message.
Primary Default: 16
Redundant Default: 17
Src_Addr U8 0 to 253 ——
Source address used by the message.
Default: 77
Tx_Rate U16 2*Loop_Tm to
65535
ms
How often the message is sent.
Default: 50
IsRedundant BOOL T/F —— Indicates if the message is redundant.
T: Message is redundant.
F: Message is primary.
Outputs
Learn how the outputs of the function block work.
Parameter Type Range Unit Description
OR BOOL T/F —— CAN Tx OverRun flag.
T: A new request to send a message is made before the last one is sent.
F: No overrun condition.
Pend BOOL T/F —— CAN Tx Pending flag.
T: The last message requested is waiting to be transmitted on the bus.
F: No message is waiting to be sent.
Diag
Bus —— —— This bus provides diagnostic values for troubleshooting. In addition, all
inputs, parameters, and output signals are contained inside of the bus.
Status
U16 0, 0x8008 ——
This signal indicates if a parameter fault is declared. It is a bitwise code, so
multiple items can be reported at a time. The following status codes are
provided:
0x0000: No fault.
0x8008: At least one parameter is out of range.
Fault U16 0, 0x8001,
0x8002
——
This signal indicates if an input fault is declared. It is a bitwise code, so
multiple items can be reported at a time. The following fault codes are
provided:
0x0000: No fault.
0x8001: An input value is too low.
0x8002: An input value is too high.
Status Logic
This topic describes how status logic is indicated for the function block.
The status code indicates whether the parameters used in the function are within their valid range.
Condition Hex Binary Cause Response Correction
Invalid setup. 0x8008
*
1000
At least one parameter is out
of range.
Message transmission is
disabled.
Correct the out of range
parameters.
*
Position of set bit in a 16 bit fault or status code. Bit 1 is the least significant bit. Bit 16 set to 1 indicates a standard Danfoss status code or fault code.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
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Danfoss | November 2018 AQ00000270en-000101 | 7
Fault Logic
Fault logic can indicate problems, causes of problems, and solutions.
Condition Hex
*
Binary Cause Response Correction
Input value is too low. 0x8001
0001
An input is too low. Message transmission is
disabled.
Correct the out of range
inputs.
Input value is too
high.
0x8002
0010
An input is too high. Message transmission is
disabled.
Correct the out of range
inputs.
*
Position of set bit in a 16 bit fault or status code. Bit 1 is the least significant bit. Bit 16 set to 1 indicates a standard Danfoss status code or fault code.
Configure Communication for the Function Block
The following sequence demonstrates how to setup the function block for primary or redundant
communication.
Note that you must route the Src_Addr parameter out from the Parameters page.
Configure Primary Communication for Function Block
For primary communication, set the parameter PGN_Offset to 16.
Configure Redundant Communication for Function Block
For redundant communication, set the parameter PGN_Offset to 17.
Enabling Checkpoints
Chkpt enables the checkpoints for each Diag Bus Signal.
It is pre-connected to a constant True.
Set Chkpt to False if you do not want to use the checkpoints or if you need to free up some memory. Be
aware that Fault and Status signals disappear from the service screen by setting to False.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
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W
Warning
The programmer must implement sufficient fault management and is responsible to reach the safe state
according to the safety concept for the application.
Identical Function Blocks Need Different Namespace Values to Successfully Compile
If you use the same function block more than once in an application, you must change each function
block’s namespace value to avoid compiler errors.
All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1
®
Service Tool to read block input and output values.
Some function blocks contain non-volatile memory components that store function block operating
parameters.
Both these components use memory names (“aliases”) to allocate memory. Identical memory names
cause compiler errors.
The namespace value adds a unique prefix to each component name to avoid errors. Keep each
namespace value short to save controller memory.
Change Namespace Value
To successfully compile your application, change the namespace value for function blocks that are used
more than once in an application.
1. In the PLUS+1
®
GUIDE menu bar, click the Query/Change button.
2. Click on the function block whose namespace you want to set to a unique value.
The Edit Page window opens.
3. In the Edit Page window, enter a meaningful Namespace value.
•
Namespace values are case-sensitive.
•
To save controller memory, use a short namespace value.
4. Press Enter.
5. Repeat these steps to enter unique namespace values for other identical function blocks.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
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Danfoss | November 2018 AQ00000270en-000101 | 9
Pre-Made Service Screen
This screen gives an overview of the PVED_CLS_STW function block.
Output Type Description
Angle
Deg Steering angle relative to the 0-index point.
Velocity
RPM Steering angle velocity.
Error Code
—— Error code from sensor.
0: Reserved
1: Sensor chip error
2: Steering angle failure
3: CAN input message failure
4: Power failure
5: CPU failure
6: Memory failure
7-13: Reserved
14: Temperature warning
15: No error
Enabled
—— Digital (Boolean) input signal. Used to enable or disable CAN transmission for the function block.
PGN Offset
—— PGN offset used for the message.
Source Address
—— Source address used by the message.
Tx Rate
ms How often the message is sent.
Is Redundant
—— Indicates if the message is redundant.
T: Message is redundant
F: Message is primary
Status ——
This signal indicates if a parameter fault is declared. It’s a bitwise code, so multiple items can be reported at a time.
The following status codes are provided:
0x0000: No fault.
0x8008: At least one parameter is out of range.
Fault
—— This signal indicates if an input fault is declared. It’s a bitwise code, so multiple items can be reported at a time. The
following fault codes are provided:
0x0000: No fault.
0x8001: An input value is too low.
0x8002: An input value is too high.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
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Danfoss | November 2018 AQ00000270en-000101
IEC 61508-3 Annex D Supplemental Information
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_STW
Software Version 1.00
Release Status Released.
Required Knowledge
Requirements to the user:
1. The programmer must fully read and understand all parts of the Safety Manual
before attempting to use the software product.
2. The programmer must have well-founded knowledge about using PLUS+1
®
tools.
3. The programmer must fully read and understand all parts of the PVED-CLS User
Manual before attempting to use the software product.
Revision History
Version 1.00.
First release.
Known Issues Not applicable.
Backward Compatibility
——
Market Requirements Not
Met
——
Change Request Direct any change request to your Danfoss sales representative.
Support Direct any request to the PLUS+1
®
help desk:
OS The software is not hardware specific.
Tool Requirements PLUS+1
®
GUIDE version 9.1 or later certified version.
PLUS+1
®
Service Tool version 9.1 or later certified version.
Security Not applicable.
Design Level
•
All software development has been done using SIL2 processes.
•
The hardware library is not SIL2 certified.
•
Danfoss provides required documentation to certifying bodies on customer request.
Certification Not certified.
User Manual
PLUS+1® Compliant PVED_CLS_STW Function Block
PVED_CLS_STW Function Block
©
Danfoss | November 2018 AQ00000270en-000101 | 11
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and
electric components. We specialize in providing state-of-the-art technology and solutions
that excel in the harsh operating conditions of the mobile off-highway market as well as the
marine sector. Building on our extensive applications expertise, we work closely with you to
ensure exceptional performance for a broad range of applications. We help you and other
customers around the world speed up system development, reduce costs and bring vehicles
and vessels to market faster.
Danfoss Power Solutions – your strongest partner in mobile hydraulics and mobile
electrification.
Go to www.danfoss.com for further product information.
We offer you expert worldwide support for ensuring the best possible solutions for
outstanding performance. And with an extensive network of Global Service Partners, we also
provide you with comprehensive global service for all of our components.
Local address:
Danfoss
Power Solutions GmbH & Co. OHG
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Phone: +49 4321 871 0
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Power Solutions ApS
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DK-6430 Nordborg, Denmark
Phone: +45 7488 2222
Danfoss
Power Solutions (US) Company
2800 East 13th Street
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Phone: +1 515 239 6000
Danfoss
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(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
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Shanghai, China 201206
Phone: +86 21 3418 5200
Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products
already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
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