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November 2018 First edition 0101
User Manual
PLUS+1® Compliant PVED_CLS_GMS Function Block
2 |
©
Danfoss | November 2018 AQ00000258en-000101
Before You Begin
Abbreviations
PVED_CLS_GMS Function Block
Inputs....................................................................................................................................................................................................6
Parameters..........................................................................................................................................................................................6
Outputs................................................................................................................................................................................................ 7
Diagnostic Signals............................................................................................................................................................................7
Status Logic........................................................................................................................................................................................ 8
Configure Communication for the Function Block..............................................................................................................8
Configure Guidance Controller 1.......................................................................................................................................... 9
Configure Guidance Controller 2.......................................................................................................................................... 9
Enabling Checkpoints.....................................................................................................................................................................9
Identical Function Blocks Need Different Namespace Values to Successfully Compile.................................10
Change Namespace Value.....................................................................................................................................................10
Pre-Made Service Screen.............................................................................................................................................................11
IEC 61508-3 Annex D Supplemental Information..............................................................................................................12
User Manual
PLUS+1® Compliant PVED_CLS_GMS Function Block
Contents
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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_GMS Function Block
Before You Begin
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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_GMS Function Block
Abbreviations
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This function block configures the PVED_CLS_GMS for use with the PVED-CLS.
The inputs of the block are formatted to generate the message identifier that the PVED-CLS transmits.
This block receives the message and reformats the data for use in PLUS+1
®
GUIDE. For more information,
refer to PVED-CLS communication protocol.
Inputs
Enter the PVED_CLS_GMS 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.
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.
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.
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
Src_Addr U8 0 to 253 ——
Source address of the PVED-CLS
Default: 19
Dest_Addr U8 0 to 253 ——
Destination address of auto-guidance controller 1 or 2.
Guidance 1 Default: 28
Guidance 2 Default: 29
Timeout U16 10 to 10000 ms Maximum time in ms between messages before a timeout fault is triggered.
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Outputs
Learn how the outputs of the function block work.
Parameter Type Range Unit Description
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.
Est_Curve S32 -803200 to
803175
0.01 1/km
Estimated curvature.
-803200: Max left.
0: Straight.
803175: Max right.
Reset_Reqd BOOL T/F ——
Request reset command status.
T: Reset required.
F: Reset not required.
PosCorrect BOOL T/F ——
Steering input position status.
T: Correct position.
F: Incorrect position.
SystemReady BOOL T/F ——
Steering system readiness.
T: System is ready.
F: System is not ready.
MechSysLockout BOOL T/F ——
Mechanical system lockout.
T: Active.
F: Not Active.
Limit_Status U8 0 to 7 ——
Guidance limit status.
0: Not limited.
1: Reserved.
2: Limited high, only lower values result in a change.
3: Limited low, only higher values result in a change.
4-5: Reserved.
6: Non-recoverable fault.
7: Reserved.
Exit_Reason U8 0 to 63 ——
Guidance exit reason.
0: No reason/all clear.
1-2: Reserved.
3: Operator override of function.
4: Reserved.
5: GMC timeout.
6: GMC out of range/invalid.
7-23: Reserved.
24: Vehicle speed too high.
25: Alternate guidance or no system active.
26-61: Reserved.
62: Error (Safe State).
63: Reserved.
Diagnostic Signals
Enter the Checkpoints page on the second level of the PVED_CLS_GMS function block to access the
function block’s signals.
The page contains checkpoints on input, parameter, and output signals. Other topics in this book
describe input, parameter, and output signals.
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Parameter Type Range Unit Description
Est_Curve_NA
BOOL T/F ——
Estimated curvature not available.
Reset_Reqd_NA
BOOL T/F ——
Request reset command status not available..
PosCorrect_NA BOOL T/F —— Steering input position status not available.
PosCorrect_Flt BOOL T/F —— Steering input position status faulted.
SystemReady_NA BOOL T/F —— Steering system readiness not available.
SystemReady_Flt BOOL T/F —— Steering system readiness faulted.
MechSysLockout_NA BOOL T/F —— Mechanical system lockout not available.
MechSysLockout_Flt BOOL T/F —— Mechanical system lockout faulted.
MsgTimedOut
BOOL T/F ——
True if the time since the last status message has exceeded the value determined
by Timeout.
T: The message has timed out, block outputs set to zero/false. NA signals set true.
F: No error.
NoMsgReceived
BOOL T/F ——
No message has been received yet from the device.
T: No message received since power on.
F: A message has been received since power on.
Updated BOOL T/F ——
Pulses TRUE for one loop when new data is available.
T: Received new data.
F: Did not receive new data.
CAN_RawData ARRAY[8}U8 T/F —— Data passed directly from the CAN receiver.
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.
Status code reported. 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.
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 Dest_Addr parameter out from the Parameters page.
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Configure Guidance Controller 1
For guidance controller 1, set the parameter Dest_Addr to 28.
Configure Guidance Controller 2
For guidance controller 2, set the parameter Dest_Addr to 29.
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.
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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.
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Pre-Made Service Screen
This screen gives an overview of the PVED_CLS_GMS function block.
Output Type Description
Source Address
—— Source address used by the message.
Dest Address
——
Destination address used by the message.
Timeout ms Maximum time in ms between messages before a timeout fault is triggered.
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.
Reset Reqd
T/F Request reset command status.
T: Reset required.
F: Reset not required.
Mech Lockout
T/F Mechanical system lockout.
T: Active.
F: Not active.
Est Curvature
1/km Estimated Curvature.
-8032.00: Maximum left.
0: Straight.
8031.75: Maximum right.
PosCorrect
T/F Steering input position status.
T: Correct position.
F: Incorrect position.
System Ready
T/F Steering system readiness.
T: System is ready.
F: System is not ready.
No Msg Rcv T/F
No message has been received yet from the device.
T: No message received since power on.
F: A message has been received since power on.
Msg Timed Out T/F
True if the time since the last status message has exceeded the value determined by Timeout.
T: The message has timed out, block outputs set to zero/false. NA signals set true.
F: No error.
Limit Status
—— Guidance limit status.
Exit Reason
—— Guidance exit reason.
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PLUS+1® Compliant PVED_CLS_GMS Function Block
PVED_CLS_GMS Function Block
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Danfoss | November 2018 AQ00000258en-000101 | 11
IEC 61508-3 Annex D Supplemental Information
The following table provides IEC 61508-3 Annex D supplemental information.
Label Description
Software Name PVED_CLS_GMS
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.
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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
Krokamp 35
D-24539 Neumünster, Germany
Phone: +49 4321 871 0
Danfoss
Power Solutions ApS
Nordborgvej 81
DK-6430 Nordborg, Denmark
Phone: +45 7488 2222
Danfoss
Power Solutions (US) Company
2800 East 13th Street
Ames, IA 50010, USA
Phone: +1 515 239 6000
Danfoss
Power Solutions Trading
(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
Jin Qiao, Pudong New District
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.
©
Danfoss | November 2018 AQ00000258en-000101
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