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Danfoss 11156681 User guide

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CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
PIN #1
INDICATED
1
12
6
7
47.1 mm
[1.85]
51.6 mm
[2.03]
LED INDICATOR
LIGHTS
CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
1
12
6
7
97.0 mm
[3.82]
142.0 mm
[5.59]
144.5 mm
5.69
158.2 mm
6.23
2x 25.2 mm
[1.0]
2x
7.0
[.28]
MOUNTING
DIRECTION
#2
PLUS+1
™
GUIDE
Software
Generic Dual Path
Subsystem Application
User Manual
Faults
Status
Cmd
Inputs
Calibration
Left
Right
Phase
Status
Outputs
OutputDrivers
Left Drive
Right
Phase
Status
Outputs
InputCond
InputsRaw
Status
Cmd
GDP_Application
GDP_Application
Generic Dual Path Subsystem Application
User Manual
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About this Manual
Organization
and Headings
To help you quickly find information in this manual, the material is divided into sections,
topics, subtopics, and details, with descriptive headings set in red type. Section titles
appear at the top of every page in large red type.
In the PDF version of this document, clicking an item underlined in blue italic type
jumps
you to the referenced page in the document.
Special Text Formatting Controls and indicators are set in bold black type.
Table of Contents
A Table of Contents (TOC) appears on the next page. In the PDF version of this document,
the TOC entries are hyperlinked.
Revision history
Revision Date Comment
Rev AB March 2010 For software release 1.01
©2010 Sauer-Danfoss. All rights reserved.
Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material.
Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already
ordered provided that such alterations can be made without affecting agreed specifications.
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1
Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.
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Contents
T Adobe Reader® links entries in this table of contents. To follow a link, click on an entry.
Introduction ...................................................................................................................................................... 7
Application Page ..................................................................................................................................... 8
Additional Documentation................................................................................................................10
InMap Block.....................................................................................................................................................11
InMap Page..............................................................................................................................................12
Output to Input Connection and Configuration Options................................................13
About Pwr, SnsrPwr, and Status Buses...........................................................................................15
AnIn, DigAn, DigIn, and MFIn Pin Configurations ......................................................................16
AnIn—Default Configuration....................................................................................................16
AnIn—Configuration A ...............................................................................................................16
DigAn—Default Configuration.................................................................................................17
DigAn—Configuration A ............................................................................................................17
DigAn—Configuration B.............................................................................................................17
DigIn—Default Configuration ..................................................................................................18
DigIn—Configuration A..............................................................................................................18
MFIn—Default Configuration ...................................................................................................19
MFIn—Configuration A...............................................................................................................19
MFIn—Configuration B ...............................................................................................................19
InputCond Block ............................................................................................................................................21
InputCond Page.....................................................................................................................................23
SetDefs Page...................................................................................................................................25
SetDefs GDP Page..................................................................................................................27
Params Page....................................................................................................................................28
PPU Page ..................................................................................................................................29
Engine Page.............................................................................................................................31
Propel Page..............................................................................................................................34
Profile Page..............................................................................................................................36
About the Propel Profile......................................................................................................37
Steer Page ................................................................................................................................38
Profile Page..............................................................................................................................42
About the Steer Profile ........................................................................................................43
ParkBrake Page.......................................................................................................................44
Freq Page .........................................................................................................................................47
Enabl_Detect Page .......................................................................................................................49
PPU_Flt Page...........................................................................................................................51
RateLimit Page........................................................................................................................52
Engine Page ....................................................................................................................................53
Decel Page ...............................................................................................................................55
Throttle Page...........................................................................................................................56
SendThrot Page......................................................................................................................57
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RcvEngine Page......................................................................................................................58
Analog Page.................................................................................................................................... 60
Steer Page................................................................................................................................ 62
PivSclDB Page.........................................................................................................................63
About the Pivot Steer and Pivot Steer Deadband Values........................................ 64
FNR Page ..................................................................................................................................65
NeutSwFlt Page...................................................................................................................... 66
TrimStr Page............................................................................................................................68
MaxSpd Page ..........................................................................................................................69
OilTemp Page .........................................................................................................................70
Digital Page.....................................................................................................................................71
Voltages Page................................................................................................................................. 72
AninFaultDet Page................................................................................................................73
AninFaultDet1 Page..............................................................................................................74
Calc Page..........................................................................................................................................75
CP Page..................................................................................................................................... 77
Propel Page .............................................................................................................................78
StrProfile Page ........................................................................................................................81
StrProfileCalc Page................................................................................................................ 82
About Speed-Weighting and the StrProfileCalc Page ..............................................84
CustomCR Page......................................................................................................................87
Cmd Page.................................................................................................................................88
Interlock Page......................................................................................................................... 90
ParkBrake Page.......................................................................................................................91
StopDelay Page......................................................................................................................92
HillHold Page ..........................................................................................................................93
Control Page ...........................................................................................................................94
Faults Block......................................................................................................................................................95
Faults Page ..............................................................................................................................................96
Recode Page ................................................................................................................................... 98
ReqCal Page ..................................................................................................................................100
Propel Page...................................................................................................................................105
CoilFlt Page............................................................................................................................107
Analog Page..................................................................................................................................109
Analog1–Analog8 Pages...................................................................................................111
Canalog Page........................................................................................................................113
PPU_Flt Page.................................................................................................................................115
J1939_Flt Page .............................................................................................................................117
Switches Page ..............................................................................................................................119
CoilFlt Page ...................................................................................................................................120
ArrayBuilder Page .......................................................................................................................122
Arrays Page............................................................................................................................125
Batt Page ................................................................................................................................126
Disabler Page........................................................................................................................................128
System Page..................................................................................................................................129
Steer Page......................................................................................................................................130
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Propel Page .................................................................................................................................. 131
Plugins Page................................................................................................................................. 132
CalAbort Page.............................................................................................................................. 133
CP Page.......................................................................................................................................... 134
CmdClamp Page................................................................................................................................. 135
Calibration Block......................................................................................................................................... 137
Calibration Page ................................................................................................................................. 138
CalEnable Page............................................................................................................................ 139
Analog Page................................................................................................................................. 140
Propel Page .................................................................................................................................. 143
Indicators Page............................................................................................................................ 145
LR Page................................................................................................................................... 146
PumpStat Page.................................................................................................................... 147
Params Page................................................................................................................................. 150
ThldRange Page ..................................................................................................................154
OutputDrivers Block .................................................................................................................................. 155
OutputDrivers Page........................................................................................................................... 156
BUalarm Page .............................................................................................................................. 158
Params Page................................................................................................................................. 159
About Proportional Motor Applications............................................................................. 163
Proportional Motor Application Values ...................................................................... 164
PhasePt_Pct2, Phase_LRmax, and Phase_HRmax Values ..................................... 165
B_LinMtr Value .................................................................................................................... 167
MotorStartPt_Pct2 Value.................................................................................................. 168
About Two-Position Motor Applications............................................................................ 169
Two-Position Motor Application Values ..................................................................... 171
PhasePt_Pct2, LRmax, and HRmax Values ................................................................. 171
Upshft_RampTm and Dnshft_RampTm Values........................................................ 173
Propel Page .................................................................................................................................. 174
Drive Left Page .................................................................................................................... 176
PM_Phase Page...................................................................................................................179
PumpSetup Page................................................................................................................ 185
MtrSetup Page..................................................................................................................... 186
PCoilCk Page ........................................................................................................................ 187
Check Page ........................................................................................................................... 190
OutMap Block .............................................................................................................................................. 193
OutMap Page....................................................................................................................................... 194
Input to Output Connection and Configuration Options............................................. 195
About Status Buses............................................................................................................................ 196
DigOut and MFOut Pin Configurations....................................................................................... 197
DigOut—Default Configuration............................................................................................ 197
DigOut—Configuration A ....................................................................................................... 197
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MFOut—Default Configuration .............................................................................................198
MFOut—Configuration A.........................................................................................................198
MFOut—Configuration B .........................................................................................................198
Appendix 1: Abbreviations.......................................................................................................................199
Appendix 2: Modifications .......................................................................................................................201
Use H1 Pumps ......................................................................................................................................203
Joystick without a Neutral Switch .................................................................................................207
COR (Control Over-ride)—Controlled Through a DigOut .....................................................211
COR (Control Over-ride)—Controlled Through an MFOut....................................................213
Change from a Proportional Motor to a Two-Position Motor Configuration .................215
Change to Fixed Displacement Motors .......................................................................................221
Switch between Proportional Motor Compliance Blocks......................................................233
Decouple Pedal and Throttle Outputs .........................................................................................237
Change Counter-Rotation Behavior..............................................................................................239
Replace an Analog Joystick with a CAN Joystick......................................................................243
CAN Engine with a Mechanical Throttle......................................................................................255
Run the Application in an MC88 Controller ...............................................................................257
Add Maximum Speed Functionality.............................................................................................283
Add Trim Steer Functionality ..........................................................................................................287
Add an Additional Analog Input ....................................................................................................291
Modify AnIn, MFIn, and DigAn Inputs..........................................................................................299
Replace Read-only Values with Constant Values......................................................................303
Index................................................................................................................................................................309
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Introduction
This manual describes the Generic Dual Path (GDP) Subsystem Application.
T This manual does not document the Generic Dual Path Application Block inside the
AppBlock page. For more information about this block, refer to the Generic Dual Path
Application Block User Manual (Sauer-Danfoss part 11047130).
This manual describes the following blocks that are used in the GDP Subsystem
Application:
• An InMap block that maps hardware input signals to application signals.
• An InputCond block that converts and conditions raw hardware signals into signals
that are meaningful to the application.
• A Fault block that manages application faults.
• A Calibration block that manages the calibration process.
• An Error_History block that counts runtime hours and maintains an error history log.
• A BlinkCodeGen block that generates blink codes that report fault and status
conditions.
• An OutputDrivers block that converts application signals into pump and motor drive
signals.
• An OutMap block that maps drive signals from the application to hardware output
signals.
Application Page.............................................................................................................................................. 8
Chapter contents
Additional Documentation ........................................................................................................................10
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Application Page
Path: Top
2
3
4
5
6
7 8
9
1
The Application page contains blocks that support the GDP Subsystem Application.
T This manual does not document the Generic Dual Path Application Block inside the
AppBlock page. For more information about this block, refer to the Generic Dual Path
Application Block User Manual (Sauer-Danfoss part 11047130).
Application Page
Callout Item Description
1 InMap block Connects (maps) hardware signals to application signals.
– Hardware signals bring in signals from the controller’s input pins.
– Application signals carry signals to the application.
Connecting hardware signals to application signals connects the controller’s input pins to application input signals.
2 InputCond
block
– Converts incoming raw signals from the InMap page into signals with values that are meaningful to the application.
– Applies profiling to incoming signals.
– Checks for and reports incoming signals that are out-of-range.
– Forces the configuration of the controller pins that receive the incoming signals.
3 Faults block – Receives signals that report status and fault conditions.
– Disables functions that are related to the reported conditions.
– Outputs blink codes that report fault types and fault locations.
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Application Page
Callout Item Description
4 AppBlock
block
Contains the Generic Dual Path Application Block. This application provides core dual-path functions, including:
– Differential steering ratios.
– Ramps applied during acceleration, deceleration, and braking.
– Upshift and downshift points for two-speed motors.
This block also contains “socket pages” for optional “plug-ins.” Plug-ins are software that can be used to increase the
functionality of this block.
For more information about the GDP Application Block, refer to the Generic Dual Path Application Block User Manual
(Sauer-Danfoss part 11047130).
5 Error_History
block
Contains:
– A MinuteMeter function block that records elapsed run time. A Boolean input to the block starts and stops the
runtime meter.
– An ErrorHistory block that records errors. This block stores the error type, error location, and error time for later
retrieval.
6 BlinkCodeGen
block
Generates blink codes that the controller flashes. These blink codes indicate status and fault conditions.
7 Calibration
block
– Manages the calibration process.
– Reports calibration progress to the PLUS+1 Service Tool program.
8 OutputDrivers
block
Coverts percentage-based speed commands into currents that drive the pumps and motors used in the application.
9 OutMap block Connects (maps) application signals to hardware output signals.
– Application signals output application signals from the application.
– Hardware signals carry signals to the controller’s output pins.
Connecting application signals to hardware signals connects application signals to the controller’s output pins.
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Additional Documentation
• PLUS+1 Controller Family Technical Information (520L0719)
• Recommended Machine Electronic Control System Start-up Procedures (11010667)
• PLUS+1 GUIDE Service Tool User Manual (520L0899)
• Generic Dual Path Application Block User Manual (11047130)
• Generic Dual Path Subsystem Application Service Tool User Manual (11058326)
• Plug-in documentation:
− Antistall Plug-in GUIDE Programming User Manual (11057258)
− How to Tune the Antistall and Tracker Plug-ins User Manual (11060612)
− Temperature Derate Plug-in GUIDE Programming User Manual (11057257)
− Tracker Plug-in GUIDE Programming User Manual (11057260)
− Trackstall Plug-in GUIDE Programming User Manual (11057259)
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InMap Block
The InMap block connects (maps) hardware buses to application buses.
• Hardware buses input signals from the controller’s input pins.
• Application buses carry signals to the application.
Connecting hardware buses to application buses connects the controller’s input pins to
the application signals.
T The API specification for your controller (available in the PLUS+1 GUIDE program’s
Hardware tab) has detailed information about your controller’s inputs and outputs.
InMap Page......................................................................................................................................................12
Chapter contents
Output to Input Connection and Configuration Options................................................................13
About Pwr, SnsrPwr, and Status Buses...................................................................................................15
AnIn, DigAn, DigIn, and MFIn Pin Configurations ..............................................................................16
AnIn—Default Configuration ....................................................................................................................16
AnIn—Configuration A................................................................................................................................16
DigAn—Default Configuration.................................................................................................................17
DigAn—Configuration A.............................................................................................................................17
DigAn—Configuration B.............................................................................................................................17
DigIn—Default Configuration...................................................................................................................18
DigIn—Configuration A ..............................................................................................................................18
MFIn—Default Configuration....................................................................................................................19
MFIn—Configuration A...............................................................................................................................19
MFIn—Configuration B ...............................................................................................................................19
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InMap Page
Path: Top ! Application ! InMap
Controller inputs
Subsytem Application
The InMap page connects (maps) hardware buses to Subsystem Application buses.
• The In bus inputs signals from the controller input pins.
Connect the In bus to your template’s Inputs bus.
• The Out bus carries signals to the Subsystem Application.
• Connecting In buses to Out buses connects controller input pins to Subsystem
Application signals.
• The type of controller used and the features of the application determine the
connections that must be made between In and Out buses.
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Output to Input Connection and Configuration Options
The following table describes the connection and configuration options available when
connecting input and output buses.
• The Output Bus Function column lists the buses that carry signals to the Subsystem
Application.
• The Input Bus—Type/Pin Configuration column lists the types of input buses to
which you can connect each output bus.
This column also identifies the required pin configuration for each connection type.
AnIn, DigAn, DigIn, and MFIn Pin Configurations
on page 16 show these configurations.
For example:
− The CR output bus can be connected to a DigAn, DigIn, or MFIn input bus.
− If you connect the CR output bus to an MFIn input bus, you must use the MFIn—
Configuration A shown on page 19.
• The Output Bus Function column briefly describes the function of each output bus.
T Refer to your controller’s API Specification document for more information about its
inputs and outputs. You can find this document by expanding the Controllers tree in
the PLUS+1 GUIDE program’s Hardware tab.
In to Out Bus Connection Types and Options*
Output Bus Input Bus—Type/Pin Configuration Output Bus Function
CR DigAn/A, DigIn/A, MFIn/A Enable counter-rotation
OilTemp AnIn/A Oil temperature
Transport DigAn/A, DigIn/A, MFIn/A Switch between transport (fast) and work (slow) speeds
AutoRev DigAn/A, DigIn/A, MFIn/A Switch between autoreverse and transport speeds
EngineCAN CAN with engine messages Engine rpm
LeftPPU MFIn/B Left speed sensor
MaxSpd AnIn/A, DigAn/B, MFIn/B Scales the primary propel command
Propel AnIn/A, DigAn/B, MFIn/B Propel command
PumpPPU MFIn/B Pump speed sensor
RightPPU MFIn/B Right speed sensor
Run DigAn/A, DigIn/A, MFIn/A Enable propel command
Steer AnIn/A, DigAn/B, MFIn/B Steer command
Stop DigAn/A, DigIn/A, MFIn/A Disable propel command
Throttle AnIn/A, DigAn/B, MFIn/B Engine throttle
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In to Out Bus Connection Types and Options*
Output Bus Input Bus—Type/Pin Configuration Output Bus Function
Decel AnIn/A, DigAn/B, MFIn/B Deceleration pedal
TrimStr AnIn/A, DigAn/B, MFIn/B Adjusts (trims) the steer command
Brake DigAn/A, DigIn/A, MFIn/A Apply brake
NeutSw DigAn/A, DigIn/A, MFIn/A Neutral switch
Pwr Pwr Power supply voltage
SnsrPwr SnsrPwr Sensor voltage
BUalarm_Status
Status—alarm Status of the output that controls the alarm output
Brake_Status Status—brake Status of the output that controls the brake
Fwd/Left_Status Status—left pump’s forward solenoid Status of the output that controls the left pump’s forward solenoid
Mtr/Left_Status Status—left motor’s displacement solenoid Status of the output that controls the left motor’s displacement solenoid
Rvs/Left_Status Status—left pump’s reverse solenoid Status of the output that controls the left pump’s reverse solenoid
Fwd/Right_Status Status—right pump’s forward solenoid Status of the output that controls the right pump’s forward solenoid
Mtr/Right_Status Status—right motor’s displacement solenoid Status of the output that controls the right motor’s displacement solenoid
Rvs/Right_Status Status—right pump’s reverse solenoid Status of the output that controls the right pump’s reverse solenoid
*For configuration information, see AnIn, DigAn, DigIn, and MFIn Pin Configurations on page 16.
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InMap Block
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About Pwr, SnsrPwr, and Status Buses
Output_Map page
Input_Map page
Inputs
Outputs
Status of outputs
The In bus inside the InMap page contains Pwr, SnsrPwr, and Status buses.
• The Pwr bus reports the voltage of the controller’s power supply.
• The SnsrPwr bus reports the voltage supplied to the sensors.
Applications typically use the Pwr and SnsrPwr inputs to calculate sensor values as
well as detecting sensor and output faults.
• The Status buses report the status of corresponding controller outputs.
− The application uses Status bus signals to detect controller output faults.
− Each output in this application requires a corresponding Status bus input.
In the above figure:
− The C1p31_DigOut bus (in the Output_Map page) connects to the
C1p31_DigOut output that controls the backup alarm.
− The C1p31_Status bus (in the InMap page) connects to BUalarm_Status bus.
The C1p31_Status bus reports the status of the C1p31_DigOut.
The application uses changes in C1p31_Status bus signals to trigger backup
alarm faults.
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AnIn, DigAn, DigIn, and MFIn Pin Configurations
This section shows the configuration options for the AnIn, DigAn, DigIn, and MFIn inputs
identified in the In to Out Bus Connection Types and Options
table on page 13.
AnIn—Default Configuration
AnIn—Configuration A
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DigAn—Default Configuration
DigAn—Configuration A
DigAn—Configuration B
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DigIn—Default Configuration
DigIn—Configuration A
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MFIn—Default Configuration
MFIn—Configuration A
MFIn—Configuration B
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