Danfoss PVED-CLS User manual

MAKING MODERN LIVING POSSIBLE
PVED-CLS Controller
For Electrohydraulic
Steering
User Manual
For SW1.96

MAKING MODERN LIVING POSSIBLE
Important User Information
Danfoss is not responsible or liable for indirect or consequential damages resulting from the use or applicationof this equipment.
The examples and diagrams in thismanual are included forillustration purposes. Due to the many variables and requirements associated with any
particular installation, Danfoss cannotassume responsibility or liability for the actual used bases on the examples and diagrams.
Reproduction of whole or part of the contentsof this manual is prohibited.
The followingnotes are used to raise awareness of safety considerations.
Warning
Identifies information about practices or circumstances that can cause a hazardous situation,
which may lead to personal injury or death, damage or economic loss.
Attention
Identifies information about practices or circumstances that can lead to personal injury or death,
property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and
recognize the consequence.
Important
Identifies information that is critical for successful application and understanding of
the product.
Recommendation
Identifies a typical use of a functionality or parameter value. Use recommendations as a starting
point for the final configuration process of the system.

MAKING MODERN LIVING POSSIBLE
Revisions and references
Revision history
Date
Change
Revision
31st of August 2013
1st draft
0.50
20th of December 2013
2nd draft SW. 1.72
0.90
14th of April 2014
3rd draft SW. 1.82
0.95
12th of September 2014
4th draft SW 1.90
0.98
28th of November 2014
5th draft SW 1.91 (User manual + parameter description)
0.99
16th of February 2015
6th draft SW 1.92
0.992
27th of March 2015
7th draft SW 1.93
0.995
10th of July 2015
8th draft SW 1.93
0.999
28th of October 2015
Updated for 1.95Software release
1.1
20th of November 2015
Updated according to internal review (#1347)
1.11
24th of November 2015
Updated to matchcommunication protocol for 1.95 release
1.12
05th of December 2015
Updated the highlevel state machines
1.13
16th of February 2016
Updated for typos. Aligned parameter names to corresponding .P1D-file (service tool page)
1.14
14th of April 2016
Typos for Anti-jerk default values corrected (both AUX and STW). Update to the Anti-jerk
descriptions (both AUXand STW). Missing figure 3 and added Auto-guidance description
1.15
28th of April 2016
Updated for 1.96Software release
1.2
20th of July 2016
Updated according to internal review (#1597)
1.2.1
Document references
Literature
PVED-CLScommunication protocol
OSPE Steering valve, SASA sensor, Technical information
PVED-CLSKWP2000protocol
PVED-CLS Technical Information
PVED-CLS Safety manual
EHPS Steering Valve, PVE Actuation,OSPCX CN Steering Unit
Definitions and Abbreviates
PVED-CLS
Proportional Valve Electronic Digital Closed Loop Safety
CAN
Controller Area Network
DC
DirectCurrent
OSPE
Orbital SteeringProduct Electro-Hydraulic
EHPS
Electro-Hydraulic Power Steering
LED
LightEmittingDiode
LVDT
Linear Variable Differential Transformer
AD
Analogue-to-Digital
EFU
ElectronicFollow-up Unit
AUX
AUXiliary
GPS
Global PositioningSystem - -guidance
FDA
FailureDetectionAlgorithm
FMI
Failure Mode Identifier
SEHS
Steering Electro-Hydraulic Safety
STW
SteeringWheel
CRC
Cyclic Redundancy Check
WAS
Wheel Angle Sensor
SIL
Safety Integrity Level
AgPl
Agriculture Performance Level
PVE
Proportional Valve Electronic
SASA
Steering Angle Sensor - Absolute
ISOBUS
Communication Protocol (ISO 11783)
DTC
Diagnostic Trouble Code
KWP2000
Keyword Protocol 2000
ccm
Cubic Centimeters
BOOL
Boolean
dec
Decimal
EHI
Electro-Hydraulic Inline Valve
OSP
Orbital SteeringProduct

MAKING MODERN LIVING POSSIBLE
U8
Unsigned - 8 bit
U16
Unsigned - 16bit
OSPCX
Orbital SteeringProduct - Including valve function and X-release
MMI
Man-Machine Interface
OEM
Original Equipment Manufacturer
EEPROM
Electrically Erasable Programmable Read-Only Memory
ECU
Electronic Control Unit
µC
Micro-Controller
VDC
Voltage - Direct Current
mVolts
Millivolts
x 10u Meter
times 10 micro-meter
IR
Scaled value witha unit denotation
x100msec
times 100 milliseconds
dDeg
Deci degrees
P1D
file format extension for files to beused by PLUS+1 SERVICE TOOL
AD1-AD3
Analogue Input1-3 on PVED-CLS
PWM
Pulse-WidthModulation
mAmp
Milliamps
EH
Electro-Hydraulic
x10mSec
times 10 milliseconds
XID
Extended Message Identifier
SPN
Suspect Parameter Number
COV
Cut-Off Valve
SVB
Solenoid Valve Bridge
SVC
Solenoid Valve Control
FIFO-principle
First-in-first-out-principle

ENGINEERING TOMORROW
GENERAL INFORMATION ......................................................................................................................... 9
1.1 Steering input devices...................................................................................................................................................9
1.2 CAN interface ........................................................................................................................................................................9
1.3 Power-up ...............................................................................................................................................................................10
1.4 CAN bus protocol ............................................................................................................................................................10
1.5 DC power supply .............................................................................................................................................................10
SYSTEM OVERVIEW .................................................................................................................................. 11
2.1 OSPE system ......................................................................................................................................................................11
2.2 EHPS System......................................................................................................................................................................12
PVED-CLS FUNCTIONAL OVERVIEW................................................................................................. 14
3.1 PVED-CLS system overview...................................................................................................................................14
3.2 PVED-CLS steering mode selection state machine.............................................................................15
3.3 Steering wheel state machine..............................................................................................................................16
3.4 AUX steering state machine ..................................................................................................................................17
3.5 Auto-guidance steering state machine.........................................................................................................18
3.6 State transition requirements description .................................................................................................18
PARAMETER CONFIGURATION............................................................................................................ 22
4.1 Parameter setup procedure –good practice..........................................................................................22
INSTALLATION ........................................................................................................................................... 24
5.1 Connector interface ......................................................................................................................................................24
5.2 PVED-CLS LED diagnostic........................................................................................................................................25
MAPPING A STEERING DEVICE/SENSOR....................................................................................... 26
HYDRAULIC AND PERIPHERALS CONFIG....................................................................................... 28
7.1.1 Cut-off valve......................................................................................................................................................28
7.1.1.1 Principle ................................................................................................................................................28
7.1.1.2 Cut-off valve monitoring.........................................................................................................31
7.1.2 Road switch........................................................................................................................................................32
7.1.2.1 Road switch monitoring ...........................................................................................................33
7.1.3 Valve capacity..................................................................................................................................................33
7.1.4 LVDT compensation and spool threshold at boot-up.......................................................35
7.1.5 Analogue interface .......................................................................................................................................36
7.1.5.1 AD low-pass filter..........................................................................................................................36
7.1.5.2 Analogue input drift compensation ................................................................................36
7.1.5.3 Sensor supply test .......................................................................................................................37
7.1.6 Steering device and program changes........................................................................................37

ENGINEERING TOMORROW
7.1.7 Vehicle speed setup ....................................................................................................................................38
7.1.8 Vehicle geometry...........................................................................................................................................39
7.2 Setup a steering device.............................................................................................................................................41
EXTERNAL SENSORS ................................................................................................................................ 43
8.1 Wheel angle sensor.......................................................................................................................................................43
8.2 Speed sensor......................................................................................................................................................................43
8.3 SASAIID sensor................................................................................................................................................................43
CALIBRATION.............................................................................................................................................. 44
9.1 Wheel angle sensor calibration ...........................................................................................................................45
9.1.1 Automatic adjusted maximum steer angles and cylinder stroke volume.......46
9.2 Spool calibration..............................................................................................................................................................51
9.2.1 Prerequisites......................................................................................................................................................51
9.2.2 Spool calibration overview.....................................................................................................................52
9.3 Auto-calibration................................................................................................................................................................54
9.3.1 Initial setup........................................................................................................................................................55
9.3.1.1 Auto-calibration parameter plausibility check.......................................................56
9.4 Execute WAS auto-calibration from the PLUS+1 SERVICE TOOL ..........................................59
9.5 Execute spool auto-calibration from the PLUS+1 SERVICE TOOL .........................................63
9.5.1 Fine-tuning of parameters for spool calibration...................................................................67
STEERING WHEEL PROGRAMS ............................................................................................................ 68
10.1 Block diagram....................................................................................................................................................................68
10.2 Backlash .................................................................................................................................................................................68
10.3 STW in use and activation threshold..............................................................................................................68
10.4 Vehicle speed dependent quick steer ............................................................................................................70
10.5 Anti-drift (EFU).................................................................................................................................................................72
10.6 Anti-jerk .................................................................................................................................................................................73
10.7 Soft-stop ................................................................................................................................................................................76
AUX STEERING............................................................................................................................................ 78
11.1 Block diagram....................................................................................................................................................................78
11.1.1 Open loop mini-wheel................................................................................................................................78
11.1.2 Open loop joystick........................................................................................................................................78
11.1.3 Closed loop joystick ....................................................................................................................................78
11.2 AUX config............................................................................................................................................................................78
11.3 Open loop filter.................................................................................................................................................................80
11.4 Open loop mini-wheel –vehicle speed dependent quick steer ................................................81
11.5 Open loop mini-wheel anti-drift (EFU)..........................................................................................................83
11.6 Open loop anti-jerk.......................................................................................................................................................84
11.7 Open loop soft stop.......................................................................................................................................................86
11.8 Open loop joystick –vehicle speed dependent flow scaling .......................................................88
11.9 Closed loop joystick –vehicle speed dependent wheel angle limitation ..........................90
11.10 Closed loop joystick –vehicle speed dependent closed loop control ..................................92
AUTO-GUIDANCE STEERING ................................................................................................................ 94

ENGINEERING TOMORROW
12.1 Block diagram....................................................................................................................................................................94
12.2 GPS config ............................................................................................................................................................................94
12.3 Vehicle speed dependent wheel angle limitation .................................................................................95
12.4 Vehicle speed dependent closed loop control .........................................................................................97
12.5 Vehicle speed dependent flow command limitation...........................................................................98
SAFE ON-ROAD MODE ........................................................................................................................... 101
FDA .................................................................................................................................................................102
DIAGNOSTICS AND TROUBLESHOOTING ....................................................................................105
15.1 Diagnostics.........................................................................................................................................................................105
15.2 Troubleshooting –typical faults .......................................................................................................................106
APPENDIX ................................................................................................................................................... 107
16.1 Error codes.........................................................................................................................................................................107
16.2 FMI list...................................................................................................................................................................................112
16.3 Parameter list ..................................................................................................................................................................113
16.3.1 Hydraulic config............................................................................................................................................113
16.3.2 SEHS FDA ..........................................................................................................................................................114
16.3.3 Valve calibration data..............................................................................................................................115
16.3.4 CAN wheel angle sensor calibration data ................................................................................116
16.3.5 Analogue wheel angle sensor calibration data....................................................................117
16.3.6 Peripherals config........................................................................................................................................118
16.3.7 SEHS communication protocol data.............................................................................................119
16.3.8 Internal monitoring ...................................................................................................................................121
16.3.9 Vehicle geometry.........................................................................................................................................123
16.3.10 GPS config.........................................................................................................................................................124
16.3.11 STW config........................................................................................................................................................125
16.3.12 AUX config.........................................................................................................................................................127
16.3.13 Production/calibration flag...................................................................................................................129
16.3.14 Auto calibration config ............................................................................................................................130
16.4 CRC sector..........................................................................................................................................................................132
16.4.1 CRC sector overview.................................................................................................................................132
16.4.2 Sector CRC calculation............................................................................................................................132
16.4.3 Example ..............................................................................................................................................................133
16.4.4 Signature CRC calculation....................................................................................................................133
16.4.5 Example ..............................................................................................................................................................134
16.5 Manual calibration of WAS and spool...........................................................................................................134
16.5.1 Production/calibration flag...................................................................................................................134
16.5.2 Calibrating analogue wheel angle sensor................................................................................135
16.5.3 Calibrating CAN-based wheel angle sensor...........................................................................137
16.5.4 Manual spool calibration........................................................................................................................140
16.5.4.1 Spool calibration overview ..................................................................................................140
16.5.4.2 Spool calibration procedure................................................................................................141
16.5.4.2.1 Determining the closed loop dead-bands.............................................141
16.5.4.2.2 Determining the open loop dead-bands ................................................141
16.5.4.2.3 Calibration procedure............................................................................................141

ENGINEERING TOMORROW
16.5.4.2.4 Closed loop dead-band calibration .............................................................142
16.5.4.2.5 Open loop dead-band calibration ................................................................143
16.5.4.2.6 Determining TL and TR for a specific vehicle type........................143
16.5.4.3 Post conditions..............................................................................................................................144

ENGINEERING TOMORROW
General information
As user comfort receives higher and higher focus along with higher demands for automation and safety, new
technologies are necessary to take on this challenge. The new technologies are using electro-hydraulics, combining
hydraulic power with electronics and computer power.
Electro-hydraulic steering system has the advantages over pure hydraulic steering systems such as the ability to
meet specific functionalities on request.
Increasing demand from OEM s shows a trend for a higher safety-level up t -road driving.
In order to give this functionality Danfoss has developed the PVED-CLS. The PVED-CLS is based on Danfoss PVE
technology, as used in electro hydraulic proportional valves for decades. PVE modules are used with PVG spool
valves as well as dedicated spool valves for steering applications, OSPE and EHPS as well as the EHI.
The PVED-CLS is designed according to state-of-the-art standards regarding functional safety, including ISO 13849,
EN 16590 (ISO 25119) and IEC 65108. Dedicated safety functions are integrated that offer suitable risk reduction,
when applied in accordance with Danfoss recommendations.
In combination with the OSPE steering unit the PVED-CLS forms a category 3 architecture according to ISO 13849.
Ac -CLS combination
suitable for off road application, for instance with typical agricultural vehicles. Actual required performance level for
any particular vehicle should be determined through appropriate hazard and risk assessment by the OEM.
Important
TheOEMisfullyresponsibleformakinganddocumenttheirownhazardandriskassessmentandcanonlyusetheDanfoss
documentation as inputfor theirownhazard and riskassessment.
For more details on EHPS- and EHI with PVED-CLS, please see the Danfoss document, PVED-CLS Safety Manual.
1.1 STEERING INPUT DEVICES
The PVED-CLS supports ISOBUS 11783 curvature commands (format-option to support GMS message according to
ISO11783-7:2009 or ISO11783-7:2015 by parameter P3326), as well as input from a Danfoss SASA steering wheel
sensor.
ISOBUS curvature commands: Required for Auto-guidance.
SASA Steering wheel position commands: Required for being able to start-up the PVED-CLS, quick steer and
disengagement of Auto-guidance.
AUX steering device; Joystick or mini-steering wheel: Required for being able to use any of the AUX-
functions build into the PVED-CLS.
Both steering inputs (SASA and AUX) devices may exist simultaneously on the CAN bus in a steering system, though
only one of the three available AUX steering devices (open loop- and closed loop joystick, and mini-steering wheel)
can be configured per steering system. For SASA and AUX mini-steering wheel, up to five individual predefined
programs may be configured for quick steering, and made available for operators through the vehicle MMI.
1.2 CAN INTERFACE
Danfoss recommends installation of steering related CAN nodes on a separate CAN bus, in order to avoid excessive
busload.Insomesituations,particularlywhenseveralstatusmessages areenabled,the PVED-CLSandaccompanying
CAN nodes may occupy most of the useful bandwidth of a 250K CAN bus.
Danfoss recommend that installation guidelines from CAN bus standard J1939/15 are followed (unshielded twisted
pair (UTP), etc.)

ENGINEERING TOMORROW
1.3 POWER-UP
During power-up thePVED-CLS willtypically complete its bootsequence after ~1800ms. Atthis time anaddress claim
message willbe issued onthe CAN bus. Following theaddress claimthe PVED-CLS will gointo WAS calibration service
mode as default (provided that the PVED-CLS is setup with default parameters).
After the WAS has been calibrated and the PVED-CLS has been power-cycled, PVED-CLS will go into spool dead-band
calibration service mode.
When the spool dead-bandcalibration isperformed and the PVED-CLShasbeen reset (power-cycle or software-reset)
, an initialization period of max 10 seconds is started, to allow all mapped sensors, MMI messages, WAS
messages/signal, SASA messages and Road switch signal to boot and appear on the CAN bus or input pins.
Once in operation mode the sensors and analogue signals are periodically validated and must remain present for the
PVED-CLS to remain in operation mode. The validation period is configurable for each signal. In case a mapped
message disappears from the CAN bus, analog signals are disconnected or signal crosschecks fails, the PVED-CLS will
enter safe state and remain non-operational until a reset is completed. Missing curvature commands are exceptions
and does not put PVED-CLS to safe state. A reset may be either a power cycle sequence or a soft reset CAN message.
1.4 CAN BUS PROTOCOL
The PVED-CLS conforms to CAN bus standard J1939. Access to reading and modifying configuration parameters are
provided through the KWP2000 protocol. Please see the Danfoss documents, PVED-CLS KWP2000 Protocol and
PVED-CLS communication Protocol.
1.5 DC POWER SUPPLY
The PVED-CLS is designed to operate reliably with both 12V and 24V battery voltage, as used on typical agricultural
vehicles. Internal voltage regulators allow fluctuations on supply voltage terminals from 5.5V to 35.5V, but the PVED-
CLS will sent out an INFO level DTC if the supply goes below 9V, but will not enter safe state. Below 9V the
electrohydraulic functions of an EHPS, EHI and OSPE cannot be guaranteed to work properly. In case the supply
voltage exceeds 35.5V, a DTC is issued on the CAN bus, and the PVED-CLS will enter safe state. If the power supply
goes below 5.5V the PVED-CLS will shut down.
Experience shows that excessively low supply voltage may occur during engine cranking in cold conditions,
depending on the state of battery charge, and/or general state of battery.

ENGINEERING TOMORROW
System overview
2.1 OSPE SYSTEM
OSP
SASA-sensor
PVED-CLS
Vehicle speed
sensor
Auto-guidance
MMI
AUX
PLUS+1 Service
tool
Main
Micro-crontroller
Safety
Micro-crontroller
WAS Solenoid
valve
bridge
EH valve
Cut-off
valve
Solenoid
valve
LVDT
Cut-off
valve output
Vbat-
CAN_safety
CAN_Main
AD1
AD2
AD3 (not used)
5V sensor supply +
Sensor ground -
PT
Main spool position
Main spool position
PVED-CLS
Pilot
Pressure
Pilot
Pressure
Vbat +
(9 … 32 V ) Vbat -
Key off/de-energize
Cylinder
+V1
+V2
GND1
GND2
OUT1
OUT2
Wheel
Angle
Sensor
5V sersor supply
Sensor ground -
AD1
AD2
Wheel angle sensor diagram
CAN bus –Steering bus
(Terminate with 120 Ohms in both ends)
OSPE-valve
Figure 1
In a standard OSPE with PVED-CLS-system, a wheel angle sensor (Danfoss recommend a redundant sensor as
illustrated on Figure 1, to meet category 3 according to ISO13849)eitheranalogue or CAN-based, a Danfoss SASAIID
sensor and two vehicle speed signals transmitted on the CAN bus (from two independent sources) are prerequisite
in order to get the PVED-CLS up and running. The system also requires an MMI installed (for changing programs,
steering devices, steering modes etc.). Additionally, an auto-guidance controller and an AUXiliary-device (e.g. mini-
wheel, joystick) can be connected to the CAN bus for enabling auto-guidance-steering and AUXiliary-device-
steering.
When the PVED-CLS is mounted on an OSPE the cut-off valve is always present, therefore P3072 needs to be 255 and
the valvetype needs tobeset toOSPE/EHI by settingP3081 to0.Furthermore OSP displacement, given inccm,needs
to be entered in P3084. If the total displacement is unknown, it can be found on the label, located at the end of the
steering unit.
The cylinder stroke volume is also needed, again in ccm. If effective cylinder volume is unknown, count the steering
wheel turns lock-to-lock and multiply by OSP-displacement, to get the effective cylinder volume. The value needs to
be entered in P3086.

ENGINEERING TOMORROW
Name
Address
Data type
Unit
Description of parameter
User
Range
Danfoss default value
Safety critical
Min.
Max.
Cut-off valve present
P3072
U8
BOOL
Cut-off Valve Present/Not Present
Valid Values: 0 (NOTPRESENT); 255 (PRESENT)
OEM
0
255
255
S
Valve type
P3081
U8
dec
PVED-CLS is attached to which type of valve?
Valid Values: 0 (OSPE, EHI); 1 (EHPS)
OEM
0
1
0
S
OSP displacement
P3084
U16
ccm
OSP displacement, number of cubic centimeters per revolution
Note: When the PVED-CLS is mounted on an EHPS this parameter
must be set equal to 0!
OEM
0
1200
120
S
Cylinder stroke volume
P3086
U16
ccm
Cylinder stroke volume.
Acceptable values: 100-10000.
Note: Writing values >10000 will force to use automatic adjusted
cylinder stroke volume-value on WAS calibration
OEM
100
65535
500
S
Table 1
For further information on how to design steering-system and sensor sub-systems, please refer to the following:
OSPE Steering valve, SASA sensor, Technical information
PVED-CLS Safety Manual
2.2 EHPS SYSTEM
OSPCX
AUX
PLUS+1 Service
tool
Main
Micro-crontroller
Safety
Micro-crontroller
WAS Solenoid
valve
bridge
Directional
spool
LVDT
Cut-off
valve output
Vbat-
CAN_safety
CAN_Main
AD1
AD2
AD3 (not used)
5V sensor supply +
Sensor ground -
PT
Main spool position
Main spool position
PVED-CLS
Vbat +
(9 … 32 V ) Vbat -
Key off/de-energize
Cylinder
+V1
+V2
GND1
GND2
OUT1
OUT2
Wheel
Angle
Sensor
5V sersor supply
Sensor ground -
AD1
AD2
Wheel angle sensor diagram
CAN bus –Steering bus
(Terminate with 120 Ohms in both ends)
SASA-sensor
PVED-CLS
Vehicle speed
sensor
Auto-guidance
MMI
EHPS-valve
Figure 2
In a standard EHPS with PVED-CLS-system, a wheel angle sensor (Danfoss recommend a redundant sensor like
illustrated on Figure 2, to meet category 3 according to ISO13849) either analogue or CAN-based, a Danfoss SASAIID
Main spool position

ENGINEERING TOMORROW
sensor and two vehicle speed signals transmitted on the CAN bus (from two independent sources) are prerequisite in
orderto getthePVED-CLSup andrunning. ThesystemalsorequiresanMMIinstalled (forchangingprograms,steering
devices, steering modes etc.). Additionally, an auto-guidance controller and an auxiliary-device (e.g. mini-wheel,
joystick) can be connected to the CAN bus for enabling auto-guidance-steering and auxiliary-device-steering.
When the PVED-CLS is mounted on an EHPS the cut-off valve is not present, therefore P3072 needs to be 0 and the
valve type needs to be set to EHPS by setting P3081 to 1. Furthermore, as the flow direction in an EHPS compared to
OSPE/EHI isinverted, thePVED-CLS needto be provided withthis information,which canbe done bysettingP3080 to
255.
The cylinder stroke volume is needed, in ccm. It needs to be entered in P3086 and the number of steering wheel
turns lock-to-lock, without activating the PVED-CLS needs to be entered in P3082.
Important
TheOSPdisplacement(P3084)mustbesetto 0,whenthePVED-CLSismountedonanEHPS!
Name
Address
Data type
Unit
Description of parameter
User
Range
Danfoss default value
Safety critical
Min.
Max.
Cut-off valve present
P3072
U8
BOOL
Cut-off Valve Present/Not Present
Valid Values: 0 (NOT PRESENT); 255 (PRESENT)
OEM
0
255
255
S
Invert Flow Direction
P3080
U8
BOOL
Changes the direction of the requested flow
Valid Values: 0 (NO, DEFAULT OSPE/EHI); 255 (YES, DEFAULT EHPS)
OEM
0
255
0
S
Valve type
P3081
U8
dec
Valve type on which the PVED-CLS is mounted
Valid Values: 0 (OSPE, EHI); 1 (EHPS)
OEM
0
1
0
S
Turns lock-to-lock EHPS
P3082
U16
dec
Number of steering wheel turns lock-to-lock, without PVED-CLS
activated (hence pure hydraulic). Lock-to-lock is dependent on:
OSP displacement
EH-spool and pilot flow
Standby pressure (spring force)
Cylinder volume
Contact your local technical support at Danfoss Power Solutions for
specific calculation, or simply do the measurement/exercise on the
vehicle
Resolution: 0.01 turns
OEM
100
1000
450
S
OSP displacement
P3084
U16
ccm
OSP displacement, number of cubic centimeters per revolution
Note: When the PVED-CLS is mounted on an EHPS this parameter
must be set equal to 0!
OEM
0
1200
120
S
Cylinder stroke volume
P3086
U16
ccm
Cylinder stroke volume.
Acceptable values: 100-10000.
Note: Writing values >10000 will force to use automatic adjusted
cylinder stroke volume-value on WAS calibration
OEM
100
65535
500
S
Table 2
For further information on how to design steering-system and sensor sub-systems, please refer to the following:
OSPE Steering valve, SASA sensor, Technical information
PVED-CLS Safety Manual
EHPS Steering Valve, PVE Actuation, OSPCX CN Steering Unit

ENGINEERING TOMORROW
PVED-CLS functional overview
3.1 PVED-CLS SYSTEM OVERVIEW
PVED-CLS
MMI
Display, Buttons e.g. to select program,
Display Info, Status, Diagnostic CAN
Configuration & Adjustment and PVED-
CLSCommunicationProtocol
Cut-off valve
- Chapter 7.1.1
Auto-guidance
program
- Vehicle speed dependent closed loop
control, chapter 12.4
- Dual auto-guidance, chapter 12
- Vehicle speed dependent flow
command limitation, chapter 12.5
- Vehicle speed dependent wheel angle
limitation, chapter 12.3
Safe on-road mode
- Chapter 13
Steering wheel
programs
- Up to 5 different vehicle speed dependent
profiles
- Vehicle speed dependent quick steer, chapter
10.4
- Soft-stop, chapter 10.7
- Anti-drift (EFU), chapter 10.5
- Anti-jerk, chapter 10.6
Safety functions
- PVED-CLS Safety manual
External sensors
- Wheel angle sensor, chapter 8.1
- Speed sensor, chapter 8.2
- SASAIID sensor, chapter8.3
AUX
program
- Up to 5 different vehicle speed dependent profiles
- Open Loop Mini wheel speed dependent quick steer,
chapter 11.4
- Open loop soft-stop, chapter 11.7
- Open loop mini-wheel anti-drift (EFU), chapter 11.5
- Open loop anti-jerk, chapter 11.6
- Open loop joystick vehicle speed dependent flow
scaling, chapter 11.8
- Closed loop joystick vehicle speed dependent wheel
angle limitation, chapter 11.9
- Closed Loop Joystick vehicle speed dependent closed
loop control, chapter 11.10
Auto-calibration
- Chapter 9.3
Sensor sub-systems
- PVED-CLS Safety manual

ENGINEERING TOMORROW
3.2 PVED-CLS STEERING MODE SELECTION STATE MACHINE
Figure 3 shows the high level steering mode selection state machine. The state transition requirements are described
in detail in chapter 3.6.
Safe ON-Road
steering
Entry
Point
Road Switch Present (P3241 = 255)
AND
Road Switch in ON-Road position
Safe ON-Road Steering: see chapter 7.1.2
Output State
EH Valve: OFF
Cut-off Valve: Controlled by Road Switch monitoring
Operation Status message
Operation status: ON-Road
Lockout for EH-Steering functionality: EH-Steering functionality prohibited by
an external switch
Lockout for steering device changes: Steering device changes prohibited
Lockout for Program changes: Program changes prohibited
ON-Road steering
Road Switch not Present (P3241 = 0)
OR
Road Switch in OFF-Road position
Road Switch in OFF-Road position
AND
Road Switch Present (P3241 = 255) ON-Road Steering
Output State
EH Valve: OFF
Cut-off Valve: OFF
Operation Status message
Operation status: ON-Road
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Boot-up
OFF-Road Safety
checks
MMI request for a steering mode other than ON-Road AND
Cut-Off Valve Present (P3072 = 255) AND
PRG_CHANGE_EN AND
Cut-off valve activation timeout (P3078 ≠ 0)
MMI request for ON-Road steering
OFF-Road safety-checks: see chapter 7.1.1
Output State
EH Valve: Controlled by OFF-Road safety checks
Cut-off Valve: Controlled by OFF-Road safety checks
Operation Status message
Operation status: OFF-Road Safety-checks
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Entry
Point
STW Steering
Entry
Point
AUX Steering
GPS Steering
STW Steering state machine: see chapter 3.3
Output State
EH Valve: Controlled STW algorithm
Cut-off Valve: Controlled by STW algorithm
Operation Status message
Operation status: Controlled by STW algorithm
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
AUX Steering state machine: see chapter 3.4
Output State
EH Valve: ON
Cut-off Valve: ON
Operation Status message
Operation status: Controlled by AUX algorithm
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
GPS Steering: see chapter 12
Output State
EH Valve: If Vehicle speed ≥ P3252: ON
If Vehicle speed < P3252: OFF
Cut-off Valve: ON
Operation Status message
Operation status: GPS Steering or GPS2 Steering (controlled by MMI)
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
STW_OFF AND
AUX_OL_ON
AND
DEV_CHANGE_EN
STW_ON
OR
AUX_DIS
AUX_OFF AND
GPS_ON AND
DEV_CHANGE_EN AND
STW_OFF
(AUX_OL_ON
OR
AUX_CL_EN)
AND
STW_OFF
STW_ON
GPS_OFF
AND
STW_OFF
AND
AUX_OFF
GPS_ON AND
STW_OFF AND
AUX_OFF AND
DEV_CHANGE_EN
OFF-Road Steering
Safe ON Road inactive
MMI request for
ON-Road steering
MMI request for a steering mode other than ON-Road AND
PRG_CHANGE_EN AND
(Cut-Off Valve Not Present (P3072 = 0) OR
Cut-off valve activation timeout (P3078) = 0)
MMI request for a steering mode
other than ON-Road AND
OFF-Road Safety-checks passed
Road Switch in ON-Road position AND
Road Switch Present (P3241 = 255)
PVED-CLS Steering mode selection
STW_OFF AND
AUX_CL_EN AND
AUX_CL_NO_ERR
AND
DEV_CHANGE_EN
Figure 3

ENGINEERING TOMORROW
3.3 STEERING WHEEL STATE MACHINE
Figure 4 shows the steering wheel algorithm state machine. OFF-Road reaction and OFF-Road non-reaction are pure
hydraulic steering and the EH-Valve is inactive.
In Steering wheel program 1 5, the EH-Valve is active and the PVED-CLS behavior can be configured individually.
Find additional information on how to setup the programs in chapter 10.
Entry
Point
OFF-Road
reaction
steering
Entry
Point
OFF-Road reaction steering
Output State
EH Valve: OFF
Cut-off Valve: OFF
Operation Status message
Operation status: OFF-Road reaction
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Steering wheel algorithms are not executed
NOTE!
In order to utilize the reaction-mode on a vehicle, the steering axle geometry
of the vehicle has to be prepared for reaction-mode and the hardware (cut-
off/mode select spool in OSPE) has to be of the type “reaction/non-reaction”
Contact your Danfoss PAE for more clarification
OFF-Road non-
reaction
steering
OFF-Road non-reaction steering
Output State
EH Valve: OFF
Cut-off Valve: ON
Operation Status message
Operation status: OFF-Road non-reaction
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Steering wheel algorithms are not executed
MMI request for
Steering Program other than
OFF-Road reaction
AND
PRG_CHANGE_EN
MMI request for OFF-Road
Reaction steering
MMI request for
Steering Program other than
OFF-Road non-reaction
AND
PRG_CHANGE_EN
MMI request for
OFF-Road
Non Reaction steering
MMI request for
STW Program 1-5
Entry
Point
Entry
Point
STW Program 1
STW Program 2
STW Program 3
STW Program 4
STW Program 5
MMI request for STW Program 1
MMI request for
Steering Program change
AND
PRG_CHANGE_EN
MMI request for STW Program 2
MMI request for
Steering Program change
AND
PRG_CHANGE_EN
MMI request for
STW Program 3
MMI request for
Steering Program change
AND
PRG_CHANGE_EN
MMI request for
STW Program 4
MMI request for
Steering Program change
AND
PRG_CHANGE_EN
MMI request for
STW Program 5
MMI request for
Steering Program change
AND
PRG_CHANGE_EN
Steering wheel program 1-5
Output State
EH Valve: ON
Cut-off Valve: ON
Operation Status message
Operation status: STW Program 1-5
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Steering wheel algorithms are executed
MMI request for
Steering Program other than
OFF-Road non-reaction
AND
PRG_CHANGE_EN
Steering wheel Program 1-5
Steering Wheel State machine
Figure 4

ENGINEERING TOMORROW
3.4 AUX STEERING STATE MACHINE
Figure 5 shows the AUX steering device state machine. When the AUX device is configured to be a steering wheel,
PVED-CLS offers 5 individually configurable steering programs. If the AUX device is configured to be a joystick, only 1
program is available. Find more information regarding AUX devices and the configuration in chapter 11.
Entry
Point
AUX type is a
Steering wheel
(P3240 = 2)
Entry
Point
AUX Program 1
AUX Program 2
AUX Program 3
AUX Program 4
AUX Program 5
MMI request for
AUX Program 1
MMI request for
AUX Program change
AND
PRG_CHANGE_EN
AND
AUX type is a
Steering wheel
(P3240 = 2)
MMI request for AUX Program 2
MMI request for
AUX Program change
AND
PRG_CHANGE_EN
MMI request for
AUX Program 3
MMI request for
AUX Program change
AND
PRG_CHANGE_EN
MMI request for
AUX Program 4
MMI request for
AUX Program change
AND
PRG_CHANGE_EN
MMI request for
AUX Program 5
MMI request for
AUX Program change
AND
PRG_CHANGE_EN
Output State
EH Valve: ON
Cut-off Valve: ON
Operation Status message
Operation status: AUX Program 1-5
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
AUX State machine
AUX type is a Open Loop or
Closed Loop Joystick
(P3240 = 0 or P3240 = 1)
Figure 5

ENGINEERING TOMORROW
3.5 AUTO-GUIDANCE STEERING STATE MACHINE
The Auto-guidance steering device state machine is found in PVED-
. When the Auto-guidance device is mapped and enabled, PVED-CLS offers configurable risk
mitigation functions that will be shared by both GPS and GPS2, except for gain-parameters which are separate for
GPS and GPS2. Find more information regarding auto-guidance devices and the configuration in chapter 12.
3.6 STATE TRANSITION REQUIREMENTS DESCRIPTION
Steering wheel related conditions
STW_ON (Steering wheel in use):
The PVED-CLS detects the steering wheel to be in use when,
|Steeringwheelvelocity|>thresholdvalueforP3583(STWinuse-velocitythreshold)
AND
|Lastdetectedsteeringwheelpositionat0RPM | > thresholdvalueforP3584(STWinuse-angle
threshold),where;
|Lastdetectedsteeringwheelpositionat0RPM | = Last steering wheel position when steering wheel
speed was below P3583
STW_OFF (Steering wheel is not in use):
The PVED-CLS detects the steering wheel not to be is in use when,
|Steeringwheelvelocity| thresholdvalueforP3583(Steeringwheelvelocitythreshold)
Auxiliary steering device (AUX) related conditions
AUX_OL_ON (AUX open loop device in use):
The PVED-CLS detects the AUX open loop device to be in use when,
TheAUX steeringdeviceispresentinthesystem P3239setto255
AND
TheAUXsteeringdeviceisenabled seeflagsintheMMImessagesinPVED-CLScommunication
protocol,
AND
1. TheAUX steeringdeviceisamini-steeringwheel P3240setto2
AND
|AUX mini-steering wheel velocity| > threshold value for P3646 (AUX mini-steering in use
velocitythreshold)
AND
|Lastdetectedmini-steeringwheelpositionat0RPM | > thresholdvalueforP3719(AUX
mini-steeringinuse anglethreshold),where;
|Lastdetectedmini-steeringwheelpositionat0RPM | = Last mini-steering wheel position
when mini-steering wheel speed was below P3646
OR

ENGINEERING TOMORROW
2. TheAUXsteeringdeviceisanopenloopjoystick P3240setto0
AND
TheAUXjoystickresethasbeendone,i.e.the|requestedAUXjoystickflowcommand|has
beenbelowthethresholdvalueforP3647(AUXjoystickinuse flowcommandthreshold)
AND
The|RequestedAUXjoystickflowcommand| thresholdvalueforP3647(AUXjoystickinuse
flowcommandthreshold)
AUX_CL_EN (AUX closed loop joystick enabled):
The PVED-CLS detects the AUX closed loop joystick to be enabled when,
TheAUXsteeringdeviceispresentinthesystem P3239setto255
AND
TheAUXsteeringdeviceisenabled seeflagsintheMMImessagesinPVED-CLScommunication
protocol,
AND
TheAUXsteeringdeviceis aclosedloopjoystick P3240setto1
AND
Theclosed loopjoystickisenabled seeflagsintheAUXmessagesinPVED-CLScommunicationprotocol
AUX_CL_NO_ERR (For being able to switch to AUX closed loop joystick when a higher priority
steering device has been selected):
The |AUX steering device related closed loop error| thresholdvalueforP3732(AUXjoystick-Max
closedlooperrorto engage)
AUX_DIS (AUX device disabled):
The PVED-CLS detects the AUX device is disabled when,
TheAUXsteeringdeviceis notpresentinthesystem P3239setto0
OR
TheAUXsteeringdeviceisdisabled seeflagsintheMMImessagesinPVED-CLScommunication
protocol
AUX_OFF (Condition for being able to switch from AUX to Auto-guidance if an AUX device is
present in the system):
The PVED-CLS detects the AUX_OFF condition to be true when,
TheAUXsteeringdeviceis presentinthesystem P3239setto255
AND
1. TheAUX steeringdeviceisamini-steeringwheel P3240setto2
AND
|AUX mini-steering wheel velocity| threshold value for P3646 (AUX mini-steering in use
velocitythreshold)
OR
2. TheAUXsteeringdeviceisanopenloopjoystick P3240setto0
AND

ENGINEERING TOMORROW
The|RequestedAUXjoystickflowcommand|<thresholdvalueforP3647(AUXjoystickinuse
flowcommandthreshold)
OR
3. TheAUXsteeringdeviceisaclosedloopjoystick P3240setto1
AND
The|AUX steering device related closed loop error|<thresholdvalueforP3730(AUX
Joystick-Max.CLsteadystateerrorthreshold)for at least the time specified threshold
valueforP3731(AUXJoystick-Min.TimeforCLsteadystateerrorthreshold)
AND
Theclosed loopjoystickisinactive seeflagsintheAUXmessagesinPVED-CLS
communicationprotocol
Auto-guidance related conditions
GPS_ON (Auto-guidance is ready to become the active steering device):
Auto-guidance is ready to be engaged when,
Anauto-guidancecontrollerispresent P3237(GPS)setto255and/orP3238(GPS2)setto255
AND
Thecorrespondingauto-guidancecontrollerisselected seeflagsintheMMImessagesinPVED-CLS
communicationprotocol,
AND
Theauto-guidance resethas beendone -atleast onecurvature commandfrom theselected auto-
guidance-controllerismarkedas notintendedforsteering seePVED-CLSCommunication
Protocol.Error! Referencesourcenot found.
AND
Theguidancesystemcommandmessagefromtheselectedauto-guidancecontrollerisavailable-
ThecommandsmessagesarereceivedwithinthethresholdspecifiedbyP3289(Auto-guidancemessage
monitoring maxtimedifference betweentwo messages)
AND
Commandsfromtheselectedauto-guidancecontrolleraremarkedas intendedforsteering
GPS_OFF (auto-guidance inactive):
The auto-guidance is inactive when,
NeitherGPS(P3237)norGPS2(P3238)ismarkedasbeingpresent(255)andselectedbyMMI seeflags
intheMMImessagesinPVED-CLScommunicationprotocol
OR
Commandsfromtheselectedauto-guidancecontrollerarenotavailableorhaveexceededthe
thresholdspecifiedbyP3289(Auto-guidancemessagemonitoring maxtimedifferencebetweentwo
messages)
OR
Thecommandsfromtheselectedauto-guidancecontrollerarenotmarkedas intendedforsteering
OR
Thecommandsfromtheselectedauto-guidancecontrollerarenot invalid
Vehicle speed dependent conditions
DEV_CHANGE_EN (Steering device change allowed)