Danfoss PVED-CLS User manual

ENGINEERING TOMORROW
\\
PVED-CLS Controller
For Electrohydraulic
Steering
User Manual
Software version 2
.01

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ENGINEERING TOMORROW
Important User Information
Danfoss is not responsible or liable for indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included for illustration purposes. Due to the many variables and
requirements associated with any particular installation, Danfoss cannot assume responsibility or liability for the actual
used bases on the examples and diagrams.
Reproduction of whole or part of the contents of this manual is prohibited.
The following notes 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.

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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 1.95 Software release
1.1
20th of November
2015
Updated according to internal review (#1347)
1.11
24th of November
2015
Updated to match communication protocol for 1.95 release
1.12
05th of December 2015
Updated the high level 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 Out from spool neutral position
and STW). Missing figure 3 and added Auto-guidance description
1.15
28th of April 2016
Updated for 1.96 software release
1.2
20th of July 2016
Updated according to internal review (#1597)
1.2.1
22nd of July 2016
Updated for 1.97 software release
1.3
16th of March 2017
Correction of typos & layout, implementation of EHi-content
1.3.1
30th of March, 2017
Updated for 1.98 Software release
1.4
15th of September,
2017
Updated for 2.00 Software release
1.5
14th of May 2018
Updated for 2.01 Software release
1.6
Document references
Literature
EHPS Steering Valve, PVE Actuation, OSPCX CN Steering Unit
OSPE Steering valve, SASA sensor, Technical Information
PVED-CLS Communication Protocol
PVED-CLS KWP2000 Protocol
PVED-CLS Safety Manual
PVED-CLS Technical Information
EHi Technical Information
Operating/Safety Manual for J4F with 351JCM
Definitions and Abbreviates
µC
Micro-Controller

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AD
Analogue-to-Digital
AD1-AD3
Analogue Input 1-3 on PVED-CLS
AgPl
Agriculture Performance Level
AUX
Auxiliary
BOOL
Boolean
CAN
Controller Area Network
ccm
Cubic Centimeters
COV
Cut-Off Valve
CRC
Cyclic Redundancy Check
DC
Direct Current
dDeg
Deci degrees
dec
Decimal
DTC
Diagnostic Trouble Code
ECU
Electronic Control Unit
EEPROM
Electrically Erasable Programmable Read-Only Memory
EFU
Electronic Follow-up Unit
EH
Electro-Hydraulic
EHi
Electro-Hydraulic Inline Valve
EHi-E
Electro-Hydraulic Inline Valve - Electronic Override
EHi-H
Electro-Hydraulic Inline Valve - Hydraulic Override
EHPS
Electro-Hydraulic Power Steering
FDA
Fault Detection Algorithm
FIFO-principle
First-in-first-out-principle
FMI
Failure Mode Identifier
GMS
Guidance Machine Status
GPS
Global Positioning System and Danfoss “short call-name” for Auto-
guidance
IMD
Internal Monitoring Disengage
IR
Internal Resolution [0.1%]
ISOBUS
Communication Protocol (ISO 11783)
KWP2000
Keyword Protocol 2000
LED
Light Emitting Diode
LVDT
Linear Variable Differential Transformer
mAmp
Milliamps
MMI
Man-Machine Interface
mVolts
Millivolts
OEM
Original Equipment Manufacturer
OSP
Orbital Steering Product
OSPCX
Orbital Steering Product - Including valve function and X-release
OSPE
Orbital Steering Product – Electro-Hydraulic
P1D
file format extension for files to be used by PLUS+1 SERVICE TOOL
PSAC
Parameter Sector Approval Code
PVE
Proportional Valve Electronic
PVED-CLS
Proportional Valve Electronic Digital – Closed Loop Steering
PWM
Pulse-Width Modulation
SASA
Steering Angle Sensor - Absolute
SEHS
Safe Electro-Hydraulic Steering
SIL
Safety Integrity Level
SPN
Suspect Parameter Number
STW
Steering Wheel
SVB
Solenoid Valve Bridge
SVC
Solenoid Valve Control
TI
Technical Information

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U16
Unsigned - 16 bit
U8
Unsigned - 8 bit
VDC
Voltage - Direct Current
WAS
Wheel Angle Sensor
x 10u Meter
times 10 micro-meter
x100msec
times 100 milliseconds
x10mSec
times 10 milliseconds
XID
Extended Message Identifier

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Table of Contents
GENERAL INFORMATION............................................................................................................................ 11
1.1 Steering input devices...........................................................................................................................................................11
1.2CAN interface..........................................................................................................................................................................12
1.3 Power-up....................................................................................................................................................................................12
1.4 CAN bus protocol...................................................................................................................................................................12
1.5 DC power supply....................................................................................................................................................................12
SYSTEM OVERVIEW...................................................................................................................................... 13
2.1 OSPE & EHi systems............................................................................................................................................................13
2.2 EHPS System...........................................................................................................................................................................16
PVED-CLS FUNCTIONAL OVERVIEW........................................................................................................ 18
3.1 PVED-CLS system overview.............................................................................................................................................18
3.2 PVED-CLS steering mode selection state machine.................................................................................................... 19
3.3 Steering wheel state machine .............................................................................................................................................20
3.4 AUX steering state machine ...............................................................................................................................................21
3.5 Auto-guidance steering state machine............................................................................................................................. 21
3.6 State transition requirements description .......................................................................................................................24
3.6.1 Steering wheel related conditions....................................................................................................................24
3.6.2 Auxiliary steering device (AUX) related conditions................................................................................. 24
3.6.3 Auto-guidance related conditions.................................................................................................................... 26
3.6.4 Vehicle speed dependent conditions............................................................................................................... 27
3.6.5 Other conditions.....................................................................................................................................................27
PARAMETER CONFIGURATION ................................................................................................................. 28
4.1 Parameter setup procedure –good practice..................................................................................................................28
INSTALLATION............................................................................................................................................... 30
5.1 Connector interface................................................................................................................................................................30
5.2 PVED-CLS LED diagnostic...............................................................................................................................................31
MAPPING A STEERING DEVICE/SENSOR ................................................................................................. 32
6.1.1 Valid Sensor Combinations............................................................................................................................... 32
HYDRAULIC AND PERIPHERALS CONFIG ............................................................................................... 35
7.1 Cut-off valve.......................................................................................................................................................................35
7.1.1 Cut-off valve control...................................................................................................................................35
7.1.2 Cut-off valve monitoring.........................................................................................................................38
7.1.2.1 Cut-off valve monitoring for OSPE, EHi-E ................................................................38
7.1.2.2 Cut-off valve monitoring for EHi-H....................................................................................39
7.2 Road switch.........................................................................................................................................................................40
7.2.1.1 Road switch monitoring......................................................................................................................42
7.3 EH steering disengage method...........................................................................................................................42

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7.3.1.1 Internal monitoring disengage (IMD)............................................................................................42
7.4 Valve capacity...................................................................................................................................................................43
7.5 LVDT compensation and spool threshold at boot-up........................................................................45
7.5.1.1 LVDT compensation............................................................................................................................45
7.5.1.2 Spool threshold at boot-up.................................................................................................................45
7.6 Analogue interface.........................................................................................................................................................45
7.6.1.1 AD low-pass filter.................................................................................................................................45
7.6.1.2 Analogue input drift compensation.................................................................................................46
7.6.1.3 Sensor supply test .................................................................................................................................46
7.7 Steering device and program changes.........................................................................................................47
7.8 Vehicle speed setup......................................................................................................................................................47
7.9 Vehicle geometry............................................................................................................................................................48
7.10 Setup a steering device............................................................................................................................................. 51
EXTERNAL SENSORS .................................................................................................................................... 51
8.1 Wheel angle sensor................................................................................................................................................................52
8.1.1 No Wheel angle sensor........................................................................................................................................52
8.2 Speed sensor.............................................................................................................................................................................52
8.3 SASAIID sensor......................................................................................................................................................................53
CALIBRATION................................................................................................................................................. 54
9.1 Wheel angle sensor calibration..........................................................................................................................................55
9.1.1 Automatic adjustment of maximum steer angles and cylinder stroke volume................................. 56
9.2 Analogue Joystick calibration............................................................................................................................................61
9.3 Spool calibration.....................................................................................................................................................................62
9.3.1 Prerequisites............................................................................................................................................................62
9.3.2 Spool calibration overview................................................................................................................................63
9.4 Auto-calibration ......................................................................................................................................................................65
9.4.1 Initial setup..............................................................................................................................................................66
9.4.1.1 Auto-calibration parameter plausibility check............................................................................67
9.5 Execute auto-calibration from plus+1 service tool ..................................................................................................... 70
9.5.1 Pre-requisite ............................................................................................................................................................70
9.5.2 Execute WAS auto-calibration from the PLUS+1 SERVICE TOOL................................................. 70
9.5.3 Execute Analogue Joystick auto-calibration from the PLUS+1 SERVICE TOOL ....................... 74
9.5.4 Execute spool auto-calibration from the PLUS+1 SERVICE TOOL................................................. 78
9.5.4.1 Fine-tuning of parameters for spool calibration.........................................................................82
STEERING WHEEL PROGRAMS.................................................................................................................. 83
10.1 Block diagram..........................................................................................................................................................................83
10.2 Backlash.....................................................................................................................................................................................83
10.3 STW in use and activation threshold............................................................................................................................... 84
10.4 Vehicle speed dependent Fast-steering...........................................................................................................................84
10.4.1 Compensate steering sensitivity according to wheel angle range......................................................... 85
10.5 Anti-drift (EFU)......................................................................................................................................................................87
10.6 Anti-jerk.....................................................................................................................................................................................89
10.6.1 Calculation of flow set-point using anti-jerk functionality..................................................................... 90
10.7 Soft-stop.....................................................................................................................................................................................93
AUX STEERING............................................................................................................................................... 95
11.1 Block diagram..........................................................................................................................................................................96
11.1.1 Open loop mini-wheel.........................................................................................................................................96

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11.1.2 Open loop joystick................................................................................................................................................96
11.1.3 Closed loop joystick.............................................................................................................................................96
11.2 AUX config ..............................................................................................................................................................................96
11.2.1 AUX Joystick Config – Open Loop Mode...................................................................................................96
11.2.2 AUX Joystick Config – Closed Loop Mode................................................................................................ 96
11.2.3 AUX Config – Mini-steering wheel ...............................................................................................................97
11.3 Open loop filter .......................................................................................................................................................................98
11.4 Open loop mini-wheel – vehicle speed dependent Fast-steering........................................................................... 99
11.4.1 Compensate steering sensitivity according to wheel angle range.......................................................100
11.5 Open loop mini-wheel anti-drift (EFU)........................................................................................................................101
11.6 Open loop anti-jerk..............................................................................................................................................................103
11.6.1 Calculation of flow set-point using anti-jerk functionality...................................................................104
11.7 Open loop soft stop..............................................................................................................................................................107
11.8 Open loop joystick – Transfer function ........................................................................................................................108
11.9 Open loop joystick – vehicle speed dependent flow scaling .................................................................................110
11.10 Closed loop joystick – vehicle speed dependent wheel angle limitation...........................................................111
11.11 Closed loop joystick – vehicle speed dependent closed loop control.................................................................114
11.12 AUX Type - Elobau Joystick............................................................................................................................................116
11.12.1 Validation of Elobau Joystick Position Status ..........................................................................................116
11.12.2 Validation and Scaling of Elobau Joystick Position ...............................................................................117
11.12.3 Time guarding on Elobau Joystick Messages:..........................................................................................117
11.12.4 Elobau Joystick - Parameter Configuration................................................................................................118
AUTO-GUIDANCE STEERING .................................................................................................................... 119
12.1 Block diagram........................................................................................................................................................................119
12.2 Selection of GPS algorithm type.....................................................................................................................................119
12.3 GPS config..............................................................................................................................................................................121
12.4 Vehicle speed dependent wheel angle limitation.......................................................................................................123
12.5 Vehicle speed dependent closed loop control.............................................................................................................124
12.6 Vehicle speed dependent flow command limitation.................................................................................................128
12.7 Vehicle speed dependent wheel angle speed limitation..........................................................................................130
SAFE ON-ROAD MODE................................................................................................................................ 132
FDA.................................................................................................................................................................. 133
DIAGNOSTICS AND TROUBLESHOOTING.............................................................................................. 136
15.1 Diagnostics..............................................................................................................................................................................136
15.2 Troubleshooting – typical faults......................................................................................................................................137
ERRATA INFORMATION........................................................................................................................ 138
APPENDIX...................................................................................................................................................... 139
17.1 Parameter Cross Check.......................................................................................................................................................139
17.2 Error codes..............................................................................................................................................................................142
17.3 FMI list.....................................................................................................................................................................................148
17.4 Parameter list..........................................................................................................................................................................148
17.4.1 Hydraulic config..................................................................................................................................................149
17.4.2 SEHS FDA ............................................................................................................................................................150
17.4.3 Valve Calibration ................................................................................................................................................151

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17.4.4 CAN WAS Calibration Data...........................................................................................................................151
17.4.5 Analog Sensor Calibration Data.....................................................................................................................152
17.4.6 Peripherals Config...............................................................................................................................................153
17.4.7 SEHS Protocol Data...........................................................................................................................................154
17.4.8 Internal Monitoring.............................................................................................................................................156
17.4.9 Vehicle Geometry...............................................................................................................................................158
17.4.10 GPS Config............................................................................................................................................................158
17.4.11 STW Config..........................................................................................................................................................160
17.4.12 AUX Config..........................................................................................................................................................162
17.4.13 Production/Calibration Flag.............................................................................................................................164
17.4.14 Auto Calibration Config ...................................................................................................................................164
17.4.15 OEM Data..............................................................................................................................................................167
17.5 CRC sector..............................................................................................................................................................................167
17.5.1 CRC sector overview.........................................................................................................................................167
17.5.2 Sector CRC calculation.....................................................................................................................................168
17.5.3 Example..................................................................................................................................................................168
17.5.4 Signature CRC calculation...............................................................................................................................168
17.5.5 Example..................................................................................................................................................................169
17.6 Manual calibration of WAS, Joystick and spool........................................................................................................170
17.6.1 Production/calibration flag...............................................................................................................................170
17.6.2 Calibrating analogue wheel angle sensor....................................................................................................170
17.6.3 Calibrating CAN-based wheel angle sensor ..............................................................................................172
17.6.4 Calibrating Analogue Joystick........................................................................................................................174
17.6.5 Manual spool calibration ..................................................................................................................................176
17.6.5.1 Spool calibration overview..............................................................................................................176
17.6.5.2 Spool calibration procedure.............................................................................................................177
Determining the closed loop dead-bands..................................................................177
Determining the open loop dead-bands.....................................................................177
Calibration procedure......................................................................................................178
Closed loop dead-band calibration .............................................................................179
Open loop dead-band calibration.................................................................................180
Determining TL and TR for a specific vehicle type.............................................180
17.6.5.3 Post conditions.....................................................................................................................................181

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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 shows a trend for a higher safety-level up to AgPl “d” for off-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
and dedicated spool valves for steering applications, OSPE and EHPS as well as the EHi-E and EHi-H systems.
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/EHi-E steering unit the PVED-CLS forms a category 3 architecture according to ISO
13849. Achievable performance level is “d” for electro hydraulic steering, which makes the OSPE/EHi and PVED-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.
Important
The OEM is fully responsible for making and documenting their own hazard and risk assessment and can only use the
Danfoss documentation as input for their own hazard and risk assessment.
For more safety related details on OPSE/EHi-E, EHi-H and EHPS, with PVED-CLS, please see the Danfoss document,
PVED-CLS Safety Manual.
1.1 STEERING INPUT DEVICES
The PVED-CLS can utilize a variety of steering input devices:
•Steering wheel sensor – SASA
•Auxiliary mini-steering wheel
•Auxiliary open loop joystick
-CAN based
-Analogue
-Elobau®
•Auxiliary closed loop joystick
-CAN based
•ISOBUS curvature commands
Both a SASA and an auxiliary steering device may exist simultaneously on the CAN bus in a steering system, though
only one of the three auxiliary steering devices can be configured per steering system.
For SASA and mini-steering wheel, up to five individual predefined steering programs may be configured for fast-steer,
and made available through the vehicle MMI.
In order to utilize a closed loop joystick a wheel angle sensor must be present in the system.
The PVED-CLS suports 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

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1.2 CAN INTERFACE
Danfoss recommends installation of steering related CAN nodes on a separate CAN bus, in order to avoid excessive bus
load. In some situations, particularly when several status messages are enabled, the PVED-CLS and accompanying 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.)
1.3 POWER-UP
During power-up the PVED-CLS will typically complete its boot sequence after ~1800ms. At this time an address claim
message will be issued on the CAN bus. Following the address claim the PVED-CLS will go into WAS calibration service
mode as default (provided that no prior calibrations have been done and 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-band calibration is performed and the PVED-CLS has been reset (power-cycle or software-reset) ,
an initialization period of max 10 seconds is started, to allow speed sensor messages, MMI messages, WAS
messages/signal, AUX messages, SASA messages and Road switch signal to boot and appear on the CAN bus or input
pins.
Once in operation mode the CAN messages 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, analogue signals are disconnected or signal crosscheck 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. For
more details, please see the Danfoss document- PVED-CLS communication Protocol.
1.4 CAN BUS PROTOCOL
The PVED-CLS conforms to CAN bus standard J1939. Access to reading is provided through the KWP2000 and PVED-
CLS Communication protocols and modifying configuration parameters is 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.

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System overview
2.1 OSPE & EHI SYSTEMS
OSP
SASA-sensor
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 o utpu t
Vbat-
CAN_saf ety
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
Vb at +
(9 … 32 V ) Vb at -
Key off/de-energiz e
Cylin der
+V1
+V2
GND1
GND2
OUT1
OUT2
Wh ee l
Angle
Sensor
5V sersor supply
Sensor ground -
AD1/CAN
AD2/CAN
Whee l angl e sensor d i agram
CAN bus – Steering bus
(Terminatewith 120 Ohms in both ends)
OSPE-valve
WAS*
Figure 1 OSPE System
OSP
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 o utpu t
Vbat-
CAN_saf ety
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
Vb at +
(9 … 32 V ) Vb at -
Key off/de-energiz e
Cylin der
+V1
+V2
GND1
GND2
OUT1
OUT2
Wh ee l
Angle
Sensor
5V sersor supply
Sensor ground -
AD1/CAN
AD2/CAN
Whee l angl e sensor d i agram
Reactio n
Switch
Valve
EHi-E valve
OSP-valve
SASA-sensor
WAS*
CAN bus – Steering bus
(Terminatewith 120 Ohms in both ends)
L
R
P
Figure 2 EHi-E System

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OSP
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 o utpu t
Vbat-
CAN_saf ety
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
Vb at +
(9 … 32 V ) Vb at -
Key off/de-energiz e
Cylin der
+V1
+V2
GND1
GND2
OUT1
OUT2
Wh ee l
Angle
Sensor
5V sersor supply
Sensor ground -
AD1/CAN
AD2/CAN
Whee l angl e sensor d i agram
Reactio n
Switch
Valve
EHi-H
valve
OSP-valve
WAS*
L
R
P
Figure 3 EHi-H System
In a OSPE (Figure 1) and EHi-E (Figure 2) with PVED-CLS, a Danfoss SASA-sensor and a two channel vehicle speed
sensor, a MMI interface (for changing programs, steering devices, steering modes etc.) on the CAN bus are prerequisite
in order to complete the OSPE and EHi-E systems. In an EHi-H system, see figure 3, a two-channel vehicle speed sensor
and an MMI interface (for changing programs, steering devices, steering modes etc.) are prerequisite to complete the
EHi-H system. Depending on the application, up to two auto-guidance controllers and one auxiliary steering device (e.g.
mini-wheel, joystick) can be configured together with the PVED-CLS in an OSPE, EHi-E or EHi-H system.
When the PVED-CLS is mounted on an OSPE/EHi-E/EHi-H the cut-off valve is always present, therefore P3072 needs
to be 255 and the valve type needs to be set to OSPE/EHi-E or EHi-H by setting P3081 to 0 or 2 respectively.
Furthermore OSP displacement, given in ccm, needs to be entered in P3084. If the OSP displacement is unknown, it can
be found on the Danfoss label, located at the end cover 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.
A wheel angle sensor (WAS*), is marked ‘*’ because, either analogue or CAN-based, is required for auto guidance, for
steering wheel soft-stop as well as for EFU and closed loop steering. Danfoss recommend a redundant sensor as
illustrated on Figure 1 & 2, to meet category 3 according to ISO13849.
Name
Address
Data type
Unit
Description of parameter
User
Range
Danfoss default value
Safety critical paramet

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Min.
Max.
Cut-off valve present P3072 U8 -
Cut-off Valve Present/Not Present
Valid Values: 0 (NOT PRESENT); 255 (PRESENT)
OEM 0 255 255 S
Valve type P3081 U8 -
Valve type on which the PVED-CLS is mounted
Valid Values: 0 (OSPE, EHi-E); 1 (EHPS); 2 (EHi-H)
OEM 0 2 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 0 120
0 120 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 100 655
35 500 S
Table 1
For further information on how to design steering-system and sensor sub-systems, please refer to the following:
•OSPE Steering valve Technical information
•SASA sensor Technical information
•PVED-CLS Safety Manual
•EHi Technical information
Important
The number of steering wheel turns Lock-to-lock is dependent on following:
•OSP displacement
•EH-spool and pilot flow
•Standby pressure (spring force)
•Cylinder volume

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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 o ut put
Vbat-
CAN_saf ety
CAN_Main
AD1
AD2
AD3 (not used)
5V sensor supply +
Sensor ground -
PT
Main spool position
Main spool position
PVED-CLS
Vb at +
(9 … 32 V ) Vbat -
Key off/de-energiz e
Cylin der
+V1
+V2
GND1
GND2
OUT1
OUT2
Wh ee l
Angle
Sensor
5V sersor supply
Sensor ground -
AD1
AD2
Whee l angl e sensor d iagram
CAN bus – Steering bus
(Terminatewith 120 Ohms in both ends)
SASA-sensor
Vehicle speed
sensor
Auto-guidance
MMI
EHPS-valve
Figure 4 EHPS System
In a EHPS with PVED-CLS, a wheel angle sensor (Danfoss recommend a redundant sensor like illustrated on Figure , to
meet category 2 according to ISO13849) either analogue or CAN-based, a Danfoss SASA-sensor and two channel
vehicle speed sensor on the CAN bus 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/or an auxiliary device (e.g. mini-wheel, joystick) can be connected to the CAN bus if auto-guidance
and/or auxiliary device steering are required.
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 setto EHPSbysetting P3081 to 1. Furthermore, as the flow direction in an EHPS compared to OSPE/EHi-
E and EHi-H is inverted, the PVED-CLS need to be provided with this information, which can be done by setting P3080
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
The OSP displacement (P3084) must be set to 0, when the PVED-CLS is mounted on an EHPS!
The number of steering wheel turns Lock-to-lock is dependent on following:
•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.

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Name
Address
Data type
Unit
Description of parameter
User
Range
Danfoss default value
Safety
critical
parameters ‘S’
Min.
Max.
Cut-off valve present P3072 U8 -
Cut-off Valve Present/Not Present
Valid Values: 0 (NOT PRESENT); 255 (PRESENT)
OEM 0 255 255 S
Invert flow direction P3080 U8 -
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 -
Valve type on which the PVED-CLS is mounted
Valid Values: 0 (OSPE, EHi-E); 1 (EHPS); 2 (EHi-H)
OEM 0 2 0 S
Turns lock-to-lock
EHPS
P3082 U16 -
Number of steering wheel turns lock-to-lock, without PVED-CLS activated
(hence pure hydraulic 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 Technical information
•SASA sensor Technical information
•PVED-CLS Safety Manual
•EHPS Steering Valve, PVE Actuation, OSPCX CN Steering Unit

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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-
CLS Communication Protocol
Cut-off valve
- Chapter 7.1
Auto-guidance
program
- Vehicle speed dependent closed loop
control, chapter 12.4
- Dual auto-guidance, chapter12
- 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 fast-steering, 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, chapter 8.3
AUX
program
- Up to 5 different vehicle speed dependent profiles
- Open Loop Mini wheel – speed dependent Fast-steering,
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 11.10
- Closed Loop Joystick –vehicle speed dependent closed
loop control, chapter 11.11
Auto-calibration
- Chapter 9.4
Sensor sub-systems
- PVED-CLS Safety manual
Hydraulic Valve
-Chapter 2

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3.2 PVED-CLS STEERING MODE SELECTION STATE MACHINE
Figure 5 shows the high level steering mode selection state machine. The state transition requirements are described in
detail in chapter 3.6. The operational states of PVED-CLS can be observed in ‘Operation status message’,
(refer PVED-CLS Communication Protocol document for more details).
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 5
OFF Road
inactive
OFF Road steering

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ENGINEERING TOMORROW
3.3 STEERING WHEEL STATE MACHINE
Figure shows the steering wheel algorithm state machine.
The entry point in below state machine is after the successful OFF road safety checks. Based on the EH steering
disengage method parameter P3254 (SASA or IMD), the further transition of states is determined for steering with
SASA or steering with IMD.
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
P oi nt
Entry
P oi nt
OFF-R oa d
non-
r eac ti on
steering
with SASA
OFF-Road non-reaction steering
Output State
E H Va l v e : OFF
Cu t-of f V a lv e: ON
Operation Status message
Op e ra ti o n s tatu s: OF F-Road non-r e a ct io n
Lo ckout f or EH -Steerin g func tionality: EH-S te eri ng fun ctio nality
allowed
Lockout f or ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lockout for Program chan ges: Con troll ed by P 3251 a nd Veh ic le
speed
Steering wh eel algorithm s are no t executed
MMI request for
Steering Program oth er than
OFF-Road reaction
AND
PRG _CHAN GE_EN
MMI request for OFF-Ro ad
Reaction steering
MMI request for
Steering Program oth er than
OFF-Road non-r e a c t io n
AND
PRG _CHAN GE_EN
MMI request for
OFF-Ro ad
Non Reactio n steering
MMI request
fo r S T W P r og ra m 1 -5
Entry
P oi nt
Entry
P oi nt
STW P ro gram 1
STW P ro gram 2
STW P ro gram 3
STW P ro gram 4
STW P ro gram 5
MMI request for STW Program 1
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for STW Program 2
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
S T W P ro gr a m 3
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
S T W P ro gr a m 4
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
S T W P ro gr a m 5
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
Steering wheel program 1-5
Output State
E H Va l v e : ON
Cu t-of f V a lv e: ON
Operation Status message
Op e ra ti o n s tatu s: S T W P ro gr a m 1 -5
Lo ckout f or EH -Steerin g func tionality: EH-S te eri ng fun ctio nality
allowed
Lockout f or ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lockout for Program chan ges: Con troll ed by P 3251 a nd Veh ic le
speed
Steering wh eel algorithm s are ex ecuted
MMI request for
Steering Program oth er than
OFF-Road non-r e a c t io n
AND
PRG _CHAN GE_EN
Steering wheel Program 1-5
Steering Wheel State machine
Di senga ge m etho d SA S A
Entry
P oi nt
Disengage
met hod
IMD
OFF-R oa d
r eac ti on
steering
wit h IMD
MMI request the OFF
road reactio n steering
MM I requ est the OF F road
non reaction steeringor a
S T W p ro gr a m 1 -5
MM I requ est the OF F road
non reaction steering A ND
PRG _CHAN GE_EN
MM I requ est the OF F road
re actio n st eeri ng A ND
PRG _CHAN GE_EN
OFF-Road reaction steering
Output State
E H Va l v e : OFF
Cu t-of f V a lv e: OFF
Operation Status message
Op e ra ti o n s tatu s: OF F-Road reaction
Lo ckout f or EH -Steerin g func tionality: EH-S te eri ng fun ctio nality
allowed
Lockout f or ste erin g d evic e changes: Con troll ed by P 3250 a nd Veh ic le
speed
Lockout for Program chan ges: Con troll ed by P 3251 a nd Veh ic le s peed
Steering wh eel algorithm s are no t executed
NOTE!
In order to utilize the reaction-mode on avehicle, the steering axle
geometry of the vehicle has to be prepared for reac tion-mo de an d th e
hardware (cut-off/m ode select spool in OSPE) has to be of the type
“re acti on/n on-r e a ct io n ”
Con tac t y our Dan foss P AE fo r m or e c lar ific ation
OFF-Road non-reaction steering
Output State
E H Va l v e : ON
Cu t-of f V a lv e: ON
Operation Status message
Op e ra ti o n s tatu s: OF F-Road non-r e a ct io n
Lo ckout f or EH -Steerin g func tionality: EH-S te eri ng fun ctio nality
allowed
Lockout f or ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lockout for Program chan ges: Con troll ed by P 3251 a nd Veh ic le
speed
Steering wh eel algorithm s are no t executed
OFF-R oa d
r eac ti on
steering wit h
SASA
OFF-R oa d
non-
r eac ti on
steering
wit h IMD
Figure 6