Sauer Danfoss PVED-CX 4 Series Manual

Electrohydraulic
Actuator – PVED-CX
Series 4
Technical
Information

2
Table of Revisions
Date Page Changed Rev
Oct 2009 All SD layout AA
Jan 2010 All Major update BA
Apr 2010 All Major update CA
Dec 2010 84 New back cover CB
Mar 2011 All Major update DA
May 2011 2, 54, 68, 96 Minor update DB
May 2011 80, 81, 88, 89 Description of errors change. DC
© 2011 Sauer-Danfoss. All rights reserved.
Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material.
Sauer -Danfoss reserves the right to alter its products without prior notice. This also applies to products already
ordered provided that such alterations can be made without aecting agreed specications. All trademarks
in this material are properties of their respective owners. Sauer-Danfoss, the Sauer-Danfoss logotype, the
Sauer-Danfoss S-icon, PLUS+1™, What really matters is inside® and Know-How in Motion™ are trademarks of the
Sauer-Danfoss Group.
Front cover: V310206, F500053 and F500054.
Revision History
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Revisions

3
Reference
Warnings
Introduction and
Reading Guide
General Information
PVG Functionality
PVED-CX Functionality
Reference...........................................................................................................................................................9
Standards ..........................................................................................................................................................9
Reading Guide.................................................................................................................................................9
Product Warnings.........................................................................................................................................10
Introduction ...................................................................................................................................................12
Figure 1: PVG with PVED-CX...........................................................................................................12
Overview .........................................................................................................................................................13
Figure 2: PVED-CX Functionalities – Block Diagram ................................................................13
Figure 3: PVG 32 with PVED-CX Overview. PVE option mounted..........................................14
PVG Functionality.........................................................................................................................................15
Figure 4: Valve section with naming ............................................................................................15
PVED-CX Functionality ...............................................................................................................................16
Figure 5: PVED-CX Mechatronical interaction ...........................................................................16
Mechanical Sub System.............................................................................................................................17
Housing ......................................................................................................................................................17
Cable kit......................................................................................................................................................17
Figure 6: Cable kit principle ............................................................................................................17
Mounting...................................................................................................................................................17
Mechanical Sub System.............................................................................................................................18
Hydraulic Subsystem...................................................................................................................................18
LVDT .............................................................................................................................................................18
Spool neutral spring ..............................................................................................................................18
Figure 7: Pilot oil diagram...............................................................................................................18
Electrical and Electronic Subsystem......................................................................................................19
Figure 8: Function blocks for electronics.....................................................................................19
Communication............................................................................................................................................20
Optical – LED ............................................................................................................................................20
Analogue....................................................................................................................................................20
Digital – CANopen..................................................................................................................................20
Computerized Subsystem ........................................................................................................................21
Figure 9: DSM and CSM for PVED-CX ..........................................................................................21
Operational Modes......................................................................................................................................22
Full operational........................................................................................................................................22
Hand operational....................................................................................................................................22
Automatic system safety integrity self test – ASSIST ................................................................22
Settings............................................................................................................................................................23
Logging............................................................................................................................................................23
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

4
Normal Operation
– Self and Neighbor
Supervision Concept
Safety Description
Data Section
Normal Operation– Self and Neighbor Supervision Concept......................................................24
Figure 10: Function cooperation in control section..................................................................24
Set Point Command ....................................................................................................................................25
Spool Supervision ........................................................................................................................................25
Solenoid Control...........................................................................................................................................25
Position Reporting.......................................................................................................................................25
Neighbor Supervision.................................................................................................................................26
Micro-controller Supervision ...................................................................................................................26
ASIC Supervision ..........................................................................................................................................26
Temperature Supervision..........................................................................................................................26
Power Save......................................................................................................................................................26
Figure 11: Spool monitoring in PVG, same as g. 6 ..................................................................26
Denition ........................................................................................................................................................27
POST – Power On Self Test.........................................................................................................................27
ASSIST – Automatic System Safety Integrity Test................................................................................27
Runtime Fault Monitoring.........................................................................................................................27
Communication fault ............................................................................................................................27
Spool position fault................................................................................................................................28
System data fault ....................................................................................................................................28
Electrical fault...........................................................................................................................................28
Temperature fault and correction.....................................................................................................28
Test fault.....................................................................................................................................................28
Fault Level .......................................................................................................................................................29
Fault Reaction................................................................................................................................................29
Warning......................................................................................................................................................29
Critical .........................................................................................................................................................29
Severe..........................................................................................................................................................29
Threshold not passed............................................................................................................................29
Warning......................................................................................................................................................29
Critical & Severe.......................................................................................................................................29
Fault Reporting .............................................................................................................................................30
Fault Recovery ...............................................................................................................................................30
CANbus.......................................................................................................................................................30
Error logs....................................................................................................................................................30
Light emitting diode..............................................................................................................................30
Warning......................................................................................................................................................30
Critical .........................................................................................................................................................30
Severe..........................................................................................................................................................30
Operational Conditions..............................................................................................................................31
Performance...................................................................................................................................................31
Dimensions and Layout .............................................................................................................................31
Figure 12: Operational conditions................................................................................................31
Figure 13: Reaction time for actuation........................................................................................31
Figure 14: Connector pin out..........................................................................................................31
Figure 15: Cable dimensions ..........................................................................................................32
Figure 16: Cable color codes and external connection............................................................32
Figure 17: PVED-CX with cable kit.................................................................................................33
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

5
Data Section Figure 18: Neighbor Guide same as gure 27 ...........................................................................33
Figure 19: Cable kit specication ..................................................................................................33
Figure 20: PVED-CX dimensions milimeter [inch] .....................................................................34
Figure 21: PVED-CX on PVG32 dimensions milimeter [inch]..................................................34
Hydraulic Data...............................................................................................................................................35
Pilot oil system.........................................................................................................................................35
Pilot oil consumption for one PVED-CX.......................................................................................35
Oil viscosity.........................................................................................................................................35
Filtering ...............................................................................................................................................35
Pilot pressure......................................................................................................................................35
Figure 22: PVP modules, Pilot pressure curve.............................................................................35
Oil temperature.................................................................................................................................35
Operating temperature...................................................................................................................35
Electrical Data................................................................................................................................................36
PCB temperature ..............................................................................................................................36
Figure 23: Voltage and current ......................................................................................................36
Version with AMP JPT connector...................................................................................................36
Communication............................................................................................................................................37
LED ..............................................................................................................................................................37
Figure 24: LED color interpretation...............................................................................................37
Figure 25: LED blinking interpretation.........................................................................................37
CAN..............................................................................................................................................................37
Spool Control.................................................................................................................................................38
Spool positioning ...................................................................................................................................38
Figure 26: Spool position.................................................................................................................38
Closed loop ...............................................................................................................................................38
Spool monitoring, control and fault reaction...............................................................................38
Figure 27: Power save and spool monitoring time out............................................................38
Parameter Settings ......................................................................................................................................39
Node Id .......................................................................................................................................................39
Figure 28: Node Id in Control sections .........................................................................................39
Figure 29: Neighbor node naming guide....................................................................................39
EDS Parameters – Constants read only...........................................................................................40
Figure 30: Fixed parameters in EDS ..............................................................................................40
EDS Parameters – Variables read write............................................................................................40
Figure 31: Congurable parameters in EDS................................................................................40
Error register. Variable read only .......................................................................................................40
Figure 32: Error register interpretation ........................................................................................40
Conversion of identity parameters to comparable values.......................................................41
Reading guide for product code and serial number..................................................................41
Error log. Variables, read only, voilatile............................................................................................42
Error list. Variable read only.................................................................................................................42
Instantaneous temperature. Variable read only ..........................................................................42
Temperature log......................................................................................................................................42
Figure 33: Temperature log.............................................................................................................42
Module Control by CANbus......................................................................................................................43
Safety relevant features........................................................................................................................43
Figure 34: EMCY message frame ..................................................................................................43
Figure 35: EMCY reset frame..........................................................................................................44
Figure 36: EMCY message from Master Device.........................................................................44
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

6
Data Section NMT Reset Application .........................................................................................................................45
Figure 37: Reset Application Command format........................................................................45
NMT Reset Communication................................................................................................................45
Figure 38: Reset Communication Command format...............................................................45
Reload Command...................................................................................................................................46
Figure 39: Reload boot up parameters ........................................................................................46
Changing Node ID using Layer Setting Service...........................................................................47
Step-1: Switch To Conguration Mode ...........................................................................................48
Figure 40: Switch to Conguration Mode Global Way.............................................................48
Figure 41: Switch to Conguration Mode Selective Way.........................................................48
Step-2: Congure Node ID...................................................................................................................49
Figure 42: Congure node Id..........................................................................................................49
Step-3: Store New Assigned Node-ID..............................................................................................49
Figure 43: Store Node Id ..................................................................................................................49
Step-4: Switch to Normal Mode.........................................................................................................49
Figure 44: Switch to normal mode................................................................................................49
LSS Enquiry Services..............................................................................................................................50
Enquire Vendor-ID Command............................................................................................................50
Figure 45: Enquire Vendor-ID .........................................................................................................50
Enquire Product Code Command.....................................................................................................51
Figure 46: Enquire Product Code...................................................................................................51
Enquire Revision Number Command..............................................................................................51
Figure 47: Enquire Revision Number ............................................................................................51
Enquire Serial Number Command....................................................................................................51
Figure 48: Enquire Serial Number .................................................................................................51
Enquire Device Node-ID Command.................................................................................................52
Figure 49: Enquire Device Node-ID ...............................................................................................52
Set EDS parameter..................................................................................................................................52
Figure 50: Set EDS parameter.........................................................................................................52
Set NNI example......................................................................................................................................52
Figure 51: Set NNI example.............................................................................................................52
Enquire EDS parameter.........................................................................................................................53
Figure 52: Set EDS parameter.........................................................................................................53
Enquire NNI example.............................................................................................................................53
Figure 53: Set NNI example.............................................................................................................53
Enquire error log example...................................................................................................................53
Figure 54: Set EDS parameter.........................................................................................................53
Normal Operation...................................................................................................................................54
NMT boot up object...............................................................................................................................54
Figure 55: NMT boot up - address claim......................................................................................54
Heartbeat Message................................................................................................................................54
Figure 56: Heartbeat Message from PVED-CX ...........................................................................54
Figure 57: Setting PVED NID0x21 in device mode active.........................................................55
Figure 59: Setting a control section in Device Mode Active through PDO ..........................56
Figure 60: Set point for Control Section 3....................................................................................57
Figure 61: Set point for Control Section 1....................................................................................57
Figure 62: Sync message, global ...................................................................................................57
Transmission of PVED-CX Spool Pos. Messages on Sync Msg ................................................58
Figure 63: Actual value messages.................................................................................................58
Figure 64: Actual spool position – Frame format......................................................................58
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

7
Data Section Hand Operational Mode and Full Operational Mode conguration ...................................59
Figure 65: Transition between Hand operational and Full operational ..............................59
ASSIST .........................................................................................................................................................60
Figure 66: ASSIST Pre-trigger command .....................................................................................60
Figure 67: ASSIST run command ...................................................................................................61
Figure 68: Device ASSIST step conrmation ...............................................................................62
Figure 69: ASSIST successfully completed...................................................................................62
Figure 70: ASSIST cancelation........................................................................................................63
Figure 71: ASSIST aborted...............................................................................................................63
State Machine................................................................................................................................................64
Important points about PVED-CX DSM Implementation.........................................................64
INIT state: ...................................................................................................................................................64
DISABLED state:.......................................................................................................................................64
HOLD state: ...............................................................................................................................................65
DEVICE_MODE_ACTIVE state: ............................................................................................................65
FAULT_REACTION state:........................................................................................................................66
FAULT_HOLD state:.................................................................................................................................66
FAULT state:...............................................................................................................................................67
State Transition ........................................................................................................................................67
Limitations and Known Software Issues..............................................................................................68
Error Codes .....................................................................................................................................................70
Index 1 • Common Name: Reserved.................................................................................................70
Index 2 • Common Name: Supply voltage too high...................................................................70
Index 3 • Supply voltage too low.......................................................................................................71
Index 4 • Illegal state command ........................................................................................................71
Index 5 • Division by zero, illegal SW operation...........................................................................72
Index 6 • Internal table value corrupted, illegal SW operation...............................................72
Index 7 • Wrong data interpretation, truncation of values ......................................................72
Index 8 • Interpolation fault, illegal SW operation......................................................................73
Index 9 • No handshake to uC ............................................................................................................73
Index 10 • Watchdog not starting .....................................................................................................73
Index 11 • RTOS error.............................................................................................................................74
Index 12 • LVDT verication fault.......................................................................................................74
Index 13 • Neighbor LVDT fault..........................................................................................................75
Index 14 •Temperature sensor fault .................................................................................................75
Index 15 • Fault In RAM .........................................................................................................................75
Index 16 • Temperature average to high ........................................................................................76
Index 17 • Code memory check fault...............................................................................................76
Index 18 • Reserved................................................................................................................................76
Index 19 • EEPROM write fault............................................................................................................77
Index 20 • EEPROM content fault ......................................................................................................77
Index 21 • EEPROM mirror fault..........................................................................................................77
Index 22 • Dead band parameter out of range ............................................................................78
Index 23 • Reserved................................................................................................................................78
Index 24 • CAN error frame warning ................................................................................................78
Index 25 • Signal from master missing............................................................................................79
Index 26 • Recovered from Bus o....................................................................................................79
Index 27 • Command signal error......................................................................................................79
Index 28 • Reserved................................................................................................................................80
Error Codes
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

8
Ordering
Error Codes Index 29 • Reserved................................................................................................................................80
Index 30 • Spool not at set point .......................................................................................................80
Index 31 • Spool out of neutral ..........................................................................................................81
Index 32 • Spool out of neutral at boot up ....................................................................................81
Index 33 • Electronics to warm...........................................................................................................82
Index 34 • CAN spool position from neighbor missing.............................................................82
Index 35 • Neighbor CAN spool position fault..............................................................................83
Index 36 • No set point..........................................................................................................................83
Index 37 • CAN stack error ...................................................................................................................84
Index 38 • DSM initialization failed...................................................................................................84
Index 39 • A/D converting fault .........................................................................................................84
Index 40 • ASSIST. State fault...............................................................................................................85
Index 41 • ASSIST. Timing fault...........................................................................................................85
Index 42 • Neighbor. Spool out of neutral at boot up................................................................85
Index 43 • ASSIST. Neighbor reporting fault..................................................................................86
Index 44 • ASSIST. Spool not returned to neutral ........................................................................86
Index 45 • ASSIST. Step fault................................................................................................................86
Index 46 • ASSIST. Neighbor spool does not steer out ..............................................................87
Index 47 • ASSIST. Neighbor spool not returned to neutral.....................................................87
Index 48 • ASSIST: A port gives to high ow..................................................................................88
Index 49 • ASSIST: B port gives to high ow..................................................................................88
Index 50 • ASSIST: A port gives to low ow ...................................................................................88
Index 51 • ASSIST: B port gives to less ow....................................................................................89
Index 52 • Neighbor. Spool out of neutral......................................................................................89
Index 53 • Neighbor. Spool not at set point ..................................................................................90
Index 54 • Neighbor. Spool position reporting fault ..................................................................90
Index 55 • Reference voltage fault ....................................................................................................91
Index 56 • Node ID fault........................................................................................................................91
Index 57 • EEPROM address fault.......................................................................................................92
Index 58 • Error code buer.................................................................................................................92
Ordering ..........................................................................................................................................................93
Parameter agreement template........................................................................................................93
Figure 73: Congurable parameters in EDS, same as g. 29 ..................................................93
Figure 74: ............................................................................................................................................93
Figure 75: ............................................................................................................................................94
Figure 76: ............................................................................................................................................94
Parts Manual ..................................................................................................................................................95
Part numbers............................................................................................................................................95
Figure 77: Part numbers .................................................................................................................95
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Table of Contents

9
Reference
Standards
Sauer-Danfoss Doc 520L0344, PVG 32 Technical Information.
• International Organization for Standardization ISO 11898-2
Road vehicles, CAN, Part 2, High-speed medium access unit (physical layer)
• CAN in Automation: CiA 3.01 v4.02 CANopen protocol.
• CAN in Automation: CiA 4.08 v1.51 Device specic protocol for proportional valves.
• International Organization for Standardization EN ISO 13849 Safety of Machinery
• International Organization for Standardization ISO 13766 Earth moving machinery -
Electromagnetic compatibility
• IEC 61508
V310 206.A
Reading Guide • Section Product warnings lists warnings relevant to the PVED-CX.
• Sections Overview and section PVG functionality give a general description of the PVG
to give basic domain knowledge.
• Section PVED-CX functionality is a thorough description of PVED-CX subsystems and
their interaction.
• Sections Normal operation –Self and Neighbor supervision concept and section Safety
Description are thorough descriptions of control, monitoring, safety features and
behaviors.
• Section Data details for application engineers.
• Section Error codes is a walkthrough of module error codes, potential cause and
counter action.
• Sections Ordering and Parts Manual show the ordering guidelines.
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Reference

10
Product Warnings Warning
The use of PVED-CX will not guarantee a system to be SIL 2 certied as this is the
responsibility of the system integrator.
Warning
An application with PVG 32 and PVED-CX will only have SIL classication if the whole
application has been certied.
Warning
A PVG with PVED-CX can only perform according to its SIL classication if conditions in
this Technical Information are met.
Warning
SIL 2 is only veried within the control section. Communication and interaction outside
the control section is not guarantied by this product.
Warning
In particularly exposed applications, protection in the form of a shield is recommended.
Warning
When the PVED-CX is in Device Modes related to fault the validity of module reporting is
limited by the fault type.
Warning
Deviation from recommended torque when mounting parts can harm performance and
module.
Warning
Do not adjust the position transducer (LVDT) as this will inuence calibration, and thus
also safety and performance. This will also be the case by any damage or partial/full
xation of the LVDT.
Warning
All brands and all types of directional control valves – including proportional valves
– can fail and cause serious damage. It is therefore important to analyze all aspects of
the application. Because the proportional valves are used in many dierent operation
conditions and applications, the machine builder/ system integrator alone is responsible
for making the nal selection of the products – and assuring that all performance, safety
and warning requirements of the application are met.
Warning
When replacing the PVE, the electrical and the hydraulic systems must be turned o and
the oil pressure released.
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Warnings