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
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Technical Information
Table of Contents

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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
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Electrohydraulic Actuator – PVED-CX Series 4
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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
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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
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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
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Technical Information
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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
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Technical Information
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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

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Warning
Hydraulic oil can cause both environmental damage and personal injuries.
Warning
Module replacement can introduce contamination and errors to the system. It is
important to keep the work area clean and components should be handled with care.
Warning
After replacement of modules or cables wiring quality must be veried by an ASSIST. By
PVED actuation at voltage below nominal, 11V, the PVG will have reduced performance.
Warning
The PVED-CX is not designed for use with voltage outside nominal for more than 5
minutes per hour and maximum 10% of operating time.
Warning
By operation with PCB temperature below 0°C [32°F] the transition to fault mode due to
spool monitoring is delayed.
Warning
The PVED-CX will go into safe state if fault conditions are present.
Warning
Obstacles for the Pilot oil can have direct inuence on spool control.
Warning
Reduced pilot pressure will limit spool control.
Warning
Too high pilot pressure can harm the system.
Warning
Cable is designed specically for use with PVED-CX.
Warning
When handling cable at temperatures below 0°C [32°F] avoid twisting and rough
handling.
Product Warnings
(continued)
Warnings
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Electrohydraulic Actuator – PVED-CX Series 4
Technical Information

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Introduction
V310205.A
The Sauer-Danfoss PVED-CX is a PVE-Series 4 actuator for the PVG32.
CX is an abbreviation for CAN bus communication and eXtended safety.
The PVED-CX is intended for markets where a documented extended safety is needed. In
particular cranes, man-lifts and telehandlers are in focus.
A PVG with PVED-CX and PVSK is designed to meet Safety Integrity Level 2 (SIL2).
So when performing a Risk and Hazard Analysis, as mandated by the EU Machinery
Directive 2006/42/EC, the Sauer-Danfoss customer can cut down on external safety
systems and easier get an IEC61508 certied system.
A product specic wiring harness is part of the PVED-CX concept as use of the special
Sauer-Danfoss end plate for cranes (PVSK) is.
Certication of the PVED-CX system appliance to the IEC61508 is made by TÜV SÜD,
Munich, Germany.
Figure 1: PVG with PVED-CX
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Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
Introduction and Reading Guide

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Overview The PVG is a sectioned spool valve stack with up to 12 individually controlled proportional
valves. With the PVED-CX the PVG can operate as one or more control sections.
A control section is a group of two to eight PVED-CX connected by one cable kit with
mutual monitoring and the feature that any PVED can bring the entire control section to
safe state if a fault is found.
The oil ow out of the work section (A- or B-port) can be controlled by a combination of
the following:
• PVED-CX controlling the spool position using pilot oil pressure.
• A handle (PVM) in mechanical interface with the spool.
• The oil ow into the PVG can be controlled using an electrically controlled main oil
valve (PVSK) as end cover. The PVED-CX is foreseen as PVSK controller in the Sauer-
Danfoss SIL2 concept. The PVSK can also supply an additional PVG via the High
Pressure Carry Over (HPCO) port.
Figure 2: PVED-CX Functionalities – Block Diagram
p
P
T
P
T
p
PT
P
T
V310134.A
Set points and feedback
Vbat3
Solenoid
Solenoid
Additional PVG
Neutral spring
Emergency
Neutral spring
Neighbor
surveillance
can cut the
oil ow
Hydraulic for functions
CAN-Bus
Power for solenoids – Vbat2
Electronics - Vbat
Safety switch Analog neighbor
information
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General Information

14
PVSK controlled
by a PVED-CX Emergency
operation of PVSK
6 PVB
PVSK
Cable kit
PVED-CX
V310077.B
PVP
PVM for
hand operation
Overview (continued) The PVED-CX uses the CANopen protocol, thus following the standard protocol
CiA301v402 and the device specic protocol for proportional valves CiA408v151 with a
minimum set of vendor specic additions.
The physical layer for CAN communication applies to ISO 11898-2 high speed CAN.
The spool is controlled by spool position with 127 positions each direction and dead
band compensation. Monitored manual operation is possible.
Electronics and spool control are independently power supplied and the redundant
system monitoring can shut down the whole control section in case of failures.
The redundant monitoring continuously evaluates spool position, communication,
electronics, memory, calculations and temperature.
To avoid needless power consumption the PVED-CX has the Power Save feature, where
power consumption is reduced by almost 90% when the spool is in neutral.
Figure 3: PVG 32 with PVED-CX Overview. PVE option mounted
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Electrohydraulic Actuator – PVED-CX Series 4
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General Information

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This chapter will give an overview of the PVG functionality.
Figure 4: Valve section with naming
PVG Functionality
V310072.A
PVE
Electronics
NC Solenoid valve
Pilot oil supply
B port Oil A port
PVB
PVM
Neutral spring
PVBS
NO solenoid valve
LVDT
<- Retract towards PVE
Extend away from PVE ->
P -> A
The PVG valve distributes oil from pump ow to a particular work function in the
application via a specic valve section. This is done by moving the spool (PVBS).
Depending on the choice of components the oil work ow enters the PVG through the
PVP (proportional valve pump side module) or the PVSK (proportional valve end plate for
crane) and enters the PVB (proportional valve basic module) via the P gallery and leaves
through the T gallery.
When looking at gure 4 you see the valve section from PVP towards PVSK with the
PVM and PVE standard mounted. When PVM and PVE are interchanged it’s called option
mounted.
With the spool in neutral, where it is kept by the neutral spring, the connection to the
application via ports is blocked.
Moving the spool towards the PVE, as in gure 4, opens a connection between P and A
and also between B and T. This is done by either pushing the PVM or sending a retract
command to PVED. The PVED move the spool by letting Pilot Oil Pressure (Pp) push on
the right end of the PVBS and releasing pressure from the left end. For details on PVG32
please see PVG 32 Proportional valves, Technical information, 520L0334.
Any PVG with PVM can be operated by PVM alone independent of power supply. Any PVG
with PVED-CX can monitor PVBS if power and communication conditions are present.
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Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVG Functionality

16
This section has focus on how the PVED-CX works and interacts. Understanding of this
must be regarded as a pre-condition for understanding module settings and system
operation.
The PVED-CX is a mechatronic device , meaning a mechanical, a hydraulic, an electric,
an electronic and a computer system interacting with external mechanical, hydraulic,
electrical, electronic and computerized systems.
Figure 5: PVED-CX Mechatronical interaction
PVED-CX Functionality
V310078.A
Oil pressure
Solenoids
Poppet valve
Function
Control
Communication
ASIC
LVDT
Closed loop
Set point via CAN
PWM
Analogue reporting
CAN reporting
LED status
CAN signal acceptance
Message sanity
Hand shake - component sanity
Memory check
Calculation vs execution
Redundant calculation
Component environment
Logging
Ignorant input
Deactivate solenoids
Deactivate all modules in section
CANbus reporting
Logging
LED setting
Reaction
Safety
System controller
Neighbor module
PVED-CX section
Spool
Application hydraulic system
Application electrical system Monitoring
PVED-CX
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Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVED-CX Functionality

17
Housing
The housing of the PVED-CX protects the internal parts from the environment and gives
by design the optimal interface to cabling, Pilot pressure and spool.
Cable kit
A special cable kit has been designed for the PVED-CX making it possible to operate in
Control Sections of two to eight modules with neighbor monitoring.
The cable has ve incoming wires:
•CAN high signal wire
•CAN low signal wire
•Vbat for electronic power supply
•Vbat 2 for solenoid power supply
•Ground
Figure 6: Cable kit principle
Mechanical Sub System
Three wires are added between the modules:
•Vbat2 power supply. This wire is looped as a“Vbat2 out – Vbat2 in”between the
modules and goes through the safety switches in the modules.
•Vbat3 power supply is a transformation of Vbat2 out from the last module and now
used for powering the solenoid valves.
•“LVDT out – LVDT in”signal wire. This connects the analogue spool position signal
from one module to the neighbor microcontroller.
The termination in the last connector is optional.
Mounting
The Sauer-Danfoss PVG concept is based on parts interchangeability. This is also valid for
the PVED-CX and makes eld retrotting possible.
•PVED can be mounted on both ends of PVB.
•Cable kit can be mounted with rst or last connector next to PVP.
•Cable kit can be delivered with and without CANbus termination.
WWarning
Deviation from recommended torque can harm performance and module.
System
Controller
Vbat
Vneg
CAN_H
CAN_L
Vbat2
CAN_H
Cable harness Cable harness
PVED-CX #1 PVED-CX #2 PVED-CX #n
Cable harness
LVDT out LVDT in Vbat2 out
Vbat2 in
Vbat3 CAN_L CAN_H Vneg Vbat LVDT out
LVDT in Vbat2 out Vbat2 in Vbat3 CAN_L CAN_H Vneg Vbat LVDT out LVDT in Vbat2 out Vbat2 in Vbat3 CAN_L CAN_H Vneg Vbat
120 ohm
V310008.B
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVED-CX Functionality

18
LVDT
The Linear Variable Dierential Transformer (LVDT) or position sensor is the interface
between the mechanical system (spool) and the electronic system.
The LVDT must never be mechanically adjusted, bent, damaged or partially blocked as
this will lead to incorrect information on spool position.
Spool neutral spring
The PVBS neutral spring is an important safety component as it keeps or moves the PVBS
in blocked position when solenoid valves are disabled. The spring will keep the A and B
port closed as long as the dierential pressure is below 6 bar.
The hydraulic subsystem is used for moving the spool and thereby opening the valve for
work ow.
Figure 7: Pilot oil diagram
Mechanical Sub System
The heart of the hydraulic subsystem is the solenoid valve bridge. It consist of four
poppet valves, the two upper ones are normally closed (NC-S) with a small bleed, the
two lower ones are normally open (NO). The Pp will work against the PVBS neutral spring
when the spool is moved out of blocked (neutral) and together with the spring when
going in blocked. This combined with a larger opening in the NO than in the NC-S will
give a faster movement towards blocked than out of blocked.
WWarning
Obstacles for the Pp can have direct inuence on spool control. Reduced pilot pressure
will limit spool control. Too high Pp can harm the system.
Hydraulic Subsystem
Pp
NC3
NC1
Spool
NO4
NO2
Tank
LVDT
Set point
V310073.A
1.0 [0.039]
Electronics
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVED-CX Functionality

19
The PVED-CX is based on the known PVED-CC series 4 technology with the ASIC core
controlling the main functionality of the solenoid valves, and a micro-controller system
as Module Safety Manager and interface between the analogue ASIC and the CAN-bus
communication. The micro-controller also monitors its neighbor PVED-CX and has the
ability to disable spool actuation for the whole control section.
Figure 8: Function blocks for electronics
Electrical and Electronic
Subsystem
Safety
switch
Controller
Analogue
Control
Solenoid
Valves
Main Spool
Position
sensor
Cable harness
CAN
Spool Set-point
Closed loop
feed back
LVDT out to neighbor B
LVDT in
from
neighbor A
Spool position
Solenoid valve
control
Vbat3
Vbat2 in
Vbat2 out
Pilot oil
pressure
build up
Mech linkage.
Solenoid valve
enable
Safety
switch
Controller
Analogue
Control
Solenoid
Valves
Main Spool
Position
sensor
Cable harness
CAN
Spool Set-point
Closed loop
feed back
LVDT out to neighbor B
LVDT in
from
neighbor A
Spool position
Solenoid valve
control
Vbat3
Vbat2 in
Vbat2 out
Pilot oil
pressure
build up
Mech linkage.
Solenoid valve
enable
Neighbor A
Neighbor B
Safety
switch
Controller Analogue
Control
Solenoid
Valves
Main Spool
Position
sensor
Cable harness
CAN
Spool Set-point
Closed loop
feed back
LVDT out to neighbor B
LVDT in
from
neighbor A
Spool position
Solenoid valve
control
Vbat3
Vbat2 in
Vbat2 out
Pilot oil
pressure
build up
Mech linkage.
Solenoid valve
enable
V310 207.A
Controller: The build in micro-controller.
Safety Switch: MOSFET for collective solenoid disabling inside the control section.
Position sensor: Mechanical electrical interface.
Analogue control: A closed loop control of spool position based on set point. Feedback
to system is actual spool position and error state.
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVED-CX Functionality

20
Communication The PVED-CX has three methods of communication.
• Optical from module
• Analogue one way communication
• Digital two way communication
Optical – LED
Blinking and steady light is implemented to facilitate maintenance and application
engineering.
Analogue
Analogue communication is implemented.
A: An analogue signal is sent from active module to monitoring module to enforce
redundancy.
Module under surveillance is referred to as neighbor module in settings.
The operational mode of the module under surveillance (neighbor) decides the
behavior of the monitoring module.
Digital – CANopen
The CANopen communication is the main method. It is used for:
• Control of module by master. Master denes state transition and set points.
• Reporting from module to master. Module reports spool position and safety
violation
• Setting in module by master. Some parameters can be changed.
• Inquiry from master to module.
CANopen is a communication protocol dened by the society CAN in Automation (CiA).
For details in the protocol we refer to CiA.
11070179 • Rev DC • May 2011
Electrohydraulic Actuator – PVED-CX Series 4
Technical Information
PVED-CX Functionality