Danfoss PVED-CC Series 5 CANopen Proportional Valves

Product Overview

The PVED-CC Series 5 CANopen is a high-performance digital actuator for the valve families PVG 32 and PVG 100. It offers CAN bus control through loop cables, simplifying the wire harness and providing built-in intelligence for tailoring actuator behavior to specific function needs.

PVED-CC CANbus Code Numbers

Operating Data Overview

Electrical Data

* PVED communicating on CAN bus, but not fully operable.

Temperature Range

Hydraulic Data

* PVED have reduced operating performance

Government Regulations

Connectors

Available 2x4 pin connectors: AMP Junior Power Timer and DEUTSCH DT06-4S-E003. Pins are internally connected in pairs between connectors. Mating connectors are not supplied by Danfoss.

AMP Connector

Pinout:

• 1. CAN Low
• 2. Vbat+
• 3. GND
• 4. CAN High

Terminal: 929930-1 (4 pcs), Seal: 828901-1 (4 pcs), Housing: 2-967059-1 (gray) or 1-967059-1 (black), IP rating: IP66

There is no black/gray coding of the connector

DEUTSCH Connector

Pinout:

• 1. CAN High
• 2. CAN Low
• 3. Vbat+
• 4. GND

IP rating: IP67; IP69K without connector

LED Coloring for PVED-CC Series 5

Physical Dimensions

Depth: 85 mm [3.35 in]

Width: 45 mm [1.77 in]

Height*: 116 mm [4.57 in]

* Excluding connector height

PVED-CC Hysteresis and Ripple

A diagram shows Spool Position [%] vs. PFC [%].

Definition of hysteresis

PVED-CC Reaction Times

A diagram shows Spool Position [%] vs. Time, illustrating TO, T1, and T2.

Definition of Step Response

* Including Power-On-Self-Test (POST) and safety sub-system initialization.

State Machine

The PVED-CC Series 5 CANopen operates according to the device state machine defined in VDMAPROP chapter 5.2 and the CANopen communication state machine defined in CiA301 chapter 9.4.

Relationship between the state machines

Diagrams illustrate the Device State Machine (DSM) and Communication State Machine (CSM).

State transition overview

Communication State Machine Transitions

Actuator Behavior Dependent on State

PVEC-CC CANopen Message Overview

* nodeID range: 0x01 to 0x7E

Network Management (NMT)

Boot-up Protocol

Upon power-up, the PVED logs onto the CAN bus network by broadcasting the nodeID it has been given upon parametrization.

NMT Services

NMT messages are used to navigate the Communication State Machine (CSM).

NMT Data

Layer Setting Service (LSS)

LSS is used to parameterize the nodeID and bit timing, as well as inquire vendor ID, code number, revision, and serial number of the PVED. LSS mode works only in Stopped Mode.

PVED-CC Switch State Global

This is an unconfirmed service that sets the device to LSS configuration mode.

* 0x00 Switch to LSS wait state, 0x01 Switch to LSS configuration mode.

PVED-CC Switch State Selective

This switches LSS slave device into LSS configuration state by using the LSS address consisting of vendor ID, Product Code, revision number, and serial number.

Request Frame Format

Response Frame Format

LSS Switch State Selective Data

Inquire nodeID

By this command the PVED nodeID can be inquired.

Request Frame Format

NodeID range: 0x01 to 0x7E. 0x20 is used as spare part nodeID.

Request Frame Format

NodeID range: 0x01 to 0x7E.

Configure nodeID

With this command the PVED as LSS slave is configured to the new nodeID.

Response Frame Format

* NodeID range: 0x01 to 0x7E. 0x20 is used as spare part nodeID.

Response Frame Format

* 0x00 no error, 0x01 NodeID out of range.

Configure bit timing

With this command the baud rate can be changed from default 250kbps.

Request Frame Format

* 0x00= 1000kbps, 0x02 = 500kbps, 0x03 = 250kbps (default), 0x04 = 125kbps

Request Frame Format

* 0x00 no error, 0x01 Bit rate not supported.

Activate bit timing parameters

This service activates simultaneously the bit rate at the LSS communication interface of all CANopen devices in the network.

Each LSS slave device copies the pending bit rate to the active bit rate value, after 'Switch Delay' (given in ms, in multiples of 1 ms) has elapsed. Therefore in response to this service, the device changes its bit rate after 'Switch Delay'.

PVED-CC Store Configurations

By this command the configured local layer settings are stored to EEPROM.

Request Frame Format

NodeID range: 0x01 to 0x7E

Request Frame Format

* 0x00 no error, 0x01 storage configuration not supported, 0x02 storage media access error.

Inquire vendor ID

By this command the PVED vendor ID can be inquired.

Request Frame Format

Request Frame Format

Inquire product code number

By this command the PVED product code can be inquired.

Request Frame Format

Request Frame Format

Inquire revision number

By this command the PVED revision number can be inquired.

Request Frame Format

Request Frame Format

Inquire serial number

By this command the PVED serial number can be inquired.

Request Frame Format

Request Frame Format

Serial number conversion key

The serial number is read from byte 1 to 4 as a hexadecimal number ordered from LSB to MSB. Converting the hexadecimal serial number to decimal number will give the serial number in the following layout:

ww yy d ssss

• ww: week of the year (1-52)
• yy: year
• d: day of the week (1-7)
• ssss: running unique number of the day (0000 – 9999)

As an example: Week = 41 (ww = 41), Year = 2015 (yy = 15), Day = Thursday (d = 4), Unique number = 5574 (ssss = 5574). The serial number is combined to 411545574. Serial number converted to hexadecimal = 1887AFE6.

The serial number response to the inquire serial number command from the master will then be:

PVED-CC Identify Non-Configured Remote Slave

By this command the master can identify any slaves that got stuck in NMT initialization and therefore are not configured (meaning do not have an active nodeID). Only non-configured slaves will respond to the command.

Request Frame Format

Response Frame Format

Fastscan

The PVED supports Fastscan according to CiA 305.

Process Data Object (PDO)

The PVED supports two RxPDO messages as well as send out two TxPDO messages. The PVED requires periodical RxPDO messages containing process data inputs. Based on the transmission type configured, the PVED can send out TxPDO containing process data.

RxPDO1

The RxPDO1 is, by default, mapped to the following two process data inputs:

• Dummy object (OD 0x3472)
• Vpoc Set Point (OD 0x6300 sub 0x01)

Frame format

* Range: -16384 to 16384 (corresponding to -100% to 100% spool travel), Float state = 32767 or – 32767.

The valve behavior to setpoint messages and the time guarding of RxPDO1 is configured in OD 0x1400.

RxPDO1 behavior

• OD 0x1400, sub 0x01 COB-ID: COB-ID to control the PVED
• OD 0x1400, sub 0x02 Transmission Type: Range: 0x00 to 0xF0 (synchronies, used together with Sync messages as trigger for sending PDO). Default: 0xFF event driven (asynchronies)
• OD 0x1400, sub 0x05 Event Timer: Timeout of the RPDO message

RxPDO2

The RxPDO2 is, by default, mapped to the following two process data inputs:

• Device Control Word (OD 0x6040)
• Device Mode (OD 0x6042)

Frame format

0x01 CAN controlled, 0x02 hand operational mode.

The valve behavior to setpoint messages and the time guarding of RxPDO2 is configured in OD 0x1401.

RxPDO2 behavior

• OD 0x1401, sub 0x01 COB-ID: COB-ID to control the PVED
• OD 0x1401, sub 0x02 Transmission Type: Range: 0x00 to 0xF0 (synchronies, used together with Sync messages as trigger for sending PDO). Default: 0xFF event driven (asynchronies)
• OD 0x1401, sub 0x05 Event Timer: Timeout of the RPDO message

Controlling a PVED using RxPDO1

The PVED can be controlled in one of two ways:

• Activating a single PVED with a single CANbus message
• For activating a single PVED, the RxPDO COB-ID must be COB-ID + PVED nodeID (default = 0x200 + nodeID/0x300 + nodeID for RxPDO1 and RxPDO2 respectively).
• For activating multiple PVEDs with a single message, they must all have the same COB-ID (default = 0x200/0x300 for RxPDO1 and RxPDO2 respectively) and be mapped to listen to a specific byte in the RxPDO that contains their setpoints.
• Creating a mapping that will activate multiple PVEDs with a single CANbus message

TxPDO1

The TxPDO1 is, by default, mapped to the following two process data outputs:

• Device Status Word, DSW (OD 0x6041)
• Vpoc Actual Value, Spool Position (OD 0x6301, sub 0x01)

Frame format

* Range: -16384 to 16384 (corresponding to -100 to 100% spool travel).

The behavior of TxPDO1 is configured in OD 0x1800.

TxPDO1 behavior

• OD 0x1800, sub 0x02 Transmission Type: Range: 0x00 to 0xF0 (synchronies, used together with Sync messages as trigger for sending PDO). Default: 0xFF event driven (asynchronies)
• OD 0x1800, sub 0x03 Inhibit time (used with synchronies transmission time): Minimum time between two consecutive TxPDO1
• OD 0x1800, sub 0x05 Transmission Time (used with synchronies transmission time): Maximum time between two consecutive TxPDO1

TxPDO2

The TxPDO2 is, by default, mapped to the following four process data outputs:

• Demand value (OD 0x6310)
• Manufacturer specific spool position actual value – 8bit (OD 0x3301)
• Manufacturer specific spool position actual inverted value – 8bit (OD 0x3302)
• Manufacturer specific spool position actual value – 16bit (OD 0x3304)

Frame format

TxPDO2 data

The behavior of TxPDO2 is configured in OD 0x1801.

TxPDO2 behavior

• OD 0x1801, sub 0x02 Transmission Type: Range: 0x00 to 0xF0 (synchronies, used together with Sync messages as trigger for sending PDO). Default: 0xFF event driven (asynchronies)
• OD 0x1801, sub 0x03 Inhibit time (used with synchronies transmission time): Minimum time between two consecutive TxPDO2
• OD 0x1801, sub 0x05 Transmission Time (used with synchronies transmission time): Maximum time between two consecutive TxPDO2

PDO Mapping

The following procedure is recommended for changing the mapping of a PDO. It makes use of SDO commands to perform the mapping.

1. Disable the PDO by setting PDO Parameter, Object Dictionary sub 0x01, bit 31 to 0x01
2. Disable mapping by setting PDO Mapping, Object Dictionary sub 0x00 to 0x00
3. Modify the mapping in PDO Mapping, Object Dictionary
4. Create the PDO by setting PDO Parameter, Object Dictionary sub 0x01, bit 31 to 0x00

PDO Mapping Example

The following example shows how to map vpoc_actual_value and PCB_temperature to TPDO1 for a PVED with nodeID = 0x20 to TxPDO1.

1. Disable TxPDO1

Response from PVED

2. Disable mapping

Response from PVED

3. Modify mapping: a) Map parameter vpoc_actual_value, 16bit (0x6301, sub 0x01)

Response from PVED

3. Modify mapping: b) Map parameter PCB_temperature, 16bit (0x3468, sub 0x00)

Response from PVED

3. Modify mapping: c) Map 2 entries (vpoc_actual_value and PCB_temperature)

Response from PVED

4. Create the TxPDO1 with new mapping

Response from PVED

Resulting new TxPDO1

Sync Message

The PVED uses the Sync message as trigger for sending TxPDO when transmission type is configured as Synchronies. Number of consecutive Sync messages between TxPDO transmitted is configured in TxPDO Object Dictionaries.

PVED-CC Heartbeat Protocol

The PVED supports heartbeat protocol for error control services. Heartbeat mechanism can be established by configuring the PVED as a heartbeat producer in OD 0x1017. Resolution is 10ms and value 0 will disable heartbeat producer.

Heartbeat frame format

Heartbeat data

Emergency Messages

Emergency messages are used to broadcast diagnostic codes to the CANbus network.

Emergency producer frame format

Emergency producer data

Severity level:

• 0x00 = Info
• 0x10 = Warning
• 0x20 = Critical
• 0x30 = Severe

Refer to the PVED-CC (CANopen) Diagnostics log on page 28 for more information on specific faults.

Emergency Severity Level

PVED Emergency Consumer

The PVED uses Emergency Consumer as emergency stop message from external sources. The Emergency consumer is configured in OD0x1028 and has 14 allowed slots.

Emergency consumer frame format

Emergency consumer data

Service Data Object (SDO)

SDO provide access to entries into the Object Dictionary.

SDO Command

SDO command frame format

SDO command data

SDO Response

SDO response frame format

SDO response data

List of Configurable Parameters

Configurable Parameters (continued)

* Only configurable via PVED Series 5 PLUS+1° Service Tool.

A graph shows Timeout as function of temperature.

After changing one or more parameters, the new data must be saved to the EEPROM with an SDO save command.

List of Read-Only Parameters

PVED-CC (CANopen) Diagnostics Log

The PVED-CC Series 5 CANopen contains a diagnostic log that saves occurrences of all faults listed below. The faults are transmitted onto the CANbus through EMCY messages upon occurrence, and previously active faults can be inquired through SDO message to the EDS. The complete list of active and previously active faults can be seen in the PLUS+1° Service Tool.

Faults

Diagnostic History

In addition to the diagnostic log, the PVED-CC Series 5 CANopen holds a record of the last 16 faults occurred. The faults are stored in a FIFO buffer. Besides the fault code, the history also contains more information on the behavior and state of the valve upon fault occurrence. The diagnostic history can be seen in the PLUS+1° Service Tool.

Operating time is logged every 6 minutes when the power to the PVED is ON

+ Temperature is either received through PGN: VFT or onboard PCB temperature sensor

Temperature Histogram

The PVED-CC Series 5 CANopen logs the temperature and time each 6 minutes. This temperature record is used to make a temperature histogram. The temperature used is the one received in the PGN: Vehicle Fluid Temperature. If no PGN:VFT is received, the PVED uses the onboard PCB temperature sensor. The Temperature Histogram can be seen in the PLUS+1 Service Tool.