PVED-CC series 5 CAN Open in guide

[Sam]

I'm new to Plus+1 and struggling quite a bit at the moment to work it all out.

I am trying to program a PVG32 valve bank with 8 PVED-CC series 5 CAN open actuators into a MC50-110 controller, they are mostly controlling cylinder functions on an off road machine. I have found a hardware block for the series 4 actuators, but cant seem to find anything for a series 5.
Is there such a block, or do you have to make your own?

Also is there anywhere that does training in the UK? I have done the online elearning course, but seem to have more questions than answers after it.

Any help or advice would be massively appreciated.

[FluidPowerTom]

I'd recommend giving it a try with the series 4 compliance block.  I wouldn't be surprised if it worked just as well.

The elearning is horribly outdated and probably does more harm than good.  That said, the development for Plus+1 takes place in Sweden, so there may be training opportunities fairly close by to you in the UK.  I'd recommend starting by asking your local distributor.

Cheerio

[Sam]

Ok, thank you very much i will give it a try.

I will have a word with our supplier to see about some training.

Thank you for your help.

[RogerM]

Hi Sam,

The PVED-CC function block is intended for use with the SAE J1939 protocol and the ISOBUS standard for flow control. When using the CANopen compliant PVED-CC actuators I would recommend employing the CANopen function block library and sending set point messages according to the CANopen standard (VPOC - Valve POsition Control: range -16384 to 16384 / -100% to 100% spool displacement) using TPDO (transmit process data object) communication. Use RPDO (receive process data object) to receive the actual spool position feedback message from the valve actuator (VPOC feedback [spool position]: range -16384 to 16384 corresponding to -100% to 100% spool displacement). Create an object dictionary for altering parameter settings via SDO (service data object) communication. Heartbeat messaging protocol can also be employed for monitoring the node communication state together with emergency messaging (EMCY) for node status using a high priority CAN identifier to indicate error situations. The PVED-CC is an EMCY message producer.   

I hope this helps.

Good luck.         

[G30RG3]

Help me out here and confirm / answer:

https://assets.danfoss.com/documents/149580/BC180386484705en-000608.pdf
After booting the PVE sends a "hello world"   0x700+NId,  message lenght 1 byte, Byte 0 = 0x00

I tell the PVE to wake up and go to work by sending 0x000 with 2 bytes of data, byte 0 = 0x01, Byte 1 = NId or 0x00 (to wake up all devices)

To go to work, I send the TPDO, cyclic @ f.i. 100ms:
A CAN message  0x200+NId, with  8 bytes of data. Bytes 2 and 3 should be VPOC, Bytes 4 to 7 are 0x00, but what is expected in Byte 0 & 1?
"dummy object" and an OD 0x3472 doesn't resolve in my memory. Is this discarded info that can be whatever i chose?

To request the actual spool position, do I send a request sync 0x80 message without data?
  And listen to Message  0x180+NId,  byte 2 and 3 if transmission type is set to Synchronous.
Or does the PVE always send a response after getting an new setpoint in event driven mode?

Data is always sent in a Least Significant Byte First?

[FStelzer]

Hi G30RG3,

Help me out here and confirm / answer:

https://assets.danfoss.com/documents/149580/BC180386484705en-000608.pdf
After booting the PVE sends a "hello world"   0x700+NId,  message lenght 1 byte, Byte 0 = 0x00


I tell the PVE to wake up and go to work by sending 0x000 with 2 bytes of data, byte 0 = 0x01, Byte 1 = NId or 0x00 (to wake up all devices)

To go to work, I send the TPDO, cyclic @ f.i. 100ms:
A CAN message  0x200+NId, with  8 bytes of data. Bytes 2 and 3 should be VPOC, Bytes 4 to 7 are 0x00, but what is expected in Byte 0 & 1?
"dummy object" and an OD 0x3472 doesn't resolve in my memory. Is this discarded info that can be whatever i chose

Do not forget to go through the Device State Machine of the valve (RPDO2). You have to send with ID 0x300+Node at Byte 0&1 the Device control words and in Byte 2 the device mode to get the valve activated.
So you have to send after the NMT message and start of the 0x200+NID following messages:

0x300+ Node 0x09 0x00 0x01
short time delay
0x300+ Node 0x0B 0x00 0x01
short time delay
0x300+ Node 0xFF 0x00 0x01

You can find the device states on page 9 of the technical informations.
After that the valve should be in device mode active and follow the setpoint from 0x200+NID. You don't need the dummy object - so you can send 0x00 permanent on Byte 0&1.

To request the actual spool position, do I send a request sync 0x80 message without data?
  And listen to Message  0x180+NId,  byte 2 and 3 if transmission type is set to Synchronous.
Or does the PVE always send a response after getting an new setpoint in event driven mode?

It depends which transmission type is selected (OD 0x1400, sub 0x02) - but I think the standard is event driven, so you don't have to send a sync message to get the 0x180+NID message.

Data is always sent in a Least Significant Byte First?

Yep, that's correct.

Regards,
FStelzer

[G30RG3]

Thanks FStelzer !

So I can expect something like this in a log: (I chose NodeId 0x10 (d16))

0x710 1 0x00                                                           Hello World
0x000 2 0x00 0x10                                                    NMT wake up
0x210 8 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00  First of the cyclic messages, autorepeat on 100ms
0x310 8 0x09 0x00 0x01 0x00 0x00 0x00 0x00 0x00  Command to go to Device state disabled
0x190 4 0x09 0x00 0x01 0x00                                  State Disabled; Spool position 1 response from device on device message
0x310 8 0x0B 0x00 0x01 0x00 0x00 0x00 0x00 0x00  Command to go to Device state Hold
0x190 4 0x0B 0x00 0x01 0x00                                  State Hold; Spool position 1 response from device on device message
0x210 8 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00  Second of the cyclic messages, autorepeat on 100ms
0x310 8 0xFF 0x00 0x01 0x00 0x00 0x00 0x00 0x00  Command to go to Device state Active
0x190 4 0xFF 0x00 0x01 0x00                                  State Active; Spool position 1 response from device on device message
0x210 8 0x00 0x00 0x64 0x06 0x00 0x00 0x00 0x00 Request to go to 10%
0x190 4 0xFF 0x00 0x11 0x00                                  State Active; Spool position 1%
0x210 8 0x00 0x00 0x64 0x06 0x00 0x00 0x00 0x00
0x190 4 0xFF 0x00 0x01 0x05                                  State Active; Spool position 8%
0x210 8 0x00 0x00 0xCE 0x0C 0x00 0x00 0x00 0x00 Request to go to 20%
0x190 4 0xFF 0x00 0xF1 0x06                                  State Active; Spool position 10%
...

[G30RG3]

0x300+ Node 0xFF 0x00 0x01

You can find the device states on page 9 of the technical informations.
After that the valve should be in device mode active and follow the setpoint from 0x200+NID. You don't need the dummy object - so you can send 0x00 permanent on Byte 0&1.

Regards,
FStelzer

0xFF or 0x0F, because 0b1111 isn't 0xFF

Where can I find what is behind the Device_Status_Word (TxPDO1 B1 and B0)

[FStelzer]

Hi!

The log you have posted looks good - that should work!

I've just take a look at a software where I control the PVED's and there I have send 0xFF on the first byte. I think it doesn't matter if you send 0xFF or 0x0F because maybe he only looks at the first 4 bits at this byte ...

The information for the device status word which is send out on the TxPDO1 of the valve should match with the device control word which you can find on page 9.

Regards,
FStelzer