Subsystem Application Generic Dual Path

Transcription

1 System Description Subsystem Application Generic Dual Path powersolutions.danfoss.com

2 Revision history Table of revisions Date Changed Rev April 2017 May 2016 The system application definition updated; unnecessary topics removed; and various updates Removed references to inactive Standard/Extended Range Liquid and Air Temperature Sensors literature; Updated to Engineering Tomorrow design October 2013 Converted to Danfoss layout CA April 2010 to April 2011 Various BA March 2010 First edition AA 2 Danfoss April AB en-US0401

3 Contents Overview About this document...4 OEM responsibility... 4 Concept and function... 5 Benefits...5 System configuration...6 System development tools... 7 Application hardware... 7 Software details...7 PLUS+1 GUIDE programmable...7 Application block... 9 Plug-ins... 9 Coordinated brake control...10 Pump and motor displacement phasing Downloading SSA software Application file...11 Sample application wiring diagram...12 Wiring diagram inputs Wiring diagram outputs Features/Options (parameters)...15 Plug-ins (parameters) Danfoss April AB en-US0401 3

4 Overview About this document This document provides general information about the Subsystem Application (SSA) software for use with Danfoss PLUS+1 microcontrollers and associated hydraulic and electronic products. In addition, it is a reference tool for vehicle OEM design, engineering, and service personnel. SSA software puts 40 years of Danfoss mobile machinery propel system experience at your fingertips. It is a fully worked out application software example, enabling faster time-to-market and improved performance and functionality for both new machine designs and model variants. PLUS+1 GUIDE programmability allows developers to modify the SSA according to their individual vehicle requirements. For control system developers programming in PLUS+1 GUIDE, this document along with relevant software files, user manuals, and other documents is included in the Application File and can be downloaded from Application software for microcontrollers on the Danfoss web site. OEM responsibility The OEM of a machine or vehicle in which Danfoss products are installed has the full responsibility for all consequences that might occur. Danfoss has no responsibility for any consequences, direct or indirect, caused by failures or malfunctions. Danfoss has no responsibility for any accidents caused by incorrectly mounted or maintained equipment. Danfoss does not assume any responsibility for Danfoss products being incorrectly applied or the system being programmed in a manner that jeopardizes safety. All safety critical systems shall include an emergency stop to switch off the main supply voltage for the outputs of the electronic control system. All safety critical components shall be installed in such a way that the main supply voltage can be switched off at any time. The emergency stop must be easily accessible to the operator. 4 Danfoss April AB en-US0401

5 Overview Concept and function The Generic Dual Path Subsystem Application () is designed to control hydrostatically propelled vehicles incorporating independent left and right side pump/motor propel systems. Steering is achieved by differential command signals, reducing the inside propel speed command while maintaining or increasing the outside propel speed command. The default drive and steering human machine interface (HMI) for the GDP application is a single XY joystick. Input for a hydrostatic braking/inching pedal is also provided. HMI and CAN signals, switch inputs, and sensor signals required for optimized tracking, track stall, antistall, and temperature derate are routed to a PLUS+1 application hardware microcontroller. The GDP application software conditions the HMI and sensor signals, mathematically combines them using control logic developed and tested by Danfoss, and provides command signals that the PLUS+1 controller outputs to the electronically controlled variable piston pumps. Flow from the pumps is directed to the hydraulic motors, whose displacement can be shifted to provide a wider range of optimized vehicle performance. GDP Subsystem Application Variable piston pumps 2. Variable motor 3. PLUS+1 microcontroller 4. Joystick kwa Benefits The is a fully integrated, dual path control system solution that s ready to be tailored to your vehicle requirements. The software is made up of validated component software blocks that greatly reduce vehicle testing time, provide responsive control and reduced project risk. The graphical application code can be modified with PLUS+1 GUIDE, using PLUS+1 Compliant products, such as sensors, pumps and motors. These PLUS+1 Compliant products are represented by functional software blocks. These blocks can be dragged, dropped and connected to modify the to accommodate vehicle characteristics that are different from those of the example application. Compliance blocks that are pre-programmed for CAN communication between joysticks and PLUS+1 controllers are particularly easy to modify within the application. Advanced control features and flexibility of plug-in design provide state of the art system performance. Pre-configured service pages are provided to set up the software and adjust parameters. Danfoss April AB en-US0401 5

6 Overview System configuration 6 Danfoss April AB en-US0401

7 System development tools PLUS+1 GUIDE (Graphical User Integrated Development Environment) is a desktop software development tool used to create and customize application software to specific vehicle requirements. PLUS+1 GUIDE s graphical editor allows easy development or modification of example applications by system engineers without formal software development training. Components and application blocks can be dragged from the component selector and dropped onto the programming workspace for time-saving system design in the PLUS+1 GUIDE environment, generating downloadable applications for all programmable PLUS+1 controllers and displays. PLUS+1 Service Tool uses the CG150 Interface Communicator for programming PLUS+1 controllers via CAN bus from a computer. Additionally, the PLUS+1 Service Tool features data logging capabilities with oscilloscope and bar graph displays used for diagnostics and tuning. Graphical design features allow development of specialized service pages to support applications created in PLUS+1 GUIDE. The CG150 CAN/USB Gateway Interface Communicator serves as the interface between PLUS+1 modules on the vehicle CAN network and a laptop USB port. Application hardware The SSA software may only be loaded onto keyed PLUS+1 application hardware. If the application hardware key matches the Danfoss application software key the PLUS+1 Service Tool permits the download to the target application hardware. Danfoss application key number is: PLUS+1 application hardware PLUS+1 microcontroller Application hardware description Part number MC pin controller MC pin controller MC pin controller MC pin controller MC pin controller MC pin controller MC pin controller MC pin controller MC088-01B 88 pin controller Software details PLUS+1 GUIDE programmable Application software blocks are PLUS+1 GUIDE programmable. Graphical application code contained in the PLUS+1 GUIDE programmable pages of the SSA can be modified by the user to tailor the application to the specific needs of the vehicle or PLUS+1 controllers that are different from the example provided by Danfoss. Danfoss April AB en-US0401 7

8 The InMap Block connects hardware input signals to the appropriate software application signals; programmability allows adaptation of the software to PLUS+1 microcontrollers with different pinout configurations. The Input Cond Block converts incoming raw signals from InMap into meaningful command values; programmability allows use of sensors and input devices other than the ones used in the example software. Access to GDP graphical source code is provided for the following operator input devices so they can be modified if required: Propel joystick inputs for steering and speed Safety lockouts Counter-rotate switch Throttle position Calibrate switch Decelerator/inch pedal Brake input (can be combined with decelerator/inch pedal) Max speed/creep lever/switch Mode switch (transport, work, auto reverse) Transmission of engine speed command over CAN The Fault Block receives signal reports and manages corresponding actions, such as function disabling, fault recording and LED blink code errors; programmability allows tailoring of fault modes to specific vehicle design and shut down behavior characteristics. The Calibration Block manages scaling of sensor inputs and outputs; programmability allows use of alternative calibration strategies. The Output Drivers Block converts percentage command signals into the corresponding pump and motor output currents; programmability allows connection to a range of electrohydraulic pump and motor actuators. Access to GDP graphical source code is provided for the following operator output devices so they can be modified if required: Pump displacement command Motor displacement command Back-up alarm command Brake solenoid command (optional) The OutMap Block routes current output commands to the associated output pins; like input mapping, programmability here allows adaptation of the software to microcontrollers with different pin-out configurations. 8 Danfoss April AB en-US0401

9 Software Log Functions page The Software Log Functions page shows a high-level signal flow from the inputs to the outputs as well as the signal status. Additional pages for configuring, tuning, calibration, and setting parameters are provided. Application block The software core functionality converts steering and propel speed input commands into left and right speed commands. The following advanced software features are managed in the application block: Steering is infinitely variable from straight tracking, to pivot steer, to full counter-rotate, in either direction. Steering is accomplished by decreasing the speed of the inside track. A percentage of this decrease, configurable from 0% to 100%, can be added to the outer track for differential steering. Typically, a crawler would use 0% and a paver would use 100%. Plug-ins The Application Block accepts optional plug-in modules. Plug-ins provide design flexibility by allowing enhanced features or performance. They may be used or deleted to conserve code space. Basic dual path control functionality is preserved by replacing plug-ins with jumpers. The Tracker plug-in uses closed loop control to correct errors caused by uneven loading, hydraulic volumetric efficiencies, and calibration disparity, eliminating the need for operators to make small continuous steering corrections so operator can concentrate on bucket or blade operations. The Antistall plug-in monitors engine rpm, and reduces the propel command for engine recovery, eliminating need for operator to make propel speed adjustments under varying machine loads. The Trackstall plug-in works in conjunction with antistall to maintain motor torque, improving ground engagement. Danfoss April AB en-US0401 9

10 Propel output reduction is limited. The tracks are kept loaded when the machine is undergoing heavy loading that could cause hydraulic relief valves to open, or propel command to be too small. The Temperature Derate plug-in reduces propel command relative to high temperatures to avoid damage to hydraulic components. Application Block service page The Application Block service page shows signal flow from the inputs to the outputs of the application block. Additional service pages for each plug-in are also provided. Coordinated brake control Coordinated application of propel command with brakes, allowing: Reduced possibility of propel driving through brakes when stopping or starting. Full use of hydrostatic braking when stopping to minimize brake wear. Electric brake actuation output control to provide hill hold function with track speed inputs. Pump and motor displacement phasing Two displacement and variable displacement motors are supported by automatically coordinating displacement commands to each pair of hydraulic pumps with hydraulic motors, providing: Full speed range capability. Maximum torque to the ground via tracks with minimum hydraulic pressure for given speed command. Automatic hydraulic motor down shifting when engine loading exceeds desired levels with antistall function. 10 Danfoss April AB en-US0401

11 Downloading SSA software PLUS+1 GUIDE license holders may visit the Danfoss web site, download the application file, and install the enclosed software and documentation on their hard drive. The application file contents are downloaded to your computer by clicking on the SSA exe.zip link, clicking through the user acceptance agreement and installing the contents in the folder you specify on your hard drive. Application file Application file for SSA software products contains all SSA graphical source code files, all required service pages software files, and all software product documentation and user manuals associated with the SSA. The Application file for the includes the following software files: Software Installer Executable.EXE Subsystem Application Software.P1P Vxxx Application Block Software.SCS Vxxx AntiStall Plug-in Software.SCS Vxxx Trackstall Plug-in Software.SCS Vxxx Tracker Plug-in Software Block.SCS Vxxx Temperature Derate Plug-in Software.SCS Vxxx Release Notes.HTML Danfoss April AB en-US

12 Sample application wiring diagram Sample application wiring diagram The sample application wiring diagram has been designed to operate on the 50 pin PLUS+1 MC microcontroller, but the can be modified to run on other PLUS+1 application hardware modules. C1 : 01 C1 : 02 C1 : 03 C1 : 04 C1 : 05 C1 : 06 C1 : 07 CAN 1* for Service Tool Transport Mode AutoRvs Mode + - Battery Battery (-) Battery (+) CAN 1 High CAN 1 Low Analog Input/CAN 1 shield Digital Input Digital Input 5 Vdc Sensor (+) Sensor (-) Digital Input Digital Input Digital Input Digital Input Digital Input/Analog Input Digital Input/Analog Input Digital Input/Analog Input Digital Input/Analog Input Digital Input/Analog Input/FreqIN Digital Input/Analog Input/FreqIN CAN 2 High CAN 2 Low Analog Input/CAN 2 shield Digital Input/Analog Input/FreqIN Digital Input/Analog Input/FreqIN Digital Input/Analog Input/FreqIN Digital Input/Analog Input/FreqIN Analog Input/Temp/Rheo Analog Input/Temp/Rheo Analog Input/Temp/Rheo Analog Input/Temp/Rheo C1: 08 C1 : 09 C1 : 10 C1: 12 C1 : 13 C1 : 16 C1 : 18 C1 : 20 C1 : 21 C1 : 22 C1 : 23 C1 : 24 C1 : 11 C1 : Rv cw Rv Rv cw Rv Brake Pedal Run Switch Stop Switch Counter-Rotate Switch Decel Pedal CAN 2* for Engine PPU Left Motor Speed PPU Right Motor Speed Neutral Switch Propel Digital Output 31 Digital Output 32 Digital Output Digital Output/PVG Power 1 Digital Output/PVG Power 2 Digital Output/PVG Power C1 : 28 Rv cw Rv Steer PWMOUT/Digital Out/PVG 1 OUT PWMOUT/Digital Out/PVG 1 OUT PWMOUT/Digital Out/PVG 1 OUT PWMOUT/Digital Out/PVG 1 OUT PWMOUT/Digital Out/PVG 2 OUT PWMOUT/Digital Out/PVG 2 OUT PWMOUT/Digital Out/PVG 2 OUT PWMOUT/Digital Out/PVG 2 OUT PWMOUT/Digital Out/PVG 3 OUT PWMOUT/Digital Out/PVG 3 OUT Battery (+) Battery (+) Battery (+) Battery (+) Sensor (+) C1: 2 9 C1 : 30 Sensor (-) C1: C1 : 31 Rv cw Rv Sauer-Danfoss Forward Reverse D C B Throttle Hydraulic Oil Temperature High Temperature Indicator A Left pump EDC C1 : 37 C1 : 38 C1 : 39 Left Motor C1 : 40 Brake Coil Forward Reverse D C B A Right pump EDC C1 : 42 C1 : 43 C1 : 44 Right Motor *CAN termination resistors not shown. C1 : 45 Backup Alarm kwa Danfoss April AB en-US0401

13 Wiring diagram inputs Type Feature Description PLUS+1 Service Tool configurable Functional features PLUS+1 GUIDE programmable Transport Mode Switch Determines if high range (with limited max speed) can be enabled or not. No AutoRvs Mode Switch If the switch is not connected, Transport Mode is disabled. Should not be active at the same time as AutoRvs Mode Switch. Determines if AutoRvs Mode is enabled or not (which is work mode in forward direction and transport mode in reverse). If the switch is not connected then AutoRvs Mode is not available. Should not be active at the same time as the transport mode switch. Brake Pedal Switch 1) Interlock to momentarily disable propel when brake active. No Neutral Switch 2) Apply brake and brake release delay (input to). Used to cross-check joystick against neutral switch. If the switch and joystick disagree, a fault will occur. Run Switch 1) Used in interlock to enable calibration. No 2) Used in interlock to enable propel. If the switch is not connected, propel will be disabled and the brake will not release. Stop Switch 1) Used in interlock to enable calibration. No Counter-Rotate Switch Decel Pedal 2) Used in interlock to enable propel. This switch should also have the opposite value as the run switch. If not connected the user can not enable calibration mode. Used to enable counter-rotate. If the switch is not connected then counter-rotate will be disabled. This pedal is used to proportionally reduce the throttle and propel commands. The decel pedal utilizes the Sensor_2Pt_AC function block. CAN 2 (High) Engine This port is used for communication with the engine. No CAN 2 (Low) Engine This port is used for communication with the engine. No CAN 2 (Shield) Engine This port is used for communication with the engine. No Left Motor Speed 1) Used during Propel calibration. No 2) Tracker plug-in. 3) Hill-Hold. If not connected cannot calibrate propel, or use the tracker or hill-hold functions. The software uses SDT speed sensor PLUS+1 compliance block (5V regulated power supply to sensor, with wire fault detection capability). Right Motor Speed 1) Used during propel calibration. No 2) Tracker plug-in. 3) Hill-Hold. If not connected cannot calibrate propel, or use the tracker or hill-hold functions. The software uses SDT speed sensor PLUS+1 compliance block. Propel Command No Steer Command No Throttle Command This provides engine throttle command. No Hydraulic Oil Temperature For use in temperature derate plug-in. No If a temperature sensor is not connected, temperature derate will not be available. The software uses the Danfoss liquid temperature sensor compliance block. No No No No Danfoss April AB en-US

14 Wiring diagram outputs Type Feature Description PLUS+1 Service Tool configurable Functional features High Temperature Indicator Action for temperature derate is to reduce propel at high fluid temperature. Dash light will turn on to indicate vehicle is going slower because of temperature derate. No PLUS+1 GUIDE Programmable Left Pump EDC - FWD Output for left pump in the forward direction. No The H1_12V EDC PLUS+1 pump compliance block is used. Left Pump EDC - REV Output for left pump in the reverse direction. Left Motor Proportional Output The H1_12V EDC PLUS+1 pump compliance block is used. Proportional output for motor displacement control. No The H1B_12V_L PLUS+1 motor compliance block is used in GDP subsystem for the motor. Brake Coil Output to release the brake. No When the coil is energized by controller supply voltage, the brake is released. Right Pump EDC - FWD Output for right pump in the forward direction. No The H1_12V EDC pump PLUS+1 compliance block is used. Right Pump EDC - REV Output for right pump in the reverse direction. No Right Motor Proportional Output The H1_12V EDC pump PLUS+1 compliance block is used. Proportional output for motor displacement control. No The H1B_12V_L motor PLUS+1 compliance block is used. Backup Alarm Output to activate backup alarm uses the controller supply voltage. No 14 Danfoss April AB en-US0401

15 Features/Options (parameters) Type Feature Description PLUS+1 Service Tool configurable Functional features PLUS+1 GUIDE programmable Steering Profiling Modes Defines steering input to output profile (8 point profile). Steering Pivot Point Definition Steering Pivot Point Deadband Definition Three options: Linear, fixed profile or changes with propel command. Defines steering pivot point percentage. Defines steering pivot point deadband percentage. Propel Input Profiling Defines propel input to output profile. An 8 point profile is used. Brake Application Delay Defines the delay before the brake is applied after commands reach zero. Brake Release Delay Hill Hold Defines time to wait after the brake solenoid is energized before propel can begin. Defines when to apply the park brake upon detection of uncommanded movement. Motor PPU Setup Defines pulses/reverse and fault detection parameters. CAN Engine Setup Defines engine rpm range, ramping, and fault handling. Application Block Defines propel/steering ramping, soft start, soft end and activates/defines differential steering. Propel Calibration Defines boundaries for calibration. Pump/Motor Control Defines motor start point and expected maximum calibration values. No Pump/Motor Currents This allows the user to manually set current range values. No Start Calibration Page Start page for the machine calibration sequence. For the GDP Subsystem all plug-ins are included in the software (each plug-in can be enabled or disabled) No Plug-ins (parameters) Type Feature Description PLUS+1 Service Tool configurable PLUS+1 GUIDE programmable Plug-in Antistall User can enable or disable antistall or define antistall parameters. No Temperature Derate User can enable or disable temperature derate or define temperature derate parameters. Tracker User can enable or disable the tracker or define tracker parameters. No Trackstall Define Trackstall min command parameters. No No Danfoss April AB en-US

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19 Products we offer: Bent Axis Motors Closed Circuit Axial Piston Pumps and Motors Displays Electrohydraulic Power Steering Electrohydraulics Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electronic components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh operating conditions of the mobile off-highway market. Building on our extensive applications expertise, we work closely with our customers to ensure exceptional performance for a broad range of off-highway vehicles. We help OEMs around the world speed up system development, reduce costs and bring vehicles to market faster. Danfoss Your Strongest Partner in Mobile Hydraulics. Hydraulic Power Steering Go to for further product information. Integrated Systems Wherever off-highway vehicles are at work, so is Danfoss. We offer expert worldwide support for our customers, ensuring the best possible solutions for outstanding performance. And with an extensive network of Global Service Partners, we also provide comprehensive global service for all of our components. Joysticks and Control Handles Microcontrollers and Software Open Circuit Axial Piston Pumps Orbital Motors Please contact the Danfoss Power Solution representative nearest you. PLUS+1 GUIDE Proportional Valves Sensors Steering Transit Mixer Drives Comatrol Local address: Turolla Hydro-Gear Daikin-Sauer-Danfoss Danfoss Power Solutions (US) Company 2800 East 13th Street Ames, IA 50010, USA Phone: Danfoss Power Solutions GmbH & Co. OHG Krokamp 35 D Neumünster, Germany Phone: Danfoss Power Solutions ApS Nordborgvej 81 DK-6430 Nordborg, Denmark Phone: Danfoss Power Solutions Trading (Shanghai) Co., Ltd. Building #22, No Jin Hai Rd Jin Qiao, Pudong New District Shanghai, China Phone: Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved. Danfoss April AB en-US0401