PLUS+1™ Hardware > PLUS+1™ Compliant Hardware

PVED-CC series 5 CAN Open in guide

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FStelzer:
Hi G30RG3,


--- Quote from: G30RG3 on February 13, 2021, 11:32:23 PM ---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

--- End quote ---

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.


--- Quote ---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?

--- End quote ---

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.


--- Quote ---Data is always sent in a Least Significant Byte First?

--- End quote ---

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:

--- Quote from: FStelzer on February 16, 2021, 08:16:10 AM ---
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

--- End quote ---

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

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