Generic Dual Path - Danfoss€¦ · The Generic Dual Path Subsystem Application (GDP SSA) is designed to control hydrostatically propelled vehicles incorporating independent left

System Description

Subsystem ApplicationGeneric Dual Path

powersolutions.danfoss.com

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Revision history Table of revisions

Date Changed Rev

April 2017 The system application definition updated; unnecessary topics removed; and variousupdates

0401

May 2016 Removed references to inactive Standard/Extended Range Liquid and AirTemperature Sensors literature; Updated to Engineering Tomorrow design

0301

October 2013 Converted to Danfoss layout CA

April 2010 to April 2011 Various BA

March 2010 First edition AA

System DescriptionGDP SSA

2 | © Danfoss | April 2017 11058298 | AB00000004en-US0401

OverviewAbout this document......................................................................................................................................................................4OEM responsibility........................................................................................................................................................................... 4Concept and function..................................................................................................................................................................... 5Benefits.................................................................................................................................................................................................5System configuration......................................................................................................................................................................6

Control systemSystem development tools........................................................................................................................................................... 7Application hardware..................................................................................................................................................................... 7Software details.................................................................................................................................................................................7

PLUS+1® GUIDE programmable.............................................................................................................................................7Application block........................................................................................................................................................................ 9Plug-ins........................................................................................................................................................................................... 9Coordinated brake control....................................................................................................................................................10Pump and motor displacement phasing......................................................................................................................... 10Downloading SSA software.................................................................................................................................................. 11Application file ..........................................................................................................................................................................11

Sample application wiring diagram........................................................................................................................................12Wiring diagram inputs................................................................................................................................................................. 13Wiring diagram outputs.............................................................................................................................................................. 14Features/Options (parameters).................................................................................................................................................15Plug-ins (parameters)................................................................................................................................................................... 15


Contents

© Danfoss | April 2017 11058298 | AB00000004en-US0401 | 3

About this document

This document provides general information about the GDP SSA Subsystem Application (SSA) softwarefor use with Danfoss PLUS+1® microcontrollers and associated hydraulic and electronic products. Inaddition, 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 isa fully worked out application software example, enabling faster time-to-market and improvedperformance and functionality for both new machine designs and model variants. PLUS+1® GUIDEprogrammability 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 relevantsoftware files, user manuals, and other documents is included in the Application File and can bedownloaded 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 allconsequences 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 away that the main supply voltage can be switched off at any time. The emergency stop must be easilyaccessible to the operator.


Overview


http://powersolutions.danfoss.com/products/plus-1-guide/application-software-for-microcontrollers/

Concept and function

The Generic Dual Path Subsystem Application (GDP SSA) is designed to control hydrostatically propelledvehicles incorporating independent left and right side pump/motor propel systems. Steering is achievedby differential command signals, reducing the inside propel speed command while maintaining orincreasing the outside propel speed command.

The default drive and steering human machine interface (HMI) for the GDP application is a single XYjoystick. 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, anti-stall, and temperature derate are routed to a PLUS+1® application hardware microcontroller.

The GDP application software conditions the HMI and sensor signals, mathematically combines themusing 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 awider range of optimized vehicle performance.

GDP Subsystem Application

kwa1385299678353

12

3

4

2

1. Variable piston pumps2. Variable motor3. PLUS+1® microcontroller4. Joystick

Benefits

The GDP SSA is a fully integrated, dual path control system solution that’s ready to be tailored to yourvehicle requirements. The software is made up of validated component software blocks that greatlyreduce 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 bedragged, dropped and connected to modify the GDP SSA to accommodate vehicle characteristics thatare 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.


Overview


System configuration


Overview


System development tools

PLUS+1® GUIDE (Graphical User Integrated Development Environment) is a desktop softwaredevelopment 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 bysystem engineers without formal software development training.

Components and application blocks can be dragged from the component selector and dropped onto theprogramming workspace for time-saving system design in the PLUS+1® GUIDE environment, generatingdownloadable applications for all programmable PLUS+1® controllers and displays.

PLUS+1® Service Tool uses the CG150 Interface Communicator for programming PLUS+1® controllers viaCAN bus from a computer. Additionally, the PLUS+1® Service Tool features data logging capabilities withoscilloscope and bar graph displays used for diagnostics and tuning. Graphical design features allowdevelopment 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® moduleson 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 applicationhardware key matches the Danfoss application software key the PLUS+1® Service Tool permits thedownload to the target application hardware.

Danfoss application key number is: 10106603

PLUS+1® application hardware

PLUS+1® microcontroller Application hardware description Part number

MC024-014 24 pin controller 11054442








MC088-01B 88 pin controller 11071592

Software details

PLUS+1® GUIDE programmable

Application software blocks are PLUS+1® GUIDE programmable. Graphical application code contained inthe PLUS+1® GUIDE programmable pages of the SSA can be modified by the user to tailor the applicationto the specific needs of the vehicle or PLUS+1® controllers that are different from the example providedby Danfoss.


Control system


• 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 pin-out 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 examplesoftware.

• Access to GDP graphical source code is provided for the following operator input devices so they canbe 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 functiondisabling, fault recording and LED blink code errors; programmability allows tailoring of fault modesto specific vehicle design and shut down behavior characteristics.

• The Calibration Block manages scaling of sensor inputs and outputs; programmability allows use ofalternative calibration strategies.

• The Output Drivers Block converts percentage command signals into the corresponding pump andmotor output currents; programmability allows connection to a range of electrohydraulic pump andmotor actuators. Access to GDP graphical source code is provided for the following operator outputdevices 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 inputmapping, programmability here allows adaptation of the software to microcontrollers with differentpin-out configurations.


Control system


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. Additionalpages 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 rightspeed 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, acrawler 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 allowingenhanced features or performance. They may be used or deleted to conserve code space. Basic dual pathcontrol 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 smallcontinuous 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, improvingground engagement.


Control system


‒ Propel output reduction is limited.

‒ The tracks are kept loaded when the machine is undergoing heavy loading that could causehydraulic relief valves to open, or propel command to be too small.

• The Temperature Derate plug-in reduces propel command relative to high temperatures to avoiddamage 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 pagesfor 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 coordinatingdisplacement 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 speedcommand.

• Automatic hydraulic motor down shifting when engine loading exceeds desired levels with antistallfunction.


Control system


Downloading SSA software

PLUS+1® GUIDE license holders may visit the Danfoss web site, download the application file, and installthe 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 onyour hard drive.

Application file

Application file for SSA software products contains all SSA graphical source code files, all required servicepages software files, and all software product documentation and user manuals associated with the SSA.

The Application file for the GDP SSA includes the following software files:

Software Installer Executable .EXE 11079203

Subsystem Application Software .P1P 70037315Vxxx

Application Block Software .SCS 70024851Vxxx

AntiStall Plug-in Software .SCS 70024853Vxxx

Trackstall Plug-in Software .SCS 70024855Vxxx

Tracker Plug-in Software Block .SCS 70024852Vxxx

Temperature Derate Plug-in Software .SCS 70024853Vxxx

Release Notes .HTML — —


Control system


Sample application wiring diagram

The GDP SSA sample application wiring diagram has been designed to operate on the 50 pin PLUS+1®

MC050-112 microcontroller, but the GDP SSA can be modified to run on other PLUS+1® applicationhardware modules.

Sample application wiring diagram

Sensor (-)Sensor (+)

C1 : 06

C1 : 31

Steer

Rv

Rv

cw

Rv

Rv

cw

Rv

Rv

cw

PropelC1 : 27

C1 : 28

C1 : 37

C1 : 38

C1 : 45

C1 : 40

C1 : 07

C1 : 44

C1 : 39

C1 : 10

C1 : 18

C1: 2 9

C1 : 11

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

31

50

C1 : 01

C1 : 02

C1 : 03

C1 : 04

C1 : 05

C1 : 23

C1 : 24

134

134

C1: 08

C1 : 09

C1 : 42

C1 : 43

Run SwitchC1: 12

C1 : 13

C1 : 16

C1 : 20

C1 : 21

C1 : 22

C1 : 30

C1: 47- 50

Battery (-)

CAN 1 High

CAN 1 Low

CAN 2 High

CAN 2 Low

Digital Input

Digital Input

5 Vdc Sensor (+)

Sensor (-)

Digital Input

Digital Input

Digital Input

Digital Input

Digital Input/Analog Input

Digital Input/Analog Input/FreqIN






Digital Output

Digital Output

Digital Output

Digital Output/PVG Power 1



Analog Input/CAN 2 shield

Analog Input/Temp/Rheo







Analog Input/CAN 1 shield

Battery (+)

Battery (+)

Battery (+)

Battery (+)

Battery (+)

PWMOUT/Digital Out/PVG 1 OUT










CAN 1*for Service Tool

Transport Mode

AutoRvs Mode

Brake Pedal

Stop Switch

Counter-Rotate Switch

Decel Pedal

CAN 2*for Engine

PPU Left Motor Speed

PPU Right Motor Speed

Neutral Switch

Throttle

Hydraulic Oil Temperature

Sauer-Danfoss1090173

High Temperature Indicator

Left pump EDC

Right pump EDC

Left Motor

Right Motor

Backup Alarm

Forward Reverse

Forward Reverse

CD AB

CD AB

Brake Coil

Battery

*CAN termination resistors not shown.

Rv

Rv

cw

+ -

kwa1385299701955


Control system


Wiring diagram inputs

Type Feature Description PLUS+1®

Service Toolconfigurable

PLUS+1®

GUIDEprogrammable

Functionalfeatures

Transport Mode Switch Determines if high range (with limited max speed) can be enabled or not. No Yes

If the switch is not connected, Transport Mode is disabled.

Should not be active at the same time as AutoRvs Mode Switch.

AutoRvs Mode Switch Determines if AutoRvs Mode is enabled or not (which is work mode inforward direction and transport mode in reverse).

No Yes

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 Yes

2) Apply brake and brake release delay (input to).

Neutral Switch Used to cross-check joystick against neutral switch. If the switch andjoystick disagree, a fault will occur.

No Yes

Run Switch 1) Used in interlock to enable calibration. No Yes

2) Used in interlock to enable propel.

If the switch is not connected, propel will be disabled and the brake willnot release.

Stop Switch 1) Used in interlock to enable calibration. No Yes

2) Used in interlock to enable propel.

This switch should also have the opposite value as the run switch. If notconnected the user can not enable calibration mode.

Counter-Rotate Switch Used to enable counter-rotate. If the switch is not connected thencounter-rotate will be disabled.

No Yes

Decel Pedal This pedal is used to proportionally reduce the throttle and propelcommands. The decel pedal utilizes the Sensor_2Pt_AC function block.

No Yes

CAN 2 (High) Engine This port is used for communication with the engine. No Yes

CAN 2 (Low) Engine This port is used for communication with the engine. No Yes

CAN 2 (Shield) Engine This port is used for communication with the engine. No Yes

Left Motor Speed 1) Used during Propel calibration. No Yes

2) Tracker plug-in.

3) Hill-Hold.

If not connected cannot calibrate propel, or use the tracker or hill-holdfunctions.

The software uses SDT speed sensor PLUS+1® compliance block (5Vregulated power supply to sensor, with wire fault detection capability).

Right Motor Speed 1) Used during propel calibration. No Yes

2) Tracker plug-in.

3) Hill-Hold.

If not connected cannot calibrate propel, or use the tracker or hill-holdfunctions.

The software uses SDT speed sensor PLUS+1® compliance block.

Propel Command No Yes

Steer Command No Yes

Throttle Command This provides engine throttle command. No Yes

Hydraulic OilTemperature

For use in temperature derate plug-in. No Yes

If a temperature sensor is not connected, temperature derate will not beavailable.

The software uses the Danfoss liquid temperature sensor complianceblock.


Control system


Wiring diagram outputs



PLUS+1®

GUIDEProgrammable

Functionalfeatures

High TemperatureIndicator

Action for temperature derate is to reduce propel at high fluidtemperature.

No Yes

Dash light will turn on to indicate vehicle is going slower because oftemperature derate.

Left Pump EDC - FWD Output for left pump in the forward direction. No Yes

The H1_12V EDC PLUS+1® pump compliance block is used.

Left Pump EDC - REV Output for left pump in the reverse direction. — Yes

The H1_12V EDC PLUS+1® pump compliance block is used.

Left Motor ProportionalOutput

Proportional output for motor displacement control. No Yes

The H1B_12V_L PLUS+1® motor compliance block is used in GDPsubsystem for the motor.

Brake Coil Output to release the brake. No Yes

When the coil is energized by controller supply voltage, the brake isreleased.

Right Pump EDC - FWD Output for right pump in the forward direction. No Yes

The H1_12V EDC pump PLUS+1® compliance block is used.

Right Pump EDC - REV Output for right pump in the reverse direction. No Yes

The H1_12V EDC pump PLUS+1® compliance block is used.

Right Motor ProportionalOutput

Proportional output for motor displacement control. No Yes

The H1B_12V_L motor PLUS+1® compliance block is used.

Backup Alarm Output to activate backup alarm uses the controller supply voltage. No Yes


Control system


Features/Options (parameters)



PLUS+1®

GUIDEprogrammable

Functionalfeatures

Steering Profiling Modes Defines steering input to output profile (8 point profile). Yes Yes

Three options: Linear, fixed profile or changes with propel command.

Steering Pivot PointDefinition

Defines steering pivot point percentage. Yes Yes

Steering Pivot PointDeadband Definition

Defines steering pivot point deadband percentage. Yes Yes

Propel Input Profiling Defines propel input to output profile. Yes Yes

An 8 point profile is used.

Brake Application Delay Defines the delay before the brake is applied after commands reach zero. Yes Yes

Brake Release Delay Defines time to wait after the brake solenoid is energized before propelcan begin.

Yes Yes

Hill Hold Defines when to apply the park brake upon detection of uncommandedmovement.

Yes Yes

Motor PPU Setup Defines pulses/reverse and fault detection parameters. Yes Yes

CAN Engine Setup Defines engine rpm range, ramping, and fault handling. Yes Yes

Application Block Defines propel/steering ramping, soft start, soft end and activates/definesdifferential steering.

Yes No

Propel Calibration Defines boundaries for calibration. Yes Yes

Pump/Motor Control Defines motor start point and expected maximum calibration values. Yes No

Pump/Motor Currents This allows the user to manually set current range values. Yes No

Start Calibration Page Start page for the machine calibration sequence. Yes Yes

For the GDP Subsystem all plug-ins are included in the software (each plug-in can be enabled or disabled)

Plug-ins (parameters)



PLUS+1®

GUIDEprogrammable

Plug-in Antistall User can enable or disable antistall or define antistall parameters. Yes No

Temperature Derate User can enable or disable temperature derate or define temperaturederate parameters.

Yes No

Tracker User can enable or disable the tracker or define tracker parameters. Yes No

Trackstall Define Trackstall min command parameters. Yes No


Control system








Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic andelectronic components. We specialize in providing state-of-the-art technology and solutionsthat excel in the harsh operating conditions of the mobile off-highway market. Building onour extensive applications expertise, we work closely with our customers to ensureexceptional performance for a broad range of off-highway vehicles.

We help OEMs around the world speed up system development, reduce costs and bringvehicles to market faster.

Danfoss – Your Strongest Partner in Mobile Hydraulics.

Go to www.powersolutions.danfoss.com for further product information.

Wherever off-highway vehicles are at work, so is Danfoss. We offer expert worldwide supportfor our customers, ensuring the best possible solutions for outstanding performance. Andwith an extensive network of Global Service Partners, we also provide comprehensive globalservice for all of our components.

Please contact the Danfoss Power Solution representative nearest you.

Local address:

Danfoss Power Solutions GmbH & Co. OHGKrokamp 35D-24539 Neumünster, GermanyPhone: +49 4321 871 0

Danfoss Power Solutions ApSNordborgvej 81DK-6430 Nordborg, DenmarkPhone: +45 7488 2222

Danfoss Power Solutions (US) Company2800 East 13th StreetAmes, IA 50010, USAPhone: +1 515 239 6000

Danfoss Power Solutions Trading(Shanghai) Co., Ltd.Building #22, No. 1000 Jin Hai RdJin Qiao, Pudong New DistrictShanghai, China 201206Phone: +86 21 3418 5200

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 productsalready 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 2017 11058298 | AB00000004en-US0401

Products we offer:

• Bent Axis Motors

• Closed Circuit Axial PistonPumps and Motors

• Displays

• Electrohydraulic PowerSteering

• Electrohydraulics

• Hydraulic Power Steering

• Integrated Systems

• Joysticks and ControlHandles

• Microcontrollers andSoftware

• Open Circuit Axial PistonPumps

• Orbital Motors

• PLUS+1® GUIDE

• Proportional Valves

• Sensors

• Steering

• Transit Mixer Drives

Comatrolwww.comatrol.com

Turolla www.turollaocg.com

Hydro-Gearwww.hydro-gear.com

Daikin-Sauer-Danfosswww.daikin-sauer-danfoss.com

Documents

Generic Dual Path - Danfoss€¦ · The Generic Dual Path Subsystem Application (GDP SSA) is designed to control hydrostatically propelled vehicles incorporating independent left