Technical Information

Passive Force Feedback Electric Steering Wheel Basepowersolutions.danfoss.com

Technical Information
e-Wheel 100
Revision history

Table of revisions
Date

ChangedRev

January 2020

Second Edition : Corrected RPM operating speed

0102

September 2019

First Edition

0101© 2019 Danfoss A/S. All rights reserved
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE and Sauer-Danfoss are trademarks of Danfoss A/S.

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e-Wheel 100
Table of Contents
Literature References ...................................................................................................................................................................... 4
OEM responsibility ........................................................................................................................................................................... 5
Introduction ..................................................................................................................................................................................... 6
e-Wheel 100 ......................................................................................................................................................................................................................................6
Features of e-Wheel .......................................................................................................................................................................................................................6
Benefits of e-Wheel ........................................................................................................................................................................................................................7
e-Wheel Safety Functions ............................................................................................................................................................................................................ 7
Application Example ......................................................................................................................................................................................................................7
Different steering wheel sizes .................................................................................................................................................................................................... 9e-Wheel Torque Control Algorithms ............................................................................................................................................10
Information Flow Block Diagram.............................................................................................................................................................................................10
Graphical Representation of Torque featuring various control algorithms ............................................................................................................11
End-Stop Torque Control ...........................................................................................................................................................................................................12
Base Torque Control.....................................................................................................................................................................................................................12
RPM Torque Control .....................................................................................................................................................................................................................12
Warning Control Torque.............................................................................................................................................................................................................14
Vehicle Speed Torque Control .................................................................................................................................................................................................15
Technical Data ................................................................................................................................................................................16
Mechanical characteristics .........................................................................................................................................................................................................16
Electrical characteristics ..............................................................................................................................................................................................................16
CAN (Controller Area Network) ................................................................................................................................................................................................16
Connector type and Pin Configuration .................................................................................................................................................................................16
Environmental characteristics ..................................................................................................................................................................................................17
Functional Safety...........................................................................................................................................................................................................................17
Communication Protocol ..............................................................................................................................................................18
Messages from e-Wheel to steering controller [AUX_STW_P and AUX_STW_R] ...................................................................................................19
Messages from Vehicle speed sensor to steering controller and to e-Wheel [VSP_P and VSP_R] ..................................................................20
Messages from steering controller to e-Wheel ..................................................................................................................................................................21
Installations ....................................................................................................................................................................................25
Dimensions ......................................................................................................................................................................................................................................25
Instructions ......................................................................................................................................................................................................................................25
Variant and ordering specifications .............................................................................................................................................26
e-Wheel MMC .................................................................................................................................................................................................................................26
Code Numbers ...............................................................................................................................................................................................................................26
Variants codes for e-Wheel MMC ............................................................................................................................................................................................27

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e-Wheel 100
Literature References
Purpose of the document
This document describes the technical specifications and features’ information of the e-Wheel,
applied with Danfoss electro-hydraulic steering valves and steering controller.
References
Literature

Type

Reference number

PVED-CLS

Communication Protocol

L1425546

PVED-CLS

User Manual

L1525062

PVED-CLS

Safety Manual

BC00000331

OSPE Steering valve, SASA
SensorTechnical Information

11068682

EHi Steering Valve

Technical Information

BC00000379

Definitions and Abbreviations

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e-WheelElectric Steering Wheel Base

SbW

Steer-by-Wire

AgPL

Agricultural Performance Level

SIL

Safety Integrity Level

CAN

Controller Area Network

PL

Performance Level

PVED-CLS

Proportional Valve Digital – Closed Loop - Safety (steering valve controller)

OSPE

Orbital Steering Product – Electro-hydraulic steering valve

EHi

Electro-hydraulic in-line steering valve

Fail Safe

To detect fault, indicate fault to safe state system and revert to a safe
condition in the event of a breakdown or malfunction

Fail Operational

To detect fault, indicate fault to safe state system and continue fulloperation with enough redundancy level

PAE

Product Application Engineering

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e-Wheel 100
OEM responsibility
The OEM of a machine or vehicle in which Danfoss products are installed has the full responsibility for all consequences thatmight occur. Danfoss has no responsibility for any consequences, direct or indirect, caused by failures or malfunctions.

• The OEM shall perform a hazard and risk analysis for the target system to analyze if the relevant risks are
sufficiently reduced by the safety functions. The safety functions are provided by the involved functional safety
elements.

• 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.

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e-Wheel 100
Introduction
e-Wheel 100
Danfoss steering products are used in vehicles where the driver must control high steering forces, reliably, comfortably and withmaximum safety.
With the introduction of electro-hydraulic steering systems andSteer-by-Wire steering systems, applying electric steering wheel
advanced steering features like variable lock to lock ratio, softstop, anti-drift are possible, as easy integration in new vehicles
as well as retrofit to upgrade the existing vehicles. Primarily,
the objective of electric steering wheel is to offer high quality
steering feel, providing better operator comfort and reduce
operator fatigue. To meet this objective, Danfoss is now
offering electric steering input device ‘e-Wheel 100’.

‘e-Wheel 100’ stands for Electric Steering Wheel Base, ‘100’ represents first of the series of Danfoss electric steering input devices.
‘e-Wheel 100’ is a haptic steering input device with passive force-feedback torque. ‘e-Wheel 100’ is referred to as ‘e-Wheel’
further in this document. The measured input steering angular position and the rate of change of steering angle from e-Wheel
are transmitted to steering valve controller, which determines the preferred steering response.
•

e-Wheel is a ‘Plug and Play solution’ when interfaced directly to steering valve controller - PVED-CLS (for details refer
PVED-CLS User Manual), together with electro-hydraulic steering units OSPE / EHi.
The communication protocol between e-Wheel and steering valve controller is based on the Danfoss proprietary safety
CAN protocol (refer PVED-CLS Communication Protocol).
e-Wheel sub-system with PVED-CLS, supports realizing safe steering solutions designed to meet SIL 2/ PL d/ AgPL d bydesigning the sub-system to a category 3 architecture (refer mini-steering wheel sub-system in PVED-CLS Safety
Manual).

••In applications where e-Wheel is used as a primary steering input device or auxiliary steering input device, force-feedback isnecessary as the steering is expected not only to replicate same functions of conventional mechanically linked steering systems(such as hydro-static enforced feedback) but also to provide advanced steering functions like:•
Directional control and wheel synchronization•
Variable steering ratio•
Smooth steering feel
The absence of hydro-static enforced feedback makes operator disconnected with the vehicle steering feedback which may
cause over or under steering. So, e-Wheel haptic passive force-feedback, mimics the feel of conventional steering systems, whichmakes it a special attribute.

Features of e-Wheel

•
•
•
•

‘Plug and Play’ solution with PVED-CLS as steering controller
SIL Claim limit : 2
Dual channel redundant CAN bus interface
High quality steering feel•
Smooth steering torque control•
Absence of traditional steering wheel backlash and drift•
End-Stop feeling when vehicle wheels steered to extreme end-locks•
RPM torque for better controllability during Quick Steer•
Warning or event signal via steering wheel vibration

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Benefits of e-Wheel

•
•

•
•
•

Reduced operator fatigues due to improved ergonomics
Benefits for different steering solutions•
Electro-hydraulic steering solutions•
e-Wheel applied as auxiliary steering input device•
In case of failures, reliable fallback to the primary manual steering wheel•
Fail-Safe SbW solutions•
Eliminates steering column•
Cabin design freedom for OEMs•
Better accessibility for operator, flexibility in seat movements and orientation
Low power consumption
Compact and robust design
Easy to installe-Wheel Safety Functions
1.

2.

Safe Steering Angular Position and Safe Steering Speed:
Two Channels of e-Wheel (each channel provides sub-system elements as the hall effect angle sensors, microprocessor
logic blocks, power supply conditioning and protection , CAN transceivers) independently measure angular positions,calculate steering speeds and transmit both steering angular positions and steering speeds onto CAN bus (safety
protocol as per PVED-CLS communication protocol)
Safe Force-Feedback Brake Torque:
Applying force-feedback torque by e-Wheel as response to the data received via CAN bus (safety protocol as per PVEDCLS communication protocol). Software in the microprocessors will run various torque algorithms in response to thesystem inputs, defining the required current for force feedback brake torque of e-Wheel. Both microprocessors within eWheel will also carry out independent monitoring of sub-systems elements to identify and react to subsystem faults.

Application Example
e-Wheel supports category 3 architecture and can be integrated in a Danfoss CAT 3 Fail-Safe Steering System with Danfoss EHi /OSPE and PVED-CLS as steering valve controller (refer to EHi / OSPE Technical Information Document). In below example shown infigure 1, we consider a Fail-Safe steering solution with Steer-by-Wire (SbW) system:
Components
e-Wheel 100
EHi (configuration type 7)
PVED-CLS
WAS
VSP
MMI
MC012
Vehicle ECU

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Description
Primary steering input device
Electro-hydraulic steering unit
Steering valve Controller
Dual Analogue Wheel Angle sensor
CAN Vehicle Speed Sensor (Dual Channel)
Man-Machine Interface as well as a Gateway for primary vehicle speed message(Dual Channel)
External Controller (as a redundant controller) for secondary vehicle speed
message
OEM controller for braking function during any malfunction or events of failure

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Figure 1 Fail-Safe Steer-by-Wire steering sub-system with e-Wheel
Here, e-Wheel is the primary steering input device in the vehicle with Fail-Safe steering system, which transmits the steering
angular positions and the rate of change of steering angle, via CAN bus, to the steering valve controller. The steering valve
controller uses the dual redundant analogue wheel angle sensor inputs, dual redundant vehicle speed messages and dual MMI(display) message, as per PVED-CLS communication protocol. In this example, vehicle speed (VSP) message is as per standard CAN
J1939 protocol. So, the VSP messages further needs to be converted from standard CAN protocol to PVED-CLS communication
protocol using PLUS+1 functional block in the two redundant external controllers (Danfoss Display and Danfoss MC- 012
Controller). With above messages along-with the e-Wheel inputs, steering valve controller determines the appropriate steering
response.
For vehicles with Fail-Safe SbW steering systems only using EHi steering valve, manual activated emergency steering will not be
possible. Such steering systems must be set up with complete redundancy and limited only for off road usage. In case of failures,
vehicles must be brought to a defined safe state, for instance by stopping the vehicle or switching to a backup steering system. As
shown in figure 1, during the malfunction or events of failure, based on the operational status message from the steering
controller and the vehicle speed CAN safety message from the two plus+1 controllers, the vehicle ECU can signal the vehicle brakesystems for reduction of the speed and stopping the vehicle as a safe state response. Vehicle builder necessarily must performhazard and risk analysis, to have a “safe vehicle brake” safety function which the steering sub-system can demand. In order tointegrate with above steering system, suggested category is category 3. The steering controller will not monitor any status
message from the braking system and no action is intended to steering system related to the status of the braking system.

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Different steering wheel sizes
Danfoss offers e-Wheel – I without mounting any top steering
wheel, shown as per figure 2.
The shaft of e-Wheel is a ‘flat D-shaped’ shaft with:•
with a maximum axial force of 1500 N•
bending moment of 50 Nm

Figure 2
The steering wheels to be mounted on top, must be machined
in a way that they accept the ‘flat D-shaped’ shaft of e-Wheel,as shown in figure 3.

Figure 3
Below are few possibilities of different steering wheel sizes that can fit on shaft of the e-Wheel:
Examples*Steering wheel sizes to fit on(* Danfoss does not offer the e-Wheel
steering wheels, below are
just the possibilities with thee-Wheel)Mini-steering wheel

Recommended Torque forcorresponding steering
wheel size

Recommended
Numbers

2 Nm

11224128 / 11198022

Medium size steering wheel

5 Nm

11224129 / 11243182

Larger size steering wheel

5 Nm

11224129 / 11243182

Recommendation:•
Danfoss offers e-Wheel with 5 Nm and 2 Nm as standard variants for maximum operating torque; choice of thesevariants majorly depends on the type of application and the type of steering wheel size required in respective
application.

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e-Wheel 100
e-Wheel Torque Control Algorithms
The passive force- feedback torque is controlled by applying a proportional current, where the current is function of the below
mentioned control algorithms in e-Wheel. Force feedback torque will be based on, only one commanded control algorithm
offering maximum torque out of all available control algorithms in the configured variant of e-Wheel, at any instant applicableduring steering. Below is the list of e-Wheel Torque Control Algorithms:•
End Stop Torque•Base Torque•
RPM Torque•
Vehicle Speed Dependent Torque•Warning Control Torque
Information Flow Block Diagram
Vehicle Speed Sensor

Primary
Primary

Redundant
MMI Display
MMI_P and MMI_R

Primary
Controller

Redundant

Primary
Controller
AUX_STW_P and AUX_STW_R

E-Wheel 100
Steering
Input Device

Cross check

VSP_P and VSP_R

Primary
STR_FB_MSG_X

Analog Input 1

Primary
Primary

Primary

Redundant
Primary
Controller

Analog Input 2

Analogue WAS
Primary
Redundant

STAT_MSG_OP_X
Redundant
Controller
Steering Valve Controller

Figure 4 Block diagram for e-Wheel with steering valve controller
The operation between e-Wheel and steering controller in the steering system with relevant messages from each component is
simplified in figure 4. In terms of the primary purpose of e-Wheel, is giving steering inputs (steering angle and steering speed);
whereas the steering controller is defining the steering response based on the data available from all components in steering subsystem. The messages from each component in figure 4, are as per the PVED-CLS communication protocol, specified with therespective annotations.
Recommendation:•
e-Wheel being a ‘Plug and Play solution’ with PVED -CLS, it is recommended to use PVED-CLS as steering valve controller.
•
The Steering Primary and Redundant Controller must perform the cross checks to use e-Wheel in a safe way, refer PVEDCLS Safety Manual.
•
In Off Road Reaction/Non reaction mode, the controller detects AUX open loop device (e-Wheel 100) when, the steering
wheel velocity and the steering wheel angular position is above the threshold set in steering controller, along-with the
pre-condition that AUX device is set present and is allowed to steer (see flags in MMI message as per PVED CLS
communication protocol).
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e-Wheel 100
Graphical Representation of Torque featuring various control algorithms
The control algorithms in e-Wheel, are offered as standard variants with the torque values shown as per figure 5 and figure 6.

%End stop Torque%Base Torque%RPM Torque100
90% OF MAX. TORQUE

80
70
60
50
40
30
20
10
-100 -90

-80

-70

-60

-50

-40

-30

-20

0
-10 0
10 20
% WHEEL ANGLE

30

40

50

60

70

80

90

100

Figure 5 Torque Control Algorithms for 5 Nm

%End stop Torque%Base Torque%RPM Torque100
90% OF MAX.TORQUE

80
70
60
50
40
30
20
10
0
-100 -90

-80

-70

-60

-50

-40

-30

-20

-10

0

10

20

30

40

50

60

70

80

90

100

% WHEEL ANGLE
Figure 6 Torque Control Algorithms for 2 Nm
In above figures 5 and 6 respectively,•±100 % wheel angle shall correspond to maximum wheel angles on right and left end stop.
•
Figure 5 represents for e-Wheel with 5 Nm as 100 % of the maximum operating torque and figure 6 represents for eWheel with 2 Nm as 100 % of the maximum operating torque.
•
RPM torque in both the above graph depicts that it can be experienced irrespective of the wheel angle position,
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e-Wheel 100
depending upon the allowable RPM, at corresponding steering lock to lock ratio from steering controller. Figure 5 shows,the maximum RPM torque for 5Nm is defined for 90 % of the maximum operating torque; whereas figure 6 shows RPM
torque for 2Nm is defined for 60 % of the maximum operating torque.
End-Stop Torque Control
Wheel angle sensors close the feedback loop with the steering controller, ensuring the vehicle wheels’ match steering commands.
During the operation, steering controller transmits the estimated wheel angle values as a feedback message over CAN bus to thee-Wheel, refer Figure 4. Based on this message, e-Wheel detects the wheel angle values and determines the torque force feedback.
As shown in figure 5 and figure 6, the End-Stop control algorithm increases linearly from 90 % to 100 % wheel angles and provides
maximum operating torque (torque of 5Nm or 2Nm based on the chosen e-Wheel variant) at 100 % wheel angle. Thus, operator
experiences the End- Stop torque feedback, on vehicle wheels reaching the maximum wheel angle limits. As soon as the operator
steers away from the end stop towards neutral, the torque drops to the base torque control, as explained below.
Base Torque Control
The background torque for normal steering, excluding end-stop conditions, is the base torque control. This torque is smooth andpersistent through-out steering at different wheel angles, as shown in figure 5 and figure 6, as 10 % of the maximum operating
torque.
RPM Torque Control
e-Wheel offers more-precise control at low speeds. In material handling applications, for instance, vehicles might require two or
three steering wheel turns lock to lock, for maneuvering at low speeds. Whereas in other applications, steering wheel turns lock tolock needs to adjust the range to six or more turns for less sensitivity at high speeds. Regardless of how quickly the operator mightturn the steering wheel, e-Wheel limits steering speed, to not exceed the maximum allowable steering speed for a given lock tolock configuration. The lock to lock configuration is provided in the feedback message from steering valve controller to e-Wheel.
This attribute of restricting higher steering speed than allowable steering speed is therefore called as RPM torque control.
Figure 7 shows the amount of torque requested (as a percentage of maximum allowable torque), as the operator approaches the
maximum allowable RPM (scaled to 1200 internal resolution) for the respective lock to lock ratio. The torque brake in e-Wheel isapplied by the algorithm to limit the actual steering speed so that the maximum steering speed is not exceeded highly. Figure 7
shows the maximum RPM torque is limited to 90 % of maximum operating torque of 5 Nm. This is applicable in case of medium tolarger steering wheel size application.

% Max Torque% RPM torque
100
90
80
70
60
50
40
30
20
10
0
0

200

400

600

800

1000

1200

% of Maximum Allowable RPM (scaled to 1200 IR)
Figure 7 RPM torque for e-Wheel with 5 Nm

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e-Wheel 100% RPM torque70%Max Torque

60
50
40
30
20
10
0
0

200

400

600

800

1000

1200

% of Maximum Allowable RPM (scaled to 1200 IR)
Figure 8 RPM control for e-Wheel with 2 Nm
Figure 8 shows maximum RPM torque is limited to 60 % of maximum operating torque of 2 Nm. This is applicable in case of ministeering wheel applications.
For different lock to lock shown in below table, the Max Allowable steering speed (RPM) is default in standard variants as:
Lock to Lock

Maximum Allowable steering speed (RPM)

1
2
3
4
5
6
7
8

25
50
75
100
125
150
175
200

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Warning Control Torque
In case of missing messages or errors in CAN messages, steering valve controller goes to safe state and thus the e-Wheel provides
relevant error codes to steering valve controller which triggers the steering controller to a safe state mode. This makes e-Wheel tosend out warning to the operator by vibrational sensation via steering wheel. The vibrational feedback of e-Wheel also called as
Warning Control Torque, signals awareness to operator about the loss of steering control. In such events of failure, vehicles must
be defined with the necessary safe state conditions.

Steering Controller Outputs

e-Wheel 100 Response

Value (Dec)

Value (Hex)Current Operation state

Warning Control Torque

0
16
17
32
33
34
35
36
48
49
50
51
52
64
65
208
224
225
226
227
240
255

0x00
0x10
0x11
0x20
0x21
0x22
0x23
0x24
0x30
0x31
0x32
0x33
0x34
0x40
0x41
0xD0
0xE0
0xE1
0xE2
0xE3
0xF0
0xFF

On-Road
Off-Road Reaction
Off-Road Non-reaction
STW Program 1
STW Program 2
STW Program 3
STW Program 4
STW Program 5
AUX Program 1
AUX Program 2
AUX Program 3
AUX Program 4
AUX Program 5
GPS Steering
GPS 2 Steering
Off-Road Safety-Check
Service mode – Direct Output Control
Service mode – Wheel angle sensor calibration
Service mode – Spool calibration
Service mode – Joystick calibration
Initialization
Safe State
Powering up with no controller messages

Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active only if error occurs
Active only if error occurs
Active only if error occurs
Active only if error occurs
Active only if error occurs
Active only if error occurs
Active only if error occurs
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state
Active through-out operation state

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e-Wheel 100
Vehicle Speed Torque Control
This torque eliminates vehicle resonances entering e-Wheel by providing gradually increasing torque dependency on vehicle
speed.
% Vehicle Speed Torque109% of Max Torque

8
7
6
5
4
3
2
1
0
0

10

20

30

40

50

Vehicle speed (Kph)
Figure 9 Vehicle Speed Torque

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Technical Data
Mechanical characteristics
Description
Rated Torque
Off-State TorqueOperating Speed
Max Axial ForceMax Bending Moment
Shaft Type
Rotating Angle
WeightValue
5.5 Nm Nominal (100 % command)<0.5 Nm (0% command)
300 RPM maximum
1500 N
50 Nm
D shaped
360 °, without mechanical stop
1.5kg

Electrical characteristics
Description
Supply Voltage
Coil Resistance
Maximum Power Dissipated
Cable

Value
12 VDC or 24 VDC (9-36 V), single common power
10 Ω nominal
15 Watts
20 AWG x 4 conductors(Sealed cable with single connector withstands cable pull load
maximum 100 N)

CAN (Controller Area Network)
Description
Standard
Channels
Baud Rate

Value
CAN 2.0B
Two
250k Baud

Connector type and Pin Configuration

Connector*Mating part to be bought externally

DEUTSCH DT 04-4P*

PIN
1
2
3
4

Function
CAN-H
CAN-L
V+
V-

Wire Color
White
Blue
Red
Black

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Environmental characteristics
Description
Operating Temperature
Storage Temperature
Ingress Protection (IP) rating
Environmental Testing Std.

Value
-40 °C to 85 °C-40 °C to 95 °C
IP66
ISO 16750-4 §5.1 per IEC 60068-2

Functional Safety
Description

e-Wheel Sensor Safety Specification

Performance Level (EN 13849-1: 2015)
Hardware Fault Tolerance (HFT)
SystemSafety Element Classification (IEC 62061)
Probability of Dangerous Failures(PFHDssD) (IEC 62061 : 2005)
Safe Failure Fraction (SFF)
SIL Claim Limit (IEC 62061:2005)
Architecture (ISO 13849)
DC
Proof Test Interval / Mission Time
MTTFd per channel (ISO 13849 Table K.1)
CCF factor (IEC 62061)

PLd
1 (1)
Fail Safe
Type B
1.597 x 10-8e-Wheel Brake Safety
Specification
PLd
1
Fail Safe
Type B
5.289 x 10-998.72%
2
Category 3
High (2)20 years
150 years
5%

99.25%
2
Category 3High
20 Years
180 years
5%

Notes:(1)

The sensor sub-system is redundant. If one channel fails, the other channel continues transmitting data. However, thesteering controller can no longer perform diagnostics and a system safe state shall be reached. The system integrator
must ensure sufficient diagnostics, please refer Block Diagram.
(2) Reaching a DC= High, depends on a correctly working diagnostic function in the steering controller. (Refer to the PVEDCLS Safety Manual.)

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e-Wheel 100
Communication Protocol
The below table shows how the steering controller shall be parameterized in order to correctly send main and redundant sensor
CAN messages. The auxiliary steering device ID’s will be used for fail-safe applications. (Refer PVED-CLS communication protocol
for further details)
Messages from e-Wheel to Steering Controller
Sensor message

Default Message
ID

Auxiliary Steering
Device (Mini STW) –e-Wheel Primary

0x0CFF144F

Main Controller
Parameter

SafetyParameter

Controller

P3299 =0x4F
P3321 =0x14

e-Wheel = Auxiliary
0x0CFF154F
Steering Device(Mini STW) – eWheel Redundant
Messages from PVED-CLS Steering Controller to e-Wheel

P3299 = 0x4F
P3321 = 0x15

Steering Feedback

0xCFF1813

P3297 = 0x13

P3297= 0x5A

Operation Status

0x18FF2013

P3297 = 0x13

P3297= 0x5A

Messages from Vehicle Speed Sensor to e-Wheel and to Steering Controller
Vehicle Speed Primary

0xCFF40FB

Vehicle Speed Redundant

0xCFF41FB

P3294 =0xFB
P3318 =0x40
P3294 = 0xFB
P3318 = 0x41

Sensor CAN Messages to Steering Controller
Wheel Angle SensorPrimary

0x0CFF12FA

Wheel Angle SensorRedundant

0x0CFF13FA

Man MachineInterface – Primary

0x0CEF13FC

Man Machine Interface– Secondary

0x0CEF5AFC

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P3298 = 0xFA
P3320 = 0x12
P3298 = 0xFA
P3320 = 0x13
P3295 =0xFC
P3297 =0x13
P3295 = 0xFC
P3297 = 0x5A

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Messages from e-Wheel to steering controller [AUX_STW_P and AUX_STW_R]
This message transmits angle, current, and fault information from the e-Wheel.
Priority: 3
Nominal Transmission: 50 ms
Sent by: e-Wheel
Send to: PVED-CLS Steering controller
Bytes
Encoding
Value/Range
Description
1..2

U16
0..4095

4096..65535
3..4

U16
0..40960

5-

6

Bits 8..5

Information not available

All 1

Reserved

Bits 4..10..15
U160..65535

Note:•

Information not available
Steering angle velocity[AUX_STW_velocity_P]:
Steering angle velocity (offset -20480) in [ 30 / 20480 RPM] steps, where
0 corresponds to -300 RPM (300 RPM counter clockwise)
20480 corresponds to 0 RPM
40960 corresponds to 300 RPM (300 RPM clockwise)

40961..65535

0
1
2
3
4
5
6
7
8..13
14
15

7..8

Steering angle 1 relative to the 0-index point [AUX_STW_pos_P]:
Steering angle in [360 / 4096 degree] steps, where:
0 corresponds to 0 degrees,
4095 corresponds to 359.912 degrees
Note: the steering angle rolls over from 4095 to 0 for clockwise activationand from 0 to 4095 for counter clockwise activation

Error codes [AUX_STW_error_code_P]:
Reserved
Sensor chip error
Steering angle failure
CAN input message failure
Power failure
CPU failure
Memory failure
Force feedback failure
Reserved
Temperature warning
No ErrorSequence number [AUX_STW_Seq_P], incremented by 1 in each AUX
primary message
Rolls over from 15 to 0
CRC16 for data bytes 1..6 [AUX_STW_CRC_P]:
Polynomial: 0 x C86C

The above messages should be dual messages for both Primary and Redundant controllers.

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Technical Information
e-Wheel 100
Messages from Vehicle speed sensor to steering controller and to e-Wheel [VSP_P and VSP_R]
This message contains information from the steering controller to the e-wheel

Bytes

Nominal Transmission: 100 ms
Priority: 3
Sent by: Vehicle Speed
Sensor Send to: e-Wheel
Encoding
Value/Range

1

U8

2

Bits 8..7

Bits 6..1
3..4

Description

All 1

Reserved

00
01
10
11

Direction Indication [ VSP_Dir_P]:
Forward
ReverseError Condition
Information not available

All 1

Reserved
Vehicle speed [VSP_Speed_P]:
Measured vehicle speed in [1/256 kmph]
Information not available
Reserved

U16

5

-

0..64255
64256..65535
All 1

6

Bits 8..5

All 1

Reserved

0..15

Sequence number [VSP_Seq_P], incremented by 1 in each VSP primary
message
Rolls over from 15 to 0
CRC16 for data bytes 1..6 [VSP_CRC_P]:
Polynomial: 0 x C86C

Bits 4..1

7..8

U16
0..65535

Vehicle Speed
This parameter specifies the vehicle speed, measured in (1/256 kph).
Sequence numberThis parameter is an internal counter that runs from 0 – 15 and then loops back. It could be used by the eWheel to check for validity of the incoming message.
Note:•

The above messages should be dual messages for both Primary and Redundant controllers.

20 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
Messages from steering controller to e-Wheel
Feedback Message [STR_FB_MSG_X]
This message contains information from the steering controller to the e-Wheel, including control commands andrelevant system level information.
Priority: 3
Nominal Transmission: 50 ms
Sent by: Steering controller
Send to: e-Wheel

Note:
•

The above messages are dual messages from both Primary and Redundant controller.

21 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
Operation message [STAT_MSG_OP_X]
This message contains information from the steering controller to the e-Wheel.
Priority: 6

Bytes
1

2

Nominal Transmission: 100 ms
Sent by: Steering controller
Send to: e-Wheel
Encoding
Value/Range
U8

Current Operation state [OperationState_X]:
0x00

On-Road

0x10

Off-Road Reaction

0x11

Off-Road Non-reaction

0x20

STW Program 1

0x21

STW Program 2

0x22

STW Program 3

0x23

STW Program 4

0x24

STW Program 50x30

AUX Program 1

0x31

AUX Program 2

0x32

AUX Program 3

0x33

AUX Program 4

0x34

AUX Program 5

0x40

GPS Steering

0x41

GPS 2 Steering

0xD0

Off-Road Safety-Check

0xE0
0xE1

Service mode – Direct Output Control
Service mode – Wheel angle sensor calibration

0xE2

Service mode – Spool calibration

0xE3

Service mode – Joystick calibration

0xF0
0xFF

Initialization
Safe State
Lock-out status for steering device changes[Lockout_device_change_X]:

Bits 8..700

Steering device changes allowed

01

Steering device changes prohibited

10
11Error condition
Information not available
Lock-out status for STW/AUX program changes[Lockout_program_change_X]:

Bits 6..5

22 | © Danfoss | September 2019

Description

00

Program changes allowed

01

Program changes prohibited

10
11Error condition
Information not available

BC318774147046en-000101

Technical Information
e-Wheel 100

Lock-out status for EH-steering functionality [Lockout_EH_steering_X]:

Bits 4..300
01

EH-Steering functionality prohibited by an external switch

1011

Error condition
Information not available
AUX Steering device lockout status [Lockout_AUX_X]:

Bits 2..1

3

4

00

AUX device steering allowed01

AUX device steering prohibited

10
11Error condition
Information not available
GPS receiver selection and lockout status [Lockout_GPS_X]:

Bits 8..7

Bits 6..1U8

23 | © Danfoss | September 2019

EH-Steering functionality allowed

00

No GPS receiver selected (GPS steeringprohibited)

01

GPS Steering selected

10
11
All 1

GPS 2 Steering selected
Reserved
Reserved
Service mode state [Service_mode_state_X]:

0x00
0x01

Direct output control reset

0x02..0x0F

Reserved

0x10

WAS calibration Reset

0x11

WAS calibration in progress

Direct output control active

0x12..0x1C

Reserved

0x1D

WAS calibration counter update

0x1E

WAS calibration failure

0x1F

WAS calibration complete

0x20

Spool calibration reset

0x21

Spool calibration inactive

0x22

Spool calibration getting armed

0x23

Spool calibration armed

0x24

Spool calibration in progress

0x25

Spool parameters plausibility check

0x26

Spool parameters ready to update

0x27

Spool parameters update

0x28..0x2C

Reserved

0x2D

Spool calibration counter update

0x2E

Spool calibration failure

0x2F

Spool calibration complete

0x30
0x31

Joystick calibration Reset
Joystick calibration in progress

BC318774147046en-000101

Technical Information
e-Wheel 100
0x32..0x3C

Reserved

0x3D

Joystick calibration counter update

0x3E

Joystick calibration failure

0x3F

Joystick calibration complete

0x40..0xFC

Reserved

0xFD

No analog joystick configured

0xFE
0xFF

No wheel angle sensor configured
Information not available (Operation state other than service
mode)

5
6

Bits 8..5
Bits 4..1

All 1
All 1
0..15

Reserved
Reserved
Sequence number [OperationState_Seq_X]: Incremented by 1 ineach Operation status message.
Rolls over from 15 to 0

7..8

U16

0..65535

CRC16
for
data
bytes
1..6
[OperationState_CRC_X]: Polynomial:
0xC86CNote••

The above messages are dual messages from both Primary and Redundant controllers
In Off Road Reaction/Non reaction mode, the controller detects AUX open loop device (e-Wheel 100) when, the steering
wheel velocity and the steering wheel angular position is above the threshold set in steering controller, along-with the
pre-condition that AUX device is set present and is allowed to steer (see flags in MMI message as per PVED CLS
communication protocol).

24 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
Installations
Dimensions

Instructions-

To be installed such that shaft is between vertical axis and -10° from horizontal axis-

Avoid misalignment that causes excessive load

25 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
Variant and ordering specifications
e-Wheel MMC
Determine Master Model Code (MMC). Fill in with codes from Variant codes for e-Wheel, to specify e-Wheel 100. MMC
values for e-Wheel
e-Wheel 100

Example only
e-Wheel 100

1

CAN2

53

ES4

BS5

RPM6

Reserved7

VSP8

D9

Package10

1 e-Wheel 100 base
2 Communication channel
3 Maximum Operating Torque (Nm)
4 End Stop Torque (Nm)
5 Base Torque (Nm)
6 RPM Torque (Nm)
7 Reserved
8 Vehicle Speed Torque (Nm)
9 Connector Type
10 Package
Code Numbers
Configuration Numbers, in the following table, are referring to matrix description for e-Wheel standard configurations.
Code numbers for catalog versions with specifications:
Code
No.

Configuration No.

MMC Specifications according to above description format

11224128

Type 1

CAN

2

ES

BS

N

-

VSP

D

S

11224129

Type 2

CAN

5

ES

BS

RPM

-

VSP

D

S

11198022

Type 3

CAN

2

ES

BS

N

-

VSP

D

M

11243182

Type 4

CAN

5

ES

BS

RPM

-

VSP

D

M

26 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
Variants codes for e-Wheel MMC
1)e-Wheel 100 basee-WheelElectric Steering Wheel Base

Codee-Wheel 100

2)

Communication Channel

Type

Digital

Code

CAN

3)

Maximum Operating Torque (Nm)Maximum Operating Torque

5 Nm

2 Nm

Code

5

2

EndStop Torque

Included

Not Included

Code

ES

N

Base Torque

Included

Not Included

Code

BS

N

RPM Torque

Included

Not Included

Code

RPM

N

VSP Torque

Included

Not Included

Code

VSP

N

4)

5)

6)

End Stop Torque (Nm)Base Torque (Nm)

RPM (Nm)

7)

Reserved

8)

Vehicle Speed Torque (Nm)27 | © Danfoss | September 2019

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Technical Information
e-Wheel 100
9)Connector Type

Type, Connector

Deutsch DT, one 4 pin

Code

D

10) Package
Package

SingleMultiple

Code

S

M

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Technical Information
e-Wheel 100

Products we offer:

•
•
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Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic andelectric 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 as well as themarine sector. Building on our extensive applications expertise, we work closely with you toensure exceptional performance for a broad range of applications. We help you and othercustomers around the world speed up system development, reduce costs and bring vehicles
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Phone: +1 515 239 6000

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© Danfoss | September 2019

BC318774147046en-000101