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Danfoss JS1 Operating guide

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User Manual
PLUS+1® Compliant
JS1 CANopen Joystick Function Block
powersolutions.danfoss.com
User Manual
Revision history Table of revisions
Date Changed Rev
March 2018 Re-branding 0102
January 2016 First edition 0101
2 | © Danfoss | March 2018 AQ00000203en-US0102
User Manual

Contents

JS1_CANopen Function Block
Function Block Inputs..................................................................................................................................................................... 4
Function Block Outputs..................................................................................................................................................................4
Status and Fault Logic.....................................................................................................................................................................7
Boolean Output Signals............................................................................................................................................................7
Proportional Output Signals................................................................................................................................................... 7
Configuration Values.......................................................................................................................................................................8
Function Block Connections.........................................................................................................................................................9
Configuration of Input and Output Buses...............................................................................................................................9
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JS1_CANopen Function Block

This joystick has a CAN (Controller Area Network) 2.0B output that uses the CANopen communication protocol.
The JS1 Joystick with CAN is a highly configurable joystick that has:
A joystick base with a single three-point Y-axis or with three-point X- and Y-axes.
•
Up to three grip-mounted proportional three-point rocker switches.
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Up to 24 grip-mounted push-button switches.
•

Function Block Inputs

JS1_CANopen Function Block Inputs
Input Type Range Description Node U8 1 to 127 Specifies the CANopen address of the joystick.
All Node addresses on the same CANopen bus must be different. Do not use the same address twice. The Type code on the joystick label identifies the source address. Typical addresses are C33 (right), C34 (left), C35 (center), and C36 (auxiliary). Enter the source address in hexadecimal format as shown in the following examples:
C33 (right) = 0x33 C34 (left) = 0x34 C35 (center) = 0x35 C36 (auxiliary) = 0x36
Ext BOOL —— T = Incoming CAN messages must use 29 bit extended identifiers.
CAN —— —— Inputs CAN messages from the joystick. Route this bus to the CAN pin on this function block.
F = Incoming CAN messages must use 11 bit standard identifiers.
CAN messages sent from the joystick to the function block contain information about the availability of joystick inputs, joystick input faults, and joystick commands.

Function Block Outputs

JS1_CANopen Function Block Outputs
Output Type Range Description Status —— —— Outputs a bus that contains the following status signals.
Btn1_NA–Btn24_NA BOOL —— Indicates if an input is available from a grip-mounted push button switch.
T = Not available. F = Available.
T_NA BOOL —— Indicates if an input from a rotational (theta) axis is available.
T = Not available. F = Available.
XGrp_NA BOOL —— Indicates if an input from a grip-mounted, X-axis proportional switch is available.
T = Not available. F = Available.
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JS1_CANopen Function Block
JS1_CANopen Function Block Outputs (continued)
Output Type Range Description
X_NA BOOL —— Indicates if an input from the joystick’s X-axis is available.
T = Not available. F = Available.
YGrp_NA BOOL —— Indicates if an input from a grip-mounted, Y-axis proportional switch is available.
T = Not available. F = Available.
Y_NA BOOL —— Indicates if an input from the joystick’s Y-axis is available.
T = Not available. F = Available.
Fault —— —— Outputs a bus that contains the following fault signals.
Btn1_Flt–Btn24_Flt BOOL —— Indicates if the input from a grip-mounted push-button switch signal sources has timed
out and switch states are not actively updated. T = Fault. F = No fault.
T_Flt BOOL —— Indicates if the input from the joystick’s rotational (theta) axis has a fault or the signal
source has timed out. T = Fault. F = No fault.
TimeOut_X BOOL —— Indicates if the function block has not received a CAN PDO or NMT message within the
configured timeout limit after already receiving the message at least once since startup. When this signal is T, the function block sets all Out signals associated with the missing PDO message to either 0 or F. It sets all Fault signals associated with the message to T. When this signal becomes F again, the function block enables all Out signals associated with the PDO message. It resets all Fault signals associated with the PDO message to F (or currently fault conditions as detected and reported by the joystick). T = Message not received within the time limit. F = Message received within the time limit.
NoMsgReceived_X BOOL —— Indicates if the function block has not received a CAN PDO or NMT message within the
configured timeout limit after never receiving the message since startup. When this signal is T, the function block sets all Out signals associated with the missing PDO message to either 0 or F. It sets all Fault signals associated with the message to T. When this signal becomes F again, the function block enables all Out signals associated with the PDO message. It resets all Fault signals associated with the PDO message to F (or currently fault conditions as detected and reported by the joystick). T = Message not received within the time limit. F = Message received within the time limit.
XGrp_Flt BOOL —— Indicates if the input from a grip-mounted, X-axis proportional switch has a fault or the
signal source has timed out. T = Fault. F = No fault.
X_Flt BOOL —— Indicates if the input from the joystick’s X-axis has a fault or the signal source has timed
out. T = Fault. F = No fault.
YGrp_Flt BOOL —— Indicates if the input from a grip-mounted, Y-axis proportional switch has a fault or the
signal source has timed out. T = Fault. F = No fault.
Y_Flt BOOL —— Indicates if the input from the joystick’s Y-axis has a fault or the signal source has timed
out. T = Fault. F = No fault.
Out —— —— Outputs a bus that contains the following command signals. These signals indicate the
position of each joystick axis and the state of push-button and detent switches.
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JS1_CANopen Function Block
JS1_CANopen Function Block Outputs (continued)
Output Type Range Description
Btn1–Btn24 BOOL —— Indicates the states of grip-mounted push-button switches.
T = Closed. F = Open.
Curr_NMT_State U8 0 to 255 Indicates the CANopen communication state of the joystick.
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0x00 = Boot Up
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0x04 = Stopped
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0x05 = Operational
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0x7F = Pre-operational
Rx_PDOX BOOL —— Indicates when the function block receives a CANopen PDO.
This message reports joystick base and grip proportional signals as well as the state of grip-mounted button switches. T = Message received. F = Message not received.
Rx_Heartbeat BOOL —— Indicates when the function block receives a CANopen Heartbeat or NMT message.
This message reports the current NMT State and provides a continuous heartbeat to indicate the joystick is alive on the bus. T = Message received. F = Message not received.
T_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s rotational (theta) axis.
-10000 = -100% +10000 = +100%
X_Grp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, X-axis proportional switch.
-10000 = -100% +10000 = +100%
X_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s X-axis.
-10000 = -100% +10000 = +100%
YGrp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, Y-axis proportional switch.
-10000 = -100% +10000 = +100%
Y_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s Y-axis.
-10000 = -100% +10000 = +100%
EMCY —— —— Outputs a bus that contains the following status signals. These signals indicate errors and
failure information reported by the joystick.
Error_Code U16 0 to 0xFFFF
Error_Register U8 0 to 10000 Indicates what type of error is reported by the joystick.
OccurrenceCounter U8 0 to 127 Indicates number of recorded instances of the error.
Indicates the specific error condition reported for the joystick.
0x3110 = Voltage high
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0x3120 = Voltage low
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0xFF10 = Not calibrated
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0xFF20 = Redundancy failure
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Bit 0 : Generic
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Bit 1 : Current
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Bit 2 : Voltage
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Bit 3 : Temperature
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Bit 4 : Communication
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Bit 5 : Device
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Bit 6 : Reserved
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Bit 7 : Manufacturer Specific
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JS1_CANopen Function Block
JS1_CANopen Function Block Outputs (continued)
Output Type Range Description
SensorIdentifier U8 0 to 255 Indicates the source of the error reported by the joystick.
0x80 = X
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0x81 = Y
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0x82 = Grip X
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0x83 = Grip Y
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0x84 = Grip Theta
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Rx_EMCY BOOL —— Indicates when the function block receives a CANopen EMCY message. This message
reports joystick detected failures and fault conditions. T = Message received. F = Message not received.

Status and Fault Logic

Use status and fault codes to determine if the function block is operating properly.

Boolean Output Signals You can change the states of the Status and Fault signals to impact the value of Boolean output signals.

Output Signal Status Signal State Fault Signal State Output Signal Value Btn1–Btn24 F F T or F
T T F T F F F T F
For example:
As long as the Status signal and the Fault signal for the Btn1 input are both F, the Btn1 output signal
•
can be either T or F. As soon as either the Status signal or the Fault signal for the Btn1 input becomes T, the Btn1 output
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signal goes to and stays F. When the Status signal and the Fault signal for the Btn1 input are again both F, the Btn1 output
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signal returns to its normal T or F operation.

Proportional Output Signals The states of the Status and Fault signals can change and affect the value of proportional output signals.

Output Signal Status Signal State Fault Signal State Output Signal Value T_Axis_Psn, XGrp_Psn, X_Axis_Psn, YGrp_Psn, Y_Axis_Psn F F ±10000
T T 0 T F 0 F T 0
For example:
As long as the Status signal and the Fault signal for the T_Axis_Psn input are both F, the
•
T_Axis_Psn output signal ranges ±10000. As soon as either the Status signal or the Fault signal for the T_Axis_Psn input becomes T, the
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T_Axis_Psn output signal goes to and stays at 0. When the Status signal and the Fault signal for the T_Axis_Psn input are again both F, the
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T_Axis_Psn output signal returns to its normal ±10000 operation.
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JS1_CANopen Function Block

Configuration Values

The first level inside the function block contains constant values that set the function block’s operating characteristics.
Typically, you do not have to change any of these values for the correct operation of the function block. Optionally, you can modify the constant values on this page.
Configuration Values
Input Type Range Description Timeouts
Heartbeat_Timeout_ms U16
PDO1_Timeout_ms U16
PDO2_Timeout_ms U16
PDO3_Timeout_ms U16
NMT Strt BOOL — Enables the function block to transmit a request to the joystick to enter the operational
0 to 1000
0 to 1000
0 to 1000
0 to 1000
Heartbeat_Timeout_ms sets the maximum time allowed between received NMT messages before either Timeout_Heartbeat or NoMsgReceived_Heartbeat is set to true.
PDO1_Timeout_ms sets the maximum time allowed between received PDO1 messages before either Timeout_PDO1 or NoMsgReceived_PDO1 is set to true.
PDO2_Timeout_ms sets the maximum time allowed between received PDO2 messages before either Timeout_PDO2 or NoMsgReceived_PDO2 is set to true.
PDO3_Timeout_ms sets the maximum time allowed between received PDO3 messages before either Timeout_PDO3 or NoMsgReceived_PDO3 is set to true.
state when the joystick is in Boot up or Preoperational state.
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JS1_CANopen Function Block

Function Block Connections

Item Description
Configures the function block to listen for CAN data from the joystick’s network address.
1
Configures the function block to listen for CAN data from Extended or Standard CAN IDs.
2
Determines the CAN port connected to the joystick.
3
Reports CANopen Emergency Object failures detected and reported by the joystick.
4
Reports Not Available state for each signal if connected joystick hardware does not support the function or for all signals if communication
5
has not yet been established. Reports faults for individual signals or communication timeout.
6
Output bus containing the joystick axis position, proportional grip inputs, and button states.
7

Configuration of Input and Output Buses

You do not have to change the configuration of either input or output buses to use the function block.
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