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JS1 CANopen CANplus
Operating guide
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Danfoss JS1 CANopen CANplus Operating guide

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User Manual
PLUS+1 ® Compliant
JS1 CANopen CANplus Joystick Function Blocks
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
Revision history Table of revisions
Date Changed Rev
February 2020 First Edition 0101
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block

Contents

JS1 CANopen CANplus Function Block
Overview..............................................................................................................................................................................................4
Inputs....................................................................................................................................................................................................5
Parameters.....................................................................................................................................................................................5
Outputs................................................................................................................................................................................................ 6
Status and Fault Logic..................................................................................................................................................................11
Boolean Output Signals..........................................................................................................................................................11
Proportional Output Signals.................................................................................................................................................11
Configuration of the PLUS+1 GUIDE Template...................................................................................................................12
JS1 CANplus Service Screens
JS1 CANplus 18 Pin Service Screens........................................................................................................................................13
JS1 CANplus 24 Pin Service Screens........................................................................................................................................15
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block

JS1 CANopen CANplus Function Block

Overview

The JS1 function block configures the output of a Danfoss JS1 CANopen CANplus joystick.
•
The JS1_Co_CANplus_18Pin function block configures the output of a Danfoss JS1 18 Pin CANplus joystick.
•
JS1_Co_CANplus_24Pin function block configures the output of a Danfoss JS1 24 Pin CANplus joystick.
In addition to grip and handle inputs, the JS1 CANplus joystick also has 11 external inputs. Four of these inputs can be configured as analog inputs.
The JS1 CANplus joystick broadcasts these CANopen messages that report joystick inputs:
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CANopen HEARTBEAT Message - Reports the operational state of the joystick.
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CANopen EMCY message - In the event of a fault, this message reports the details of the fault.
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CANopen PDO1 Message - The state of buttons 1 to 12. The state of digital inputs external to the joystick.
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CANopen PDO2 Message - The position of the x and y axis position of the joystick
•
CANopen PDO3 Message - The position of the proportional (analog) inputs on the joystick grip.
•
CANopen PDO4 Message - The value of other analog inputs that are external to the joystick.
The JS1 function block receives these messages and parses them into meaningful signals that can be used in an application.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block

Inputs

JS1_CANplus function block inputs
Input Type Range Description Node —— —— 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
CAN —— —— In the GUIDE template, identify the CAN bus that inputs CAN
messages from the joystick. Route this bus to the CAN input on this function block. CAN messages sent from the joystick to the function block contain information about the availability and state of joystick inputs, joystick input faults, and joystick commands.

Parameters

Signal Type Range Description
Heartbeat_Timeout
PDO1_Timeout
PDO2_Timeout
PDO3_Timeout
PDO4_Timeout
NMT_Strt BOOL T/F Enables the function block to transmit a request to the joystick
Ext BOOL T/F
U16 0 to 1000 How many milliseconds to wait for a response before timing
out. A value less than twenty for this parameter disables timeout checking.
U16 0 to 1000 How many milliseconds to wait for a response before timing
out. A value less than twenty for this parameter disables timeout checking.
U16 0 to 1000 How many milliseconds to wait for a response before timing
out. A value less than twenty for this parameter disables timeout checking.
U16 0 to 1000 How many milliseconds to wait for a response before timing
out. A value less than twenty for this parameter disables timeout checking.
U16 0 to 1000 How many milliseconds to wait for a response before timing
out. A value less than twenty for this parameter disables timeout checking.
to enter the operational state when the joystick is in Boot up or Pre-operational state.
Determines whether the messages use 11 or 29 bit identifiers. T = 29 bit identifier F = 11 bit identifier
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block

Outputs

The JS1 CANplus function block has Status, EMCY, Fault, and Out outputs.
Status outputs a bus with signals that report on the status of the joystick. See the following table for
•
a description of these signals. EMCY outputs a bus with signals that indicate error and failure information from the joystick.
•
Fault outputs a bus with signals that report joystick faults. See the table for a description of these
•
signals. Out outputs a bus with command signals. See the table for a description of these signals.
•
JS1 CANplus function block Status output
Signal Type Range Description Btn1_NA–Btn12_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
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
JS1 CANplus function block EMCY output
Signal Type Range Description EMCY —— ——
Error_Code U16 0 to 0xFFFF
Error_Register U8 0 to 10000
OccurrenceCounter U8 0 to 127 Indicates number of recorded instances of the error.
Outputs a bus that contains the following status signals. These signals indicate errors and failure information reported by the joystick.
Indicates the specific error condition reported for the joystick.
• 0x3110 = Voltage high
• 0x3120 = Voltage low
• 0xFF10 = Not calibrated
• 0xFF20 = Redundancy failure Indicates what type of error is reported by the joystick.
• Bit 0 : Generic
• Bit 1 : Current
• Bit 2 : Voltage
• Bit 3 : Temperature
• Bit 4 : Communication
• Bit 5 : Device
• Bit 6 : Reserved
• Bit 7 : Manufacturer Specific
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
JS1 CANplus function block EMCY output (continued)
Signal Type Range Description SensorIdentifier U8 0 to 255
Rx_EMCY BOOL ——
Fault outputs a bus with signals that report joystick faults. The following table describes these signals.
JS1 CANplus function block Fault output
Signal Type Range Description Btn1_Flt–Btn12_Flt BOOL —— Indicates if the input from a grip-mounted push-button switch
T_Flt BOOL —— Indicates if the input from the joystick’s rotational (theta) axis
TimeOut_Heartbeat BOOL —— Indicates if the function block receives a CAN Rx_HEARTBEAT
TimeOut_PDO1 BOOL —— Indicates if the function block receives a CAN Rx_PDO1 (Process
TimeOut_PDO2 BOOL —— Indicates if the function block receives a CAN Rx_PDO2 (Process
Indicates the source of the error reported by the joystick.
• 0x80 = X
• 0x81 = Y
• 0x82 = Grip X
• 0x83 = Grip Y
• 0x84 = Grip Theta 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.
has a fault. T = Fault F = No fault
has a fault. T = Fault F = No fault
(Receive HEARTBEAT Message) within a defined timeout limit. This message reports the NMT state of the joystick. T = Message not received within Heartbeat_Timeout limit F = Message received within Heartbeat_Timeout limit
Data Object 1) within a defined timeout limit. This message reports the status of buttons and digital inputs. When this signal is T, the function block sets all Out signals associated with the Rx_PDO1 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO1 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO1 message. It resets all Fault signals associated with the Rx_PDO1 message to F. T = Message not received within a PDO1_Timeout limit F = Message received within a PDO1_Timeout limit
Data Object 2) within a defined timeout limit. When this signal is T, the function block sets all Out signals associated with the Rx_PDO2 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO2 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO2 message. It resets all Fault signals associated with the Rx_PDO2 message to F. T = Message not received within PDO2_Timeout limit F = Message received within PDO2_Timeout limit
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
JS1 CANplus function block Fault output (continued)
Signal Type Range Description TimeOut_PDO3 BOOL —— Indicates if the function block receives a CAN Rx_PDO3 (Process
Data Object 3) within a defined timeout limit. When this signal is T, the function block sets all Out signals associated with the Rx_PDO3 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO3 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO3 message. It resets all Fault signals associated with the Rx_PDO3 message to F. T = Message not received within PDO3_Timeout limit F = Message received within PDO3_Timeout limit
TimeOut_PDO4 BOOL —— Indicates if the function block receives a CAN Rx_PDO4 (Process
Data Object 4) within a defined timeout limit. This message reports the sensor power of the joystick. When this signal is T, the function block sets all Out signals associated with the Rx_PDO4 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO4 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO4 message. It resets all Fault signals associated with the Rx_PDO4 message to F. T = Message not received within PDO4_Timeout limit F = Message received within PDO4_Timeout limit
NoMsgReceived_Heart beat
NoMsgReceived_PDO1 BOOL —— No PDO1 received from the device.
NoMsgReceived_PDO2 BOOL —— No PDO2 received from the device.
NoMsgReceived_PDO3 BOOL —— No PDO3 received from the device.
NoMsgReceived_PDO4 BOOL —— No PDO4 received from the device.
XGrp_Flt BOOL —— Indicates if the input from a grip-mounted, x-axis proportional
X_Flt BOOL —— Indicates if the input from the joystick’s x axis has a fault.
YGrp_Flt BOOL —— Indicates if the input from a grip-mounted, y-axis proportional
Y_Flt BOOL —— Indicates if the input from the joystick’s y axis has a fault.
BOOL —— No Heartbeat received from the device.
T = No message received since power on. F = At least one message has been received.
T = No message received since power on. F = At least one message has been received.
T = No message received since power on. F = At least one message has been received.
T = No message received since power on. F = At least one message has been received.
T = No message received since power on. F = At least one message has been received.
switch has a fault. T = Fault F = No fault
T = Fault F = No fault
switch has a fault. T = Fault F = No fault
T = Fault F = No fault
Out on the JS1_CAN plus function block outputs a bus with command signals. These command signals originate from the:
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
Joystick and its grip mounted buttons and switches.
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Inputs on the joystick’s connector(s).
•
The following table describes the joystick signals. (See the table for a description of the signals that originate from the 18 and 24 pin variants.)
JS1 CANplus function block Out output—joystick signals
Signal Type Range Description Btn1–Btn12 BOOL —— Indicates the states of grip-mounted push-button switches.
T = Closed F = Open
Rx_PDO1 BOOL —— Indicates when the function block receives a CAN Rx_PDO1
(Process Data Object 1). T = Message received F = Message not received
Rx_PDO2 BOOL —— Indicates when the function block receives a CAN Rx_PDO2
(Process Data Object 2). T = Message received F = Message not received
Rx_PDO3 BOOL
T_Axis_Psn S16 ±10000 Indicates the position of the joystick’s rotational (theta) axis.
XGrp_Psn S16 ±10000 Indicates the position of a grip-mounted, x-axis proportional
X_Axis_Psn S16 ±10000 Indicates the position of the joystick’s x axis.
YGrp_Psn S16 ±10000 Indicates the position of a grip-mounted, y-axis proportional
Y_Axis_Psn S16 ±10000 Indicates the position of the joystick’s y axis.
Curr_NMT_State U8 0 to 0xFF
Rx_Heartbeat BOOL
Status U16 0, 0x8008 This signal indicates if a parameter fault is declared. It’s a bitwise
—— Indicates when the function block receives a CAN Rx_PDO3
(Process Data Object 3). T = Message received F = Message not received
-10000 = -100% +10000 = +100%
switch.
-10000 = -100% +10000 = +100%
-10000 = -100% +10000 = +100%
switch.
-10000 = -100% +10000 = +100%
-10000 = -100% +10000 = +100%
The current NMT state of the joystick. 0x00 = Boot Up 0x04 = Stopped 0x05 = Operational 0x7F = Preoperational
—— Indicates when the function block receives a CAN Rx_Heartbeat.
This message reports the joystick's NMT state. T = Message received F = Message not received
code, so multiple items can be reported at a time. The following status codes are provided: 0x0000: No fault 0x8008: At least one parameter is out of range
The following table describes the signals that originate from inputs on the18 pin joystick.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
JS1 CANplus function block Out output—18 pin joystick signals
Signal Type Range Description C1p06_DigIn —— —— The C1p06_DigIn bus contains a DigIn signal.
DigIn BOOL Indicates the state of the input on joystick connector pin
C1p06.
T = Active F = Inactive
C1p09_DigAn— C1P12_DigAn
Voltage U16 0–5000 Indicates the voltage applied to joystick connector pins C1p09,
C1p13_DigIn— C1p18_DigIn
Rx_PDO4 BOOL
—— —— The C1p09, C1p10, C1p11, and C1p12 buses each contain a
DigIn and a Voltage signal.
DigIn BOOL —— Indicates the state of the inputs on joystick connector pins
C1p09, C1p10, C1p11, and C1p12.
T = Active F = Inactive
C1p10, C1p11, and C1p12.
—— —— The C1p13, C1p14, C1p15, C1p16, C1p17, and C1p18 buses
each contain a DigIn signal.
DigIn BOOL —— Indicates the state of the inputs on joystick connector pins
C1p13, C1p14, C1p15, C1p16, C1p17, and C1p18.
T = Active F = Inactive
—— Is true for the first cycle that new data is received.
Indicates that the following signals updated -
C1P09_DigAn.Voltage, C1p10_DigAn.Voltage, C1p11_DigAn.Voltage, C1p12_DigAn.Voltage.
T = A PDO4 message was received this cycle. F = A PDO4 message was not received this cycle.
The following table describes the signals that originate from inputs on the 24 pin joystick.
JS1 CANplus function block Out output—24 pin joystick signals
Signal Type Range Description C2p01_DigIn —— —— The C2p01_DigIn bus contains a DigIn signal.
DigIn BOOL Indicates the state of the input on joystick connector pin
C2p01.
T = Active F = Inactive
C1p07_DigAn, ,C1p08_ DigAn, C1p11_DigAn, C1p12_DigAn
Voltage U16 0–5000 Indicates the voltage applied to joystick connector pins C1p07,
C2p07_DigIn— C2p12_DigIn
—— —— The C1p07, C1p08, C1p11, and C1p12 buses each contain a
DigIn and a Voltage signal.
DigIn BOOL —— Indicates the state of the inputs on joystick connector pins
C1p07, C1p08, C1p11, and C1p12.
T = Active F = Inactive
C1p08, C1p11, and C1p12.
—— —— The C2p07, C2p08, C2p09, C2p10, C2p11, and C2p12 buses
each contain a DigIn signal.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
JS1 CANplus function block Out output—24 pin joystick signals (continued)
Signal Type Range Description
DigIn BOOL —— Indicates the state of the inputs on joystick connector pins
C2p07, C2p08, C2p09, C2p10, C2p11, and C2p12.
T = Active F = Inactive
Rx_PDO4 BOOL

Status and Fault Logic

Boolean Output Signals

The changing states of the Status and Fault signals affect the value of Boolean output signals.
—— Is true for the first cycle that new data is received.
Indicates that the following signals updated -
C1p08_DigAn.Voltage, C1p11_DigAn.Voltage, C1p12_DigAn.Voltage.
T = A PDO4 message was received this cycle. F = A PDO4 message was not received this cycle.
Output Signal Btn1–Btn12, T_Axis_Det, XGrp_Det, X_Axis_Det,
YGrp_Det, Y_Axis_Det
Status Signal State
F F T or F T T F T F F F T F
Fault Signal State
Output Signal Value
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
•
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
•
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.

Status Signal
Output Signal T_Axis_Psn, XGrp_Psn, X_Axis_Psn, YGrp_Psn, Y_Axis_Psn F F ±10000
State
T T 0 T F 0 F T 0
Fault Signal State
Output Signal Value
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
•
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
•
T_Axis_Psn output signal returns to its normal ±10000 operation.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block

Configuration of the PLUS+1 GUIDE Template

You do not have to change the configuration of either inputs or outputs in the PLUS+1 GUIDE template to use the function block.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block

JS1 CANplus Service Screens

JS1 CANplus 18 Pin Service Screens

JS1_CANplus_18Pin Reusable Panel Screen
JS1_CANplus_18Pin Reusable Panel External Inputs screen description
Name Unit Description C1p09_DigAn mV
C1p10_DigAn mV
C1p11_DigAn mV
C1p12_DigAN mV
Digitals – C1p06, C1p13-C1p18
Heartbeat - Timed Out --
Heartbeat ­NoMsgRcvd
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
--
Indicates the state of the associated digital input on the joystick connector. On = Active Off = Inactive
Indicates if the function block receives a CAN Rx_HEARTBEAT (Receive HEARTBEAT Message) within a defined timeout limit. This message reports the NMT state of the joystick. T = Message not received within Heartbeat_Timeout limit F = Message received within Heartbeat_Timeout limit
--
No Heartbeat message received from the device. Flt = No message received since power on. OK = At least one message has been received.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANplus Service Screens
JS1_CANplus_18Pin Reusable Panel External Inputs screen description (continued)
Name Unit Description PDO1 - Timed Out --
PDO1 - NoMsgRcvd --
PDO4 - Timed Out --
PDO4 - NoMsgRcvd --
Indicates if the function block receives a CAN Rx_PDO1 (Process Data Object 1) within a defined timeout limit. This message reports the status of buttons and digital inputs. When this signal is T, the function block sets all Out signals associated with the Rx_PDO1 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO1 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO1 message. It resets all Fault signals associated with the Rx_PDO1 message to F. T = Message not received within a PDO1_Timeout limit F = Message received within a PDO1_Timeout limit
No PDO1 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
Indicates if the function block receives a CAN Rx_PDO4 (Process Data Object 4) within a 2500 ms timeout limit. This message reports the sensor power of the joystick. When this signal is T, the function block sets all Out signals associated with the Rx_PDO4 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO4 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO4 message. It resets all Fault signals associated with the Rx_PDO4 message to F. T = Message not received within PDO4_Timeout limit F = Message received within PDO4_Timeout limit
No PDO4 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
JS1_CANplus_18Pin Reusable Panel Joystick Signals screen description
Item Unit Description Buttons - Btn (1 to 12) --
Node Address --
Positions – X Axis %
Positions – Y Axis %
Positions – T Axis %
Indicates the states of grip-mounted push-button switches. On = Closed Off = Open If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Specifies the factory-set node address of the joystick. The Type code on the joystick label identifies the node address.
Indicates the position of the joystick’s X-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s Y-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s T-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANplus Service Screens
JS1_CANplus_18Pin Reusable Panel Joystick Signals screen description (continued)
Item Unit Description Positions – X Grp Axis %
Positions – Y Grp Axis %
PDO1 - Timed Out --
PDO1 - NoMsgRcvd --
PDO2 - Timed Out --
PDO2 - NoMsgRcvd --
PDO3 - Timed Out --
PDO3 - NoMsgRcvd --
Status --
Indicates the position of the joystick’s X-axis proportional switch. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s Y-axis proportional switch. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
How many milliseconds to wait for a response before timing out. A value less than twenty for this parameter disables timeout checking.
No PDO1 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
How many milliseconds to wait for a response before timing out. A value less than twenty for this parameter disables timeout checking.
No PDO2 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
How many milliseconds to wait for a response before timing out. A value less than twenty for this parameter disables timeout checking.
No PDO3 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
This signal indicates if a parameter fault is declared. It’s a bitwise code, so multiple items can be reported at a time. The following status codes are provided: 0x0000: No fault 0x8008: At least one parameter is out of range

JS1 CANplus 24 Pin Service Screens

This screen shows two panels for the JS1_CANplus_24Pin Function Block. These panels can be reused in other diagnostic applications.
JS1_CANplus_24Pin Reusable Panel Screen
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANplus Service Screens
JS1_CANplus_24Pin Reusable Panel External Inputs screen description
Item Unit Description C1p07_DigAn mV
C1p08_DigAn mV
C1p11_DigAn mV
C1p12_DigAN mV
Digitals – C2p01, C2p07-C2p12
Heartbeat - Timed Out --
Heartbeat ­NoMsgRcvd
PDO1 - Timed Out --
PDO1 - NoMsgRcvd --
PDO4 - Timed Out --
PDO4 - NoMsgRcvd --
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
Indicates the voltage applied to the associated joystick connector pin. This signal also has a digital input that is indicated here. On = Active Off = Inactive
--
Indicates the state of the associated digital input on the joystick connector. On = Active Off = Inactive
Indicates if the function block receives a CAN Rx_HEARTBEAT (Receive HEARTBEAT Message) within a defined timeout limit. This message reports the NMT state of the joystick. T = Message not received within Heartbeat_Timeout limit F = Message received within Heartbeat_Timeout limit
--
No Heartbeat message received from the device. Flt = No message received since power on. OK = At least one message has been received.
Indicates if the function block receives a CAN Rx_PDO1 (Process Data Object 1) within a defined timeout limit. This message reports the status of buttons and digital inputs. When this signal is T, the function block sets all Out signals associated with the Rx_PDO1 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO1 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO1 message. It resets all Fault signals associated with the Rx_PDO1 message to F. T = Message not received within a PDO1_Timeout limit F = Message received within a PDO1_Timeout limit
No PDO1 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
Indicates if the function block receives a CAN Rx_PDO4 (Process Data Object 4) within a 2500 ms timeout limit. This message reports the sensor power of the joystick. When this signal is T, the function block sets all Out signals associated with the Rx_PDO4 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO4 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO4 message. It resets all Fault signals associated with the Rx_PDO4 message to F. T = Message not received within PDO4_Timeout limit F = Message received within PDO4_Timeout limit
No PDO4 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
16 | © Danfoss | February 2020 AQ309185946321en-000101
PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANplus Service Screens
JS1 CANplus_24Pin Reusable Panel Joystick Signals screen description
Item Unit Description Buttons - Btn (1 to 12) --
Node Address --
PDO1 - Timed Out --
PDO1 - NoMsgRcvd --
PDO2 - Timed Out --
PDO2 - NoMsgRcvd --
PDO3 - Timed Out --
PDO3 - NoMsgRcvd --
Positions – X Axis %
Indicates the states of grip-mounted push-button switches. On = Closed Off = Open If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Specifies the factory-set node address of the joystick. The Type code on the joystick label identifies the node address.
Indicates if the function block receives a CAN Rx_PDO1 (Process Data Object 1) within a defined timeout limit. This message reports the status of buttons and digital inputs. When this signal is T, the function block sets all Out signals associated with the Rx_PDO1 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO1 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO1 message. It resets all Fault signals associated with the Rx_PDO1 message to F. T = Message not received within a PDO1_Timeout limit F = Message received within a PDO1_Timeout limit
No PDO1 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
dicates if the function block receives a CAN Rx_PDO2 (Process Data Object 2) within a defined timeout limit. When this signal is T, the function block sets all Out signals associated with the Rx_PDO2 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO2 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO2 message. It resets all Fault signals associated with the Rx_PDO2 message to F. T = Message not received within PDO2_Timeout limit F = Message received within PDO2_Timeout limit
No PDO2 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
Indicates if the function block receives a CAN Rx_PDO3 (Process Data Object 3) within a defined timeout limit. When this signal is T, the function block sets all Out signals associated with the Rx_PDO3 message to either 0 or F. It sets all Fault signals associated with the Rx_PDO3 message to T. When this signal becomes F again, the function block enables all Out signals associated with the Rx_PDO3 message. It resets all Fault signals associated with the Rx_PDO3 message to F. T = Message not received within PDO3_Timeout limit F = Message received within PDO3_Timeout limit
No PDO3 message received from the device. Flt = No message received since power on. OK = At least one message has been received.
Indicates the position of the joystick’s X-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
©
Danfoss | February 2020 AQ309185946321en-000101 | 17
PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANplus Service Screens
JS1 CANplus_24Pin Reusable Panel Joystick Signals screen description (continued)
Item Unit Description Positions – Y Axis %
Positions – T Axis %
Positions – X Grp Axis %
Positions – Y Grp Axis %
Status --
Indicates the position of the joystick’s Y-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s T-axis. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s X-axis proportional switch. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
Indicates the position of the joystick’s Y-axis proportional switch. If the NA is active, then the signal is not available. The associated signal is set to false. If the Flt is active, then a fault condition currently exists for the signal. The associated signal is set to false.
This signal indicates if a parameter fault is declared. It’s a bitwise code, so multiple items can be reported at a time. The following status codes are provided: 0x0000: No fault 0x8008: At least one parameter is out of range
18 | © Danfoss | February 2020 AQ309185946321en-000101
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