Danfoss JS1 CANopen CANplus Operating guide
User Manual
PLUS+1 ® Compliant
JS1 CANopen CANplus Joystick Function
Blocks
www.danfoss.com
User Manual
PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
Revision history |
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February 2020 |
First Edition |
0101 |
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2 | © Danfoss | February 2020 |
AQ309185946321en-000101 |
User Manual |
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PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block |
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Contents |
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JS1 CANopen CANplus Function Block |
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Overview.............................................................................................................................................................................................. |
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Inputs.................................................................................................................................................................................................... |
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Parameters..................................................................................................................................................................................... |
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Outputs................................................................................................................................................................................................ |
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Status and Fault Logic.................................................................................................................................................................. |
11 |
Boolean Output Signals.......................................................................................................................................................... |
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Proportional Output Signals................................................................................................................................................. |
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Configuration of the PLUS+1 GUIDE Template................................................................................................................... |
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JS1 CANplus Service Screens |
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JS1 CANplus 18 Pin Service Screens........................................................................................................................................ |
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JS1 CANplus 24 Pin Service Screens........................................................................................................................................ |
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© Danfoss | February 2020 |
AQ309185946321en-000101 | 3 |
User Manual
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:
•CANopen HEARTBEAT Message - Reports the operational state of the joystick.
•CANopen EMCY message - In the event of a fault, this message reports the details of the fault.
•CANopen PDO1 Message - The state of buttons 1 to 12. The state of digital inputs external to the joystick.
•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.
4 | © Danfoss | February 2020 |
AQ309185946321en-000101 |
User Manual
PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
JS1 CANopen CANplus Function Block
Inputs
JS1_CANplus function block inputs
Input |
Type |
Range |
Description |
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Node |
—— |
—— |
Specifies the CANopen address of the joystick. |
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All Node addresses on the same CANopen bus must be |
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different. Do not use the same address twice. |
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The Type code on the joystick label identifies the source |
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address. Typical addresses are C33 (right), C34 (left), |
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C35 |
(center), and C36 (auxiliary). |
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Enter the source address in hexadecimal format as shown in the |
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following examples: |
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C33 |
(right) = 0x33 |
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C34 |
(left) = 0x34 |
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C35 |
(center) = 0x35 |
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C36 |
(auxiliary) = 0x36 |
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CAN |
—— |
—— |
In the GUIDE template, identify the CAN bus that inputs CAN |
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messages from the joystick. Route this bus to the CAN input on |
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this function block. |
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CAN messages sent from the joystick to the function block |
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contain information about the availability and state of joystick |
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inputs, joystick input faults, and joystick commands. |
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Parameters
Signal |
Type |
Range |
Description |
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Heartbeat_Timeout |
U16 |
0 to 1000 |
How many milliseconds to wait for a response before timing |
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out. A value less than twenty for this parameter disables |
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timeout checking. |
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PDO1_Timeout |
U16 |
0 to 1000 |
How many milliseconds to wait for a response before timing |
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out. A value less than twenty for this parameter disables |
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timeout checking. |
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PDO2_Timeout |
U16 |
0 to 1000 |
How many milliseconds to wait for a response before timing |
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out. A value less than twenty for this parameter disables |
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timeout checking. |
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PDO3_Timeout |
U16 |
0 to 1000 |
How many milliseconds to wait for a response before timing |
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out. A value less than twenty for this parameter disables |
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timeout checking. |
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PDO4_Timeout |
U16 |
0 to 1000 |
How many milliseconds to wait for a response before timing |
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out. A value less than twenty for this parameter disables |
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timeout checking. |
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NMT_Strt |
BOOL |
T/F |
Enables the function block to transmit a request to the joystick |
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to enter the operational state when the joystick is in Boot up or |
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Pre-operational state. |
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Ext |
BOOL |
T/F |
Determines whether the messages use 11 or 29 bit identifiers. |
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T = 29 bit identifier |
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F = 11 bit identifier |
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© Danfoss | February 2020 |
AQ309185946321en-000101 | 5 |
User Manual
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 |
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Btn1_NA–Btn12_NA |
BOOL |
—— |
Indicates if an input is available from a grip-mounted push |
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button switch. |
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T = Not available |
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F = Available |
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T_NA |
BOOL |
—— |
Indicates if an input from a rotational (theta) axis is available. |
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T = Not available |
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F = Available |
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XGrp_NA |
BOOL |
—— |
Indicates if an input from a grip-mounted, x-axis, proportional |
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switch is available. |
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T = Not available |
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F = Available |
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X_NA |
BOOL |
—— |
Indicates if an input from the joystick’s x axis is available. |
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T = Not available |
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F = Available |
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YGrp_NA |
BOOL |
—— |
Indicates if an input from a grip-mounted, y-axis, proportional |
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switch is available. |
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T = Not available |
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F = Available |
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Y_NA |
BOOL |
—— |
Indicates if an input from the joystick’s y axis is available. |
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T = Not available |
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F = Available |
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JS1 CANplus function block EMCY output
Signal |
Type |
Range |
Description |
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EMCY |
—— |
—— |
Outputs a bus that contains the following status signals. These |
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signals indicate errors and failure information reported by the |
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joystick. |
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Error_Code |
U16 |
0 to 0xFFFF |
Indicates the specific error condition reported for the joystick. |
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• 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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Error_Register |
U8 |
0 to 10000 |
Indicates what type of error is reported by the joystick. |
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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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OccurrenceCounter |
U8 |
0 to 127 |
Indicates number of recorded instances of the error. |
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6 | © Danfoss | February 2020 |
AQ309185946321en-000101 |
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