Danfoss JS1 CANopen CANplus Operating guide
User Manual
PLUS+1 ® Compliant
JS1 CANopen CANplus Joystick Function
Blocks
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User Manual
PLUS+1® Compliant JS1 CANopen CANplus Joystick Function Block
Revision history Table of revisions
Date Changed Rev
February 2020 First Edition 0101
2 | © Danfoss | February 2020 AQ309185946321en-000101
User Manual
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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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:
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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.
•
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
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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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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
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
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a description of these signals.
EMCY outputs a bus with signals that indicate error and failure information from the joystick.
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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.
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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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