Danfoss JS6000 User guide
Technical Information
Joysticks
JS6000 Joystick Base
powersolutions.danfoss.com
Technical Information
JS6000 Joystick Base
Revision history Table of revisions
Date Changed Rev
April 2017 Updated to Engineering Tomorrow design 1104
April 2017 Minor correction to note format and mis-spelling 1103
November 2015 Converted to Danfoss layout 1102
June 2010 Single or Dual Axis Options images; Dimensions and Installation, revised dimensions to
include 18 pin connector, added recommended mounting panel cut-out illustration, and
updated installation instructions.
February 2010 Axis base image, A Grip Front Plate Diagram illustration, Environmental Characteristics JA
September 2009 Content update IA
January 2008 A grip front plate diagram updated HA
November 2007 Grip options model code details; mechanical options: friction hold torque GA
June 2007 Corrected temperature and length conversion FA
June 2007 Text changes and addition of CAN+ EA
April 2007 Text changes D
February 2006 Text changes C
November 2005 Feature updates B
May 2005 Hall sensor pinouts A
December 2004 Initial release
KA
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Technical Information
JS6000 Joystick Base
Contents
General Information
Product configuration
Model code details
JS6000 CAN messages
CAN message protocol
Description..........................................................................................................................................................................................5
Features and options...................................................................................................................................................................... 5
Product configuration model code............................................................................................................................................6
Base model code...............................................................................................................................................................................7
Grip model code............................................................................................................................................................................... 9
Code B: Single or dual axis options......................................................................................................................................... 10
Code C: Shaft sensor and output options............................................................................................................................. 12
Potentiometer sensor............................................................................................................................................................. 12
Center tap.............................................................................................................................................................................. 12
Directional potentiometer switches.............................................................................................................................13
Dual potentiometer outputs per axis................................................................................................................................13
Hall effect sensor.......................................................................................................................................................................14
Controller Area Network (CAN) output.............................................................................................................................14
CAN (configuration model code CAN).........................................................................................................................14
CAN+ (configuration model code CPL).......................................................................................................................14
Pulse Width Modulated (PWM) output.............................................................................................................................14
PWM (configuration model code PWM)..................................................................................................................... 14
Code D: Centering return spring options..............................................................................................................................15
Code E: Hardware configuration.............................................................................................................................................. 15
Code F: Mechanical options.......................................................................................................................................................16
Code G: Microswitch option.......................................................................................................................................................18
Code H: Electrical interface options........................................................................................................................................ 19
Analog...........................................................................................................................................................................................19
CAN 2.0B, J1939 protocol.......................................................................................................................................................19
CANopen 2.0B, J1939 protocol............................................................................................................................................19
PWM ............................................................................................................................................................................................. 19
H1 electrical interface options.............................................................................................................................................19
H2, 3 joystick location/CAN source address....................................................................................................................19
H4 CAN proportional output................................................................................................................................................20
Code I, J, K, L: Grip options..........................................................................................................................................................20
CAN option.......................................................................................................................................................................................21
CAN+ option....................................................................................................................................................................................21
CAN+ external inputs................................................................................................................................................................... 21
Analog inputs (AIN)..................................................................................................................................................................21
Digital inputs (DIN)...................................................................................................................................................................21
SAE J1939 CAN message specification...................................................................................................................................23
SAE J1939 basic joystick message...................................................................................................................................... 23
Data field......................................................................................................................................................................................23
Basic joystick message data field descriptions.............................................................................................................. 23
Joystick X-axis neutral position status.........................................................................................................................24
Joystick X-axis handle left negative position status............................................................................................... 24
Joystick X-axis handle right positive position status..............................................................................................25
Joystick X-axis position status........................................................................................................................................ 25
Joystick Y-axis neutral position status.........................................................................................................................25
Joystick Y-axis handle back negative position status............................................................................................ 25
Joystick Y-axis handle forward positive position status........................................................................................26
Joystick Y-axis position status.........................................................................................................................................26
SAE J1939 extended joystick message............................................................................................................................. 26
SAE J1939 error (DM1) messages........................................................................................................................................27
SAE CANopen protocol information.......................................................................................................................................28
A grip button and rocker CAN naming conventions........................................................................................................ 29
Top and operator present switch naming conventions.............................................................................................30
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Technical Information
JS6000 Joystick Base
Contents
Product installation
Specifications
Proportional rocker naming conventions........................................................................................................................30
MG grip button CAN naming conventions...........................................................................................................................31
Dimensions and installation...................................................................................................................................................... 32
Dimensions................................................................................................................................................................................. 32
Recommended mounting panel cut-out.........................................................................................................................32
Installation...................................................................................................................................................................................33
Machine wiring guidelines......................................................................................................................................................... 33
Joystick safety critical functions............................................................................................................................................... 34
JS6000 connector pin assignments general information................................................................................................34
Pin assignments..............................................................................................................................................................................35
CAN output connector pin assignments..........................................................................................................................35
CAN output mating connector DEUTSCH DTM06-6S..................................................................................................35
CAN+ and PWM output connector pin assignments.................................................................................................. 36
CAN+ and PWM output mating connector DEUTSCH DT16-18SB......................................................................... 37
Potentiometer sensor with analog output connector pin assignments..............................................................38
Analog output mating connector ..................................................................................................................................... 39
Hall effect sensor with analog output pin assignments ............................................................................................40
Mechanical characteristics..........................................................................................................................................................41
Electrical characteristics...............................................................................................................................................................41
Microswitch characteristics........................................................................................................................................................ 43
Sensor power supply ratings..................................................................................................................................................... 43
Environmental characteristics...................................................................................................................................................43
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Technical Information
JS6000 Joystick Base
General Information
Description
The JS6000 features metal construction with a large diameter stainless steel operating shaft, an
innovative ball and socket gimbal design manufactured from pressure die cast zinc alloys, a custom high
strength material for the center return cone, and optional contactless Hall effect sensing technology.
The CAN+ version of the JS6000 base allows the value and state of up to eleven digital or seven digital
and four analog inputs from external-to-the-joystick sources to be broadcast along with joystick
Controller Area network (CAN) messages.
The Pulse Width Modulation (PWM) version of the JS6000 base can be used to directly drive a valve, such
as the H1 hydrostatic transmission, without an intermediate microcontroller. This version allows joystick
operating parameters (e.g. ramp rates, button function assignments, output characteristics) to be
configured using the PLUS+1® Service Tool interface. Refer to JS6000 PWM User Manual, 11060942 for
instructions and information required to configure JS6000 PWM joystick options.
The flexible design of the JS6000 offers many options, making it the right choice for applications that
require more than a simple dual axis joystick with spring return to center.
JS6000 joystick base
Features and options
Hall effect or potentiometer sensing (model dependent)
•
One or two sensors per axis for redundancy
•
Single or dual axis
•
Mechanical direction switches
•
2 centering spring forces
•
3 available friction-hold options
•
Output options:
•
Analog
‒
CAN 2.0B, J1939 protocol
‒
CANopen protocol
‒
High current PWM
‒
Multiple grip options:
•
HKN — plain knob
‒
MG — with operator trigger and hand rest
‒
A— configurable ergonomic
‒
Custom designed grips
‒
External-to-joystick analog and digital information included in JS6000 CAN+messages
•
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J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
Technical Information
JS6000 Joystick Base
Product configuration
Product configuration model code
Use the JS6000 product configuration model code to specify particular features when ordering a JS6000
joystick. The model code begins with the product family name: JS6000. Fill in the remaining fields to
configure the product with the desired features.
The model code includes both joystick base and joystick grip information. JS6000 Joystick Base Technical
Information Manual, 520L0760 provides information required to configure the base portion of the
joystick. JS1000, JS6000 Joystick Grips Technical Information Manual, 520L0872 provides information
required to configure JS6000 joystick grips.
Product configuration model code example
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Base Grip
A B C D E F G H I J K L M N O P Q R S
J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
Technical Information
JS6000 Joystick Base
Product configuration
Base model code
JS6000 product configuration model code example
A—Product series
Code Description
JS6000 Series JS6000 Joystick
B—Operational axis options
Code Description
XY Bi-directional: X and Y axis
NY Uni-directional: Y axis only (required for friction-holding)
C—Shaft position sensing and output options
Code Description
PRR Potentiometer: single output per axis; Vo = 10 to 90% of Vs; ±1.5° neutral threshold
PQQ Potentiometer: single output per axis; Vo = 25 to 75% of Vs; ±1.5° neutral threshold
PSS Potentiometer: single output per axis; Vo = 10 to 90% of Vs; ±5° neutral threshold
PTT Potentiometer: single output per axis; Vo = 25 to 75% of Vs; ±5° neutral threshold
PUU Potentiometer: dual output per axis; Vo = 10 to 90% of Vs; ±1.5° neutral threshold
HMM Hall effect: dual sensors per axis; Vs = 5 VDC; Vo = 0.5 to 4.5 V
CAN
*
CANopen*Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CANopen 2.0B J1939 communication, 6 pin connector
CPL Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CAN 2.0B communication, 18 pin connector
PWM Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; high current PWM and digital outputs
*
See H1 electrical interface options on page 19.
Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CAN 2.0B J1939 communication, 6 pin connector
DC
D—Centering spring options
Code Description
H Heavy force
M Medium force
F Friction-hold (position maintained, center detent)
E—Gate pattern options
Code Description
S Square, full output at 45 degree
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Technical Information
JS6000 Joystick Base
Product configuration
F—Mechanical options
Code Description
NL No mechanical option; spring return to center only
FB Friction-held in Y axis; no X axis; center detent; 1.25 Nm [0.92 lb•ft] friction-hold force; 2.5 Nm [1.66 lb•ft]
breakout force
FC Friction-held in Y axis; no X axis; center detent; 1.25 Nm [0.92 lb•ft] friction-hold force; 3.25 Nm [2.40
lb•ft] breakout force
HC Friction-held in Y axis; no X axis; center detent; 2.25 Nm [1.66 lb•ft] friction-hold force; 4.0 Nm [2.95 lb•ft]
breakout force
G—Direction (microswitch) options
Code Description
N No switches
Y Microswitches installed
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A B C D E F G H I J K L M N O P Q R S
J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
1 2 3 4
Technical Information
JS6000 Joystick Base
Product configuration
Grip model code
JS6000 product configuration model code example
H1—Electrical interface options
Code Description
S Analog (DC voltage output)
J CAN, SAE J1939 protocol
W PWM output
P CANopen protocol (default: 125 Kbit band rate)
H2, 3—CAN source address*
Code Description
NN None—use with analog outputs when H1 = S
33 Source address = 0x 33 (use this source address with PWM outputs.)
34 Source address = 0x 34
35 Source address = 0x 35
36 Source address = 0x 36
*Consult the factory if additional source addresses are required.
H4—Joystick output type
Code Description
N None—use with analog and PWM outputs
1 CAN full scale output = 1000 counts
I, J, K, L, M, N, O, P, Q, R, S—Grip options
JS1000, JS6000 Joystick Grips Technical Information, 520L0872 provides information required to configure
the JS6000 joystick grip.
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B
J S 6 0 0 0
+Y Axis
-Y Axis
+Y Axis
Orientation Mark
(lift boot)
-X Axis
-Y Axis
2456B
+X Axis
Technical Information
JS6000 Joystick Base
Model code details
Code B: Single or dual axis options
JS6000 product configuration model code B
Code B designates the number of operational axes.
Single Axis Base—NY with friction hold option in the configuration code
Dual Axis Base—XY in the configuration code
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20° ± 0°
20° ± 0°
20° ± 0° 20° ± 0°
20° ± 0°
20° ± 0°20° ± 0°
20° ± 0°
P200 001
Technical Information
JS6000 Joystick Base
Model code details
X and Y Operation (or movement).
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C
J S 6 0 0 0 X Y P R R
Technical Information
JS6000 Joystick Base
Model code details
Code C: Shaft sensor and output options
JS6000 product configuration model code C
Code C designates the shaft sensing technology; potentiometer or Hall effect; and the electrical output
characteristics of the joystick base.
C—Shaft position sensing and output options
Code Description
PRR
PQQ
PSS
PTT
PUU
HMM
*
CAN
CANopen
CPL
PWM
*
See H1 electrical interface options on page 19.
Potentiometer: single output per axis; Vo = 10 to 90% of Vs; ±1.5° neutral threshold
Potentiometer: single output per axis; Vo = 25 to 75% of Vs; ±1.5° neutral threshold
Potentiometer: single output per axis; Vo = 10 to 90% of Vs; ±5° neutral threshold
Potentiometer: single output per axis; Vo = 25 to 75% of Vs; ±5° neutral threshold
Potentiometer: dual output per axis; Vo = 10 to 90% of Vs; ±1.5° neutral threshold
Hall effect: dual sensors per axis; Vs = 5 VDC; Vo = 0.5 to 4.5 V
Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CAN 2.0B J1939 communication, 6 pin connector
*
Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CANopen 2.0B J1939 communication, 6 pin connector
Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; CAN 2.0B communication, 18 pin connector
Hall effect: dual sensors per axis; Vs = 9 to 36 VDC; high current PWM and digital outputs
DC
Potentiometer sensor
The potentiometer sensor electrical connections are made via a 16 pin AMP 040 series MULTILOCK
connector mounted on the base of the unit.
Potentiometer outputs are ratiometric. The output value is dependent on the supply voltage. When the
joystick handle returns to center, the output will be between 48% and 52% of supply voltage (Vs).
Potentiometer sensor specifications
Minimum load impedance
Maximum wiper current
Supply voltage
Center tap/switch alignment
Potentiometer electrical angle
Center tap angle
Insulation resistance at 50 Vdc
1 MΩ recommended
5 mA
> 36 Vdc
Within 0.5º
± 18º
± 2.5º
> 50 MΩ
Center tap
A center tap is standard on all potentiometer tracks, where 50% of the supply voltage can be supplied to
force the sensor voltage to this known reference. When the center tap is not connected there will be a
center dead band (where the voltage output does not change on initial deflection) and the output
voltage will be between 48 and 52% of the supply voltage.
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16 Pin Connector
13 14 9 12 11 10 16 1
Back
Handle Direction Switch
Center Tap
Forward
16 Pin Connector
7 8 3 6 5 4 2 15
Left
Center Tap
– Wiper Symbol
Pot
Right
Handle Direction Switch
Y-axis Pin Numbering
Pot
X-axis Pin Numbering
W
Technical Information
JS6000 Joystick Base
Model code details
Directional potentiometer switches
Potentiometer tracks have directional and normally closed (center on) position switches that operate at
the angles shown in the table below. Switch outputs are independent of the proportional potentiometer
elements on each axis and can be terminated by the customer to provide directional or center on/off
data to the control system.
Directional potentiometer switches specifications
Maximum load current
Maximum supply voltage
200 mA resistive
> 36 Vdc
Directional potentiometer switch circuit diagram
Potentiometer track outputs
Minimum output
Voltage (% Vs)
10 ± 2 90 ± 2 ±1.5º 1.6 to 2.4 R
25 ± 2 75 ± 2 ±1.5º 2.2 to 3.6 Q
10 ± 2 90 ± 2 ±5º 1.6 to 2.4 S
25 ± 2 75 ± 2 ±5º 2.2 to 3.6 T
Maximum output
Voltage (% Vs)
Switch track angle Resistance kΩ Order code
Warning
Potential uncommanded machine movement. When a JS6000 joystick with the 25% to 75%
potentiometer output option (designated Q or T) is used to directly drive a PVG valve, if the power or
ground side of the joystick is lost, there is a risk of the valve going full on in one direction or the other. To
avoid the possibility of unintended machine motion, the PVG valve must have Active Fault Monitoring.
Dual potentiometer outputs per axis
Dual potentiometer outputs are available that feature independent power inputs and sensor outputs.
The secondary potentiometer output connections are via an 8 pin AMP® connector. Secondary
potentiometer outputs do not provide secondary directional and center switches.
Hall sensing and dual potentiometer outputs are not available together.
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Technical Information
JS6000 Joystick Base
Model code details
Dual potentiometer track selection
Minimum output
Voltage (% Vs)
10 ± 2 90 ± 2 ±1.5º 1.6 to 2.4 U
Hall effect sensor
The Hall effect sensor option includes dual sensors per axis. The sensors can be supplied from two
separate regulated 5 V supplies for a higher degree of redundancy, or can be supplied from a single
regulated 5 V supply.
Hall effect sensing electrical connections are made via a 12 pin AMP® 040 series MULTILOCK connector on
the base of the unit.
JS6000 Hall effect sensors are affected by temperature. Output values change temporarily by 2.6% and
permanently by 0.6% when subjected to a -40°C (-40°F) to 80°C (176°F) operating temperature range
cycle.
Hall effect sensor specifications
Supply voltage (Vs) 5 Vdc regulated
Minimum output voltage 10% ± 4% Vs
Center voltage 50% ± 2% Vs
Maximum output voltage 90% ± 4% Vs
Maximum output
Voltage (% Vs)
Switch track angle Resistance kΩ Order code
Controller Area Network (CAN) output
Three versions of JS6000 CAN joysticks are available:
•
A grip
•
MG grip
•
HKN grip
CAN (configuration model code CAN)
CAN 2.0bB J1939 protocol and CANopen 2.0B J1939 protocol (reference Code H: Electrical interface options
on page 19 product configuration model code, under H1 electrical interface options on page 19).
CAN+ (configuration model code CPL)
CAN+ output broadcasts joystick shaft position, grip switch states, grip proportional rocker position and
the state and value of up to 11 digital (DIN) or 7 digital (DIN) and 4 analog (AIN) inputs from sources
external to the joystick. The CAN+ option joystick base has an 18 pin DEUTSCH connector.
Pulse Width Modulated (PWM) output
One version of the JS6000 PWM joystick is available.
PWM (configuration model code PWM)
The PWM version of JS6000 joystick has two bi-directional PWM channels and six digital outputs. The
PWM option joystick base has an 18 pin DEUTSCH connector.
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D
J S 6 0 0 0 X Y H M M H
W
E
J S 6 0 0 0 X Y H M M H S
Square
Technical Information
JS6000 Joystick Base
Model code details
Code D: Centering return spring options
JS6000 product configuration model code D
Code D designates centering spring force options.
The center spring returns the joystick to its center position when released by the operator and provides
the physical resistance to movement when the joystick is operated. Two levels of spring force are
available: heavy and medium. Spring force is selected by choosing a letter from the order character
column of the following table.
Warning
Potential uncommanded machine movement. The spring choice affects the joystick’s ability to resist
system vibrations. Each of the following springs give a different product harmonic range. This, in
combination with critical mass differences as a result of grip choice, results in each system (joystick and
machine) having different vibration characteristics. With this in mind, please consider the vibration range
of the system and determine whether any resonance exists in the joystick. Resonance causes dither and
could cause the joystick to leave neutral.
Centering spring selection
Spring option Breakout force on axis Force at full deflection Order code
Heavy duty spring 12 to 19 N [2.7 to 4.3 lbf] 31 to 47 N [6.7 to 10.6 lbf] H
Medium duty spring 6 to 8.5 N [1.3 to 1.9 lbf] 15 to 23 N [3.4 to 5.2 lbf] M
The above forces are measured 55 mm (2.17 in) from the joystick mounting surface and are perpendicular
to the shaft.
Code E: Hardware configuration
JS6000 product configuration model code E
Code E designates hardware configuration.
JS6000 joysticks have a square gate pattern as the standard configuration. This is designated as S in the
configuration code and includes a standard label.
Gate selection
Gate option Characteristics Order code
± 20º mechanical travel (on axis) S
The square gate offers full X and Y outputs when the joystick is moved to the corner positions.
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