CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
PIN #1
INDICATED
1
12
6
7
47.1 mm
[1.85]
51.6 mm
[2.03]
LED INDICATOR
LIGHTS
CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
1
12
6
7
97.0 mm
[3.82]
142.0 mm
[5.59]
144.5 mm
5.69
158.2 mm
6.23
2x 25.2 mm
[1.0]
2x
7.0
[.28]
MOUNTING
DIRECTION
#2
COMPLIANT
TM
JOYSTICK
PLUS+1™ GUIDE
Software
PLUS+1 Compliant
JS6000 Joystick with
CAN Function Block
User Manual
TEMP
PRESSURE
PLUS+1 Compliant JS6000 Joystick with CAN Function Block
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About this Manual
Organization
and Headings
To help you quickly find information in this manual, the material is divided into sections,
topics, subtopics, and details, with descriptive headings set in red type. Section titles
appear at the top of every page in large red type.
In the PDF version of this document, clicking an item underlined in blue italic type
jumps
you to the referenced page in the document.
Special Text Formatting Controls and indicators are set in bold black type.
Table of Contents
A Table of Contents (TOC) appears on the next page. In the PDF version of this document,
the TOC entries are hyperlinked.
Revision History
Revision Date Comment
Rev A April 2006
Rev B April 2007
Rev BA May 2010
©2010 Sauer-Danfoss. All rights reserved.
Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material.
Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already
ordered provided that such alterations can be made without affecting agreed specifications.
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1
Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.
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Contents
JS6000_CAN Function Block........................................................................................................................ 4
Overview .................................................................................................................................................... 4
Inputs........................................................................................................................................................... 4
Outputs....................................................................................................................................................... 5
Status and Fault Logic............................................................................................................................ 9
Boolean Output Signals ................................................................................................................ 9
Proportional Output Signals........................................................................................................ 9
Connections and Signals Overview.................................................................................................10
Configuration of Input and Output Buses ....................................................................................10
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JS6000_CAN Function Block
Overview
The JS6000_CAN function block configures the output of a Sauer-Danfoss JS6000 Joystick
with CAN.
This joystick has a CAN (Controller Area Network) 2.0B output that uses the J1939
communication protocol.
The JS6000 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 two grip-mounted proportional three-point rocker switches.
• Up to five grip-mounted push-buttons switches.
Also see the Connections and Signals Overview
on page 10.
Inputs
JS6000_CAN Function Block Inputs
Input Type Range Description
SA —— —— In the GUIDE template, route a Six Digit Autotype component to the SA (Source Address) pin on this function
block.
In the Six Digit Autotype component, specify the factory-set source address of the joystick.
All source addresses on the same CAN 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 J33 (right), J34 (left),
J35 (center), and J36 (auxiliary).
Enter the source address in hexadecimal format as shown in the following examples:
J33 (right) = 0x33
J34 (left) = 0x34
J35 (center) = 0x35
J36 (auxiliary) = 0x36
CAN —— —— In the GUIDE template, identify the CAN bus that inputs CAN messages from the joystick. Route this bus to the
CAN pin on this function block.
CAN messages sent from the joystick to the function block contain information about the availability of joystick
inputs, joystick input faults, and joystick commands.
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Outputs
JS6000_CAN Function Block Outputs
Output Type Range Description
Status —— —— Outputs a bus that contains the following status signals.
Btn1_NA–Btn12_NA BOOL —— Indicates if an input is available from a grip-mounted push button switch.
T = Not available.
F = Available.
T_Det_NA BOOL —— Indicates if an input from a detent switch on the joystick’s rotational (theta) axis is
available.
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_Det_NA BOOL —— Indicates if an input from a grip-mounted, x-axis detent switch 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_Det_NA BOOL —— Indicates if an input from a grip-mounted, x-axis, detent 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_Det_NA BOOL —— Indicates if an input from a grip-mounted, y-axis detent switch 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_Det_NA BOOL —— Indicates if an input from a grip-mounted, y-axis, detent 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.
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JS6000_CAN Function Block Outputs
Output Type Range Description
Fault —— —— Outputs a bus that contains the following fault signals.
Btn1_Flt–Btn12_Flt BOOL —— Indicates if the input from a grip-mounted push-button switch has a fault.
T = Fault.
F = No fault.
T_Det_Flt BOOL —— Indicates if the input from a detent switch on the joystick’s rotational (theta) axis has a
fault.
T = Fault.
F = No fault.
T_Flt BOOL —— Indicates if the input from the joystick’s rotational (theta) axis has a fault.
T = Fault.
F = No fault.
TimeOut_BJM BOOL —— Indicates if the function block receives a CAN Rx_BJM (Receive Basic Joystick Message)
within a 100 ms timeout limit.
This message reports joystick x-axis and y-axis positions as well as the state of grip-
mounted button switches.
When this signal is T, the function block sets all Out signals associated with the Rx_BJM
message to either 0 or F. It sets all Fault signals associated with the Rx_BJM message to
T.
When this signal becomes F again, the function block enables all Out signals associated
with the Rx_BJM message. It resets all Fault signals associated with the Rx_BJM message
to F.
T = Message not received within 100 ms limit.
F = Message received within 100 ms limit.
TimeOut_EJM BOOL —— Indicates if the function block receives a CAN Rx_EMJ (Receive Extended Joystick
Message) within a 100 ms timeout limit.
This message reports the position of grip-mounted proportional switches.
When this signal is T, the function block sets all Out signals associated with the Rx_EJM
message to either 0 or F. It sets all Fault signals associated with the Rx_EJM message to
T.
When this signal becomes F again, the function block enables all Out signals associated
with the Rx_EJM message. It resets all Fault signals associated with the Rx_EJM message
to F.
T = Message not received within 100 ms limit.
F = Message received within 100 ms limit.
XGrp_Det_Flt BOOL —— Indicates if the input from a grip-mounted, x-axis detent switch has a fault.
T = Fault.
F = No fault.
XGrp_Flt BOOL —— Indicates if the input from a grip-mounted, y-axis proportional switch has a fault.
T = Fault.
F = No fault.
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JS6000_CAN Function Block Outputs
Output Type Range Description
X_Det_Flt BOOL —— Indicates if the input from a detent switch on the joystick’s x axis has a fault.
T = Fault.
F = No fault.
X_Flt BOOL —— Indicates if the input from the joystick’s x axis has a fault.
T = Fault.
F = No fault.
YGrp_Det_Flt BOOL —— Indicates if the input from a detent switch on the joystick’s y axis has a fault.
T = Fault.
F = No fault.
YGrp_Flt BOOL —— Indicates if the input from a grip-mounted, y-axis proportional switch has a fault.
T = Fault.
F = No fault.
Y_Det_Flt BOOL —— Indicates if the input from a detent switch on the joystick’s y axis has a fault.
T = Fault.
F = No fault.
Y_Flt BOOL —— Indicates if the input from the joystick’s y axis has a fault.
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.
Btn1–Btn12 BOOL —— Indicates the states of grip-mounted push-button switches.
T = Closed.
F = Open.
Rx_BJM BOOL —— Indicates when the function block receives a CAN Rx_BJM (Receive Basic Joystick
Message).
This message reports joystick x-axis and y-axis positions as well as the state of grip-
mounted button switches.
T = Message received.
F = Message not received.
Rx_EJM BOOL —— Indicates when the function block receives a CAN Rx_EMJ (Receive Extended Joystick
Message).
This message reports the position of grip-mounted proportional switches.
T = Message received.
F = Message not received.
T_Axis_Det BOOL —— Indicates the state of a detent switch on the joystick’s rotational (theta) axis.
T = Closed.
F = Open.
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JS6000_CAN Function Block Outputs
Output Type Range Description
T_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s rotational (theta) axis.
-10000 = -100%
+10000 = +100%
XGrp_Det BOOL —— Indicates the state of a detent switch on a grip-mounted, x-axis proportional switch.
T = Closed.
F = Open.
X_Grp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, x-axis proportional switch.
-10000 = -100%
+10000 = +100%
X_Axis_Det BOOL —— Indicates the state of a detent switch on the joystick’s x-axis.
T = Closed.
F = Open.
X_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s x axis.
-10000 = -100%
+10000 = +100%
YGrp_Det BOOL —— Indicates the state of a detent switch on a grip-mounted, y-axis proportional switch.
T = Closed.
F = Open.
YGrp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, y-axis proportional switch.
-10000 = -100%
+10000 = +100%
Y_Axis_Det BOOL —— Indicates the state of a detent switch on the joystick’s y-axis.
T = Closed.
F = Open.
Y_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s y axis.
-10000 = -100%
+10000 = +100%
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Status and Fault Logic
Boolean Output Signals
The following table shows how the changing states of the Status and Fault signals affect
the value of Boolean output signals.
Status and Fault Logic—Boolean Output Signals
Output Signal Status Signal State Fault Signal State Output Signal Value
F F T or F
T T F
T F F
Btn1–Btn12, Rx_BJM, Rx_EJM, T_Axis_Det, XGrp_Det, X_Axis_Det,
YGrp_Det, Y_Axis_Det
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 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 following table shows how the changing states of the Status and Fault signals affect
the value of proportional output signals.
Status And Fault Logic—Proportional Output Signals
Output Signal Status Signal State Fault Signal State Output Signal Value
F F -10000 to +10000
T T 0
T F 0
T_Axis_Psn, X_Grp_Psn, X_Axis_Psn, YGrp_Psn, Y_Axis_Psn
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 from -10000 to +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 to +10000 operation.
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Connections and Signals Overview
CAN messages from the joystick
Specifies factory-set joystick address
Faults
Status
Commands
Configuration of Input and Output Buses
You do not have to change the configuration of either input or output buses to use the
JS6000_CAN function block.
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