Home

JS6000 Joystick Base Technical Information Manual

1. Bit status Remarks 00 Not on positive side of neutral 01 On positive side of neutral 10 Error indicator 11 Not available Joystick Y axis position status The position of the joystick in the relative motion of travel from the neutral position The position value of 0 is always neutral The output range of the joystick handle at the end of travel is factory set according to the option specified in the electrical interface options section of the master model code The master model code specifies that the full scale output at the end of each linear zone will be 1000 counts A Warning Potential uncommanded machine movement Per the SAE J1939 71 standard if the JS6000 joystick internal diagnostics detect a shaft position measurement error the joystick output will be set to a value of 1022 counts regardless of shaft position Application software should be written to recognize this error condition to avoid the possibility of unintended machine motion Per the SAE J1939 71 standard if a specific joystick axis is not available the basic joystick message for the unavailable axis will indicate an output value of 1023 counts Application software should be written to recognize this condition to avoid the possibility of unintended machine motion Joystick button 1 8 pressed status Bit status Remarks 00 Button not pressed 01 Button pressed 10 Error indicator 11 Not available no butt
2. Code Description 5 Analog voltage J CAN 2 0B J1939 protocol P CAN 2 0B CANopen protocol W PWM H2 3 joystick location CAN source address H2 3 joystick location CAN source address Code Description NN None use when H1 S 33 Source address Ox 33 34 Source address Ox 34 520L0760 Rev 1102 e November 2015 19 Technical Information JS6000 Joystick Base Model code details H2 3 joystick location CAN source address continued Code Description 35 Source address 0x 35 36 Source address 0x 36 Source addresses are factory set Additional addresses are available upon request H4 CAN proportional output H4 CAN proportional output Code Description N None if Analog or PWM 1 CAN full scale output 1000 counts Code I J K L Grip options JS6000 product configuration model code RITTER Isfsfofofo xv kimim H s Je n wall REBER 1 M PE IT VIN Tee The Danfoss manual JS1000 JS6000 Joystick Grips Technical Information 520L0872 provides instructions and information required to specify JS6000 joystick grip options 20 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base JS6000 CAN messages CAN option CAN option CAN external inputs Joysticks CAN J1939 protocol option designated as model code CAN broadcas
3. 18 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details Code H Electrical interface options JS6000 product configuration model code H iiid EK EZ E 99 iiid OO 00 TTT Code H designates joystick output options JS6000 joystick base signal outputs are available in analog voltage PWM or Controller Area Network CAN versions Analog The analog output option gives a direct voltage output from the joystick s shaft sensors position switches and grip functions No signal conditioning is performed The PWM output option provides a conditioned output from the joystick s shaft sensors position switches and grip functions Output characteristics are configured using the PLUS 1 Service Tool CAN 2 0B J1939 protocol The CAN J1939 output option provides conditioned joystick output information in 2 0B J1039 message protocol CANopen 2 0B J1939 protocol The CANopen output option provides conditioned joystick output information in 2 0B CANopen message protocol PWM The PWM output option provides high voltage outputs for directly driving valves The CAN port is active on the PWM version but it is not designed to be used on a CAN bus in a system with other devices The CAN bus is only to be used for configuration and data logging while connected to a PC running the PLUS 1 Service Tool H1 electrical interface options H1 electrical interface options
4. breakout force G Direction microswitch options Code Description N No switches Y Microswitches installed 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Product configuration Grip model code JS6000 product configuration model code example TSS KIT SRN E Md M EBT K LMNOPQRS Hl 9 REHHERHEHN H1 Electrical interface options Code Description 5 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 Ox 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 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details Code B Single or dual axis options JS6000 product configuration model co
5. Friction hold torque Center detent breakout torque Order code No mechanical options NL 1 25 Nm 0 92 Ibft 2 50 Nm 1 84 Ibft FB 1 25 Nm 0 92 Ibft 3 25 Nm 2 40 Ibft FC 2 25 Nm 1 66 Ibft 4 00 Nm 2 95 Ibft HC JS6000 FB option 45 4 0 35 3 0 T_T T T tit ee eee r gt 7 Ls x m e AA 21 19181716 1514131211109 8 7 6 5 4 3 2 10 1112 131415 16 17 18 19 D 21 Torque N m SEI th dh Angle 2458 16 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details JS6000 FC option 4111411111 2 19181716 1514131211109 8 7 6 5 4 321 2345 6 789 10 11 12 13 1415 16 17 1819 21 Torque N m N 2459 156000 HC option HN 234 5 6 7 8 9 101112 131415 16 17 18192 21 Torque N m 5 0 Angle 2460 520L0760 Rev 1102 e November 2015 17 Technical Information JS6000 Joystick Base Model code details Code G Microswitch option JS6000 product configuration model code G Gidd KM EFI E WO N OO OO DH O TTT Code G designates joystick microswitch options Optional microswitch outputs can replace the low current directional potentiometer switches on the potentiometer tracks Microswitch outputs are on the 16 pi
6. Byte 0 1 2 and so on Bitt 1 2 3 1415 161718 1 2 3 141516 17181112 13 14151617 18 Basic joystick message data field descriptions Basic joystick message parameters and data field locations Start position byte bit Length Parameter name bits 0 1 2 Joystick X axis neutral position status 0 3 2 Joystick X axis lever left negative position status 0 5 2 Joystick X axis lever right positive position status 0 7 through 1 1 8 10 Joystick X axis position Byte 0 Bit 7 is LSB Byte 1 Bit 8 is MSB 2 1 2 Joystick Y axis neutral position status 2 3 2 Joystick Y axis lever back negative position 2 5 2 Joystick Y axis lever forward positive position 2 7 through 3 1 8 10 Joystick Y axis position Byte 2 Bit 7 is LSB Byte 3 Bit 8 is MSB 4 5 2 Joystick Y axis detent position status 4 7 2 Joystick X axis detent position status 520L0760 Rev 1102 e November 2015 23 Technical Information JS6000 Joystick Base CAN message protocol Basic joystick message parameters and data field locations continued Start position byte bit Length Parameter name bits 5 1 2 Grip button 4 pressed status 5 3 2 Grip button 3 pressed status 5 5 2 Grip button 2 pressed status 5 7 2 Grip button 1 pressed status 6 1 2 Grip button 8 pressed status 6 3 2 Grip button 7 pressed statu
7. 11 External input pin 11 AIN Use if pin 11 data is required in Grip Y Axis analog form 0 0 Vdc 1000 5 00 Vdc 12 External input pin 12 AIN Use if pin 12 data is required in Grip Theta Axis analog form 0 0 Vdc 1000 5 00 Vdc 22 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base CAN message protocol SAE J1939 CAN message specification SAE J1939 basic joystick message The JS6000 joystick uses the SAE J1939 basic joystick message to transfer information about the measured status of the X and Y axes of a joystick the state of switches on the joystick grip and the state of external to the joystick digital inputs Basic joystick message structure Basic Priority Base PGN PDU format PDU specific Source address Data field message number Dec hex Dec hex Dec hex Dec hex 1 3 64982 FDD6 253 FD 214 D6 i 8 bytes 3 3 FDDA FD DA 8 bytes Depends on position specified in master model code See H2 3 joystick location CAN source address on page 19 Message transmission rate 20 ms CAN bus baud rate 250kbps The resulting SAE J1939 basic joystick message PGN on the CAN bus is OxCFDD6 ____ or OxCFDDA ____ NW md joystick source address hex Data field The data field contains the joystick s output information SAE J1939 data fields contain 8 bytes of data Information in the data field
8. 41 Microswitch characteristicS emeesssseeressereersesssseereesereessesssseereensssersesssseeseensssesrenssssensenssseessensseensenssseeseensssersenssseessensssersenssseenneneee 43 Sensor power supply Wath EE 43 Environmental characteristicS sssesssssesrsessssesessssssersessssereesssssersersssereessssereessssereessssseseesssseseeesssseseesssseseessssseseesesseseeesssseseesensee 43 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base General information Overview Features and options The JS6000 Joystick Base has been specially developed to meet the harsh operating requirements of today s mobile machines 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
9. Information JS6000 Joystick Base Contents Proportional rocker NAMING CONVENTIONS sescscssscsssessccseeccssssecsseccessecessuecesssecsssueeccsseecssscesssseccssueeessuecesnseesssutecesseessnees 30 MG grip button CAN naming Copmventions EEN 31 Product installation Dimensions andiimstallationssissssvessecsrsaecsasssosesesassssssassessssosersasseasceensscsennassuascenssssosneaesuascenssssennsoestascenssssesadestbadcennsssesnsosabaschenssses 32 DIMENSIONS marciana 32 Recommended Mounting panel cut out EEN 32 Ee ini 33 Machine wiring L E 12 T badae iiniekas anatina eaaet ratane 33 JOYStICK DD OoeoeDNODODeDDeDeeEeeerEeIIeODDpP F ii Mi PI i vv i r io asies aiioa i eodein 34 JS6000 connector pin assignments general information 34 Pin assignments Specifications CAN output connector pin assignments CAN output mating connector DEUTSCH DTM06 65 esessersssesserssssrsssersssrsssersssesssersnssessersnseesserssssesssesssessssessseenserener 35 CAN and PWM output connector pin assignmentS rsseresseerssserrrsssrrrsssernsseeressseeessseressereesseseessseresseseesseseessssensssser 36 CAN and PWM output mating connector DEUTSCH DT16 18SB rseseesseeerssrreassserasseresssressseeessserenssseesssesessseerer 37 Potentiometer sensor with analog output connector pin assignments EENEG 38 Analog output mating CONNECHOL EENEG 39 Hall effect sensor with analog output pin assignments EEN 40 Mechanical EEC ERRE AE 41 Eee KE ARR RE
10. Microswitch characteristics Mechanical deflection 0 to 5 Contact ratings 3 A at 125 V AC 2 A at 30 Vdc Service life 100 000 cycles minimum at a cycling frequency of 1 Hz at 1 A 12 Vdc Sensor power supply ratings Property Minimum Maximum Comments Output current 50mA Output voltage 4 85 Vdc 5 15 Vdc Output short circuit voltage 36 Vdc Environmental characteristics Environmental Operating temperature 40 C to 4 80 C 40 F to 176 F With microswitches 25 C to 80 C 13 F to 176 F Storage temperature 40 C to 4 85 C 40 F to 185 F With microswitches 25 C to 80 C 13 F to 176 F Joystick base Ingress Protection Potentiometer IP 40 below panel grip dependent above IP rating Hall IP 40 below panel grip dependent above CAN CAN PWM IP 66 below panel grip dependent above EMI RFI rating 100 V m 520L0760 Rev 1102 November 2015 43 Dorf Technical Information JS6000 Joystick Base Specifications Environmental continued Vibration sinusoidal Level 3 6 G rms Frequency range 10 to 200 Hz Duration 2 hours each axis Level 3 G Peak Frequency range 10 to 200 Hz Duration 1 hour each axis random Shock Level 20 G type 1 2 sine 6 ms Number of shocks 1350 each axis 44 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joys
11. 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 2 sfsfofofo xy imm H s wl n LELI helle R v Iyali alnan 6 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Product configuration Base model code JS6000 product configuration model code example E F G H J K LMNOPQRS HEEHHERI Hi DE Fi s slt S DEL nooo e v n n nfnJnJnfnfn Base Grip 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 Vg 10 to 90 of Vy 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 V 10 to 90 of V 5 neutral threshold PTT Potentiometer single output per axis Vo 25 to 75 of Vs 5 neutral threshold PUU Potentiometer dual out
12. per axis V 10 to 90 of V 1 5 neutral threshold HMM Hall effect dual sensors per axis V 5 Vpc Vo 0 5 to 4 5 Voc CANT Hall effect dual sensors per axis V 9 to 36 Vpc CAN 2 0B J1939 communication 6 pin connector CANopen Hall effect dual sensors per axis V 9 to 36 Vpc CANopen 2 0B J1939 communication 6 pin connector CPL Hall effect dual sensors per axis Vs 9 to 36 Vpc CAN 2 0B communication 18 pin connector PWM Hall effect dual sensors per axis V 9 to 36 Vpc high current PWM and digital outputs See H1 electrical interface options on page 19 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 1 MQ recommended Maximum wiper current 5mA Supply voltage gt 36 Vdc Center tap switch alignment Within 0 5 Potentiometer electrical angle 18 Center tap angle 2 59 Insulation resistance at 50 Vdc gt 50 MQ 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 c
13. track angle Resistance kQ Order code Voltage Vs Voltage Vs 10 2 90 2 1 5 1 6 to 2 4 R 25 2 7542 1 59 2 2t0 3 6 Q 10 2 90 2 50 1 6 to 2 4 S 25 2 7542 59 2 2 to 3 6 T A 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 520L0760 Rev 1102 e November 2015 13 Technical Information JS6000 Joystick Base Model code details Dual potentiometer track selection Minimum output Maximum output Switch track angle Resistance kQ Order code Voltage Vs Voltage Vs 10 2 90 2 1 59 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 highe
14. 2 Directional potentiometer switchen 13 Dual potentiometer outputs per als 13 Hall effect Sen SOr 14 Controller Area Network CAN output 14 CAN configuration model code CAN j 14 CAN configuration model code CRL 14 Pulse Width Modulated PWM output 14 PWM configuration model code PWM ssssssssssecsssssscssesssssesssseccsssecssssssesssecsssuseccusecssseceesaueessnsecssnseeesaseessaseesenseees 14 Code D Centering return spring optlons EEN 15 Code E Hardware configurations 15 Code kMechantcalopteong eege 16 Code G Microswitch option 18 Code H Electrical interface options 19 Lel 19 CAN 2 0B J1939 protocol 19 CANopen 2 0B J1939 protocol 19 PWM silla ala rain Noire iaia 19 H1 electrical interface optlons EENEG 19 H2 3 joystick location CAN source address 19 HA CAN proportional OUTPUT sss 20 Code J K LEG OPtiOnsy iccasscessscossssssacicsescsscesseseessaseqeasesesnsnascinssssovessectoaceuasuconbsapsttaceqninseenaveatesussuesossiqsuasoiugacoaversostacchaassonnedsh 20 JS6000 CAN messages CAN ed DEE 21 GANHOPHON DE 21 GAIN Otternal ith Ut cic sscssiccasscacsasecdousiaccasscsonsntecdenssouysocdesssssndscounssanonbectesaeandeccedaquisesugnsdsgvecduszccsasadesdvtdenissuqusvenvosnncutscheslusceases 21 Analog imputs AIN cisesccccssstsecsscsssaccessacescusabecsesenonseososaveesnssastibarcudeesenssadetscocunseacciagterhesdsdieoceubesuasubsnsssscantvesovadersnscdeaiveescadecs
15. 2 to 19 N 2 7 to 4 3 Ibf 31 to 47 N 6 7 to 10 6 Ibf H Medium duty spring 6 to 8 5 N 1 3 to 1 9 Ibf 15 to 23 N 3 4 to 5 2 Ibf 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 PEELE EM EMS A 8 T 0 ED CTO 00010 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 Square 20 mechanical travel on axis S The square gate offers full X and Y outputs when the joystick is moved to the corner positions 520L0760 Rev 1102 November 2015 15 Technical Information JS6000 Joystick Base Model code details Code F Mechanical options JS6000 product configuration model code F isis KM EFI A S WO D CO DTD H O TTT Code F designates joystick mechanical options JS6000 joysticks are available with a friction hold option With this option the joystick handle position will remain in a position set by the operator and will not automatically return to center This option is only available in a single Y axis configuration Four levels of friction breakout from center force are available Friction hold selection
16. 64 3 Failure Voltage too low Message Axis SPN FMI BJM1 X 2660 4 BJM1 Y 2661 4 BJM1 Grip X 2662 4 BJM1 Grip Y 2663 4 BJM1 Grip Theta 2664 4 Failure Input not calibrated Message Axis SPN FMI BJM1 X 2660 13 BJM1 Y 2661 13 BJM1 Grip X 2662 13 BJM1 Grip Y 2663 13 BJM1 Grip Theta 2664 13 Failure Redundant input failure Message Axis SPN FMI BJM1 X 2660 14 BJM1 Y 2661 14 BJM1 Grip X 2662 14 BJM1 Grip Y 2663 14 BJM1 Grip Theta 2664 14 Sensor power fault CAN only Message Power fault SPN FMI Sensor power too high 3509 3 Sensor power too low 3509 4 28 520L0760 Rev 1102 e November 2015 Dose Technical Information JS6000 Joystick Base CAN message protocol SAE CANopen protocol information JS6000 joysticks do not support SAE J1939 dynamic addressing since the joystick source addresses are hard coded static However JS6000 joysticks are compliant with SAE J1939 address claiming protocol in the unlikely event another node on the SAE J1939 bus claims an identical source address to the JS6000 the JS6000 may cease communication on the bus depending on the message priority of the other node When you want to use CANopen Joystick go to http powersolutions danfoss com products electronic components joysticks and click on CANopen EDS to open CANopen Object Dictionary A grip button and rocker CAN naming conventions A grip front plate diagram A000 AOBO AOOT A00D A00B AORO A
17. Joysticks JS6000 Joystick Base powersolutions danfoss com L Technical Information JS6000 Joystick Base Revision history Table of revisions Date Changed Rev November 2015 Converted to Danfoss layout 1102 June 2010 Single or Dual Axis Options images Dimensions and Installation revised dimensions to KA 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 2 520L0760 Rev 1102 November 2015 Technical Information JS6000 Joystick Base Contents General information OV SV AW ee 5 NEIES 5 Product configuration Product configuration model code EEN 6 Base model COGS EE En 7 GFAP TOS COAG snuser 9 Model code details Code B Single Ts SETE a eTel ceeded ientaiai renndi tereti aes 10 Code C Shaft sensor and output optlons EENEG 12 ege 12 SLI tI RR 1
18. OHO MILO AORT AOHD ATLT AORD AILD AORB A1LB A1RO A1RT A1RD A1RB 200 A2RD aaop A2RB A30B AOLO A100 A1HO A2L0 A400 AOLT A10T A1HD A2LT A40T AOLD A10D A2LD A40D AOLB A10B A2LB O A40B O A3LO A500 0 29 A600 De AUD so QJ 1w OQO A3LB A50B A60B For CAN and CAN output models include grip configurations AOBD AOBB AOBT 2247B 520L0760 Rev 1102 e November 2015 29 Devt Technical Information JS6000 Joystick Base CAN message protocol Top and operator present switch naming conventions Top and operator present switch state information is broadcast on J1939 Basic Joystick Message 1 BJM1 Switch state information Top switch BJM1 button 7 Operator present switch BJM1 button 8 Proportional rocker naming conventions Grip rocker proportional output information is broadcast on J1939 Extended Joystick Message 1 EJM1 using the X and Y axis data bits See A grip button and rocker CAN naming conventions on page 29 for proportional rocker output X and Y naming conventions Each rocker switch also has two switch states one for each end of travel Rocker switch state information is broadcast on BJM1 concurrently with proportional output information See A grip button and rocker CAN naming conventions on page 29 for rocker switch naming conventions 30 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Bas
19. de B Gids ED CO DD ED GTO MOT D 0 ITITITIT 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 X Axis be Y Axis z Orientation Mark lift boot 2456B 10 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details X and Y Operation or movement P200 001 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details Code C Shaft sensor and output options JS6000 product configuration model code C iiid EM E D O T O TH TITI 0 co 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 Potentiometer single output per axis Vo 10 to 90 of V 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 V 10 to 90 of V 5 neutral threshold PTT Potentiometer single output per axis Vo 25 to 75 of Vs 5 neutral threshold PUU Potentiometer dual output
20. e CAN message protocol MG grip button CAN naming conventions MG grip button CAN naming conventions Operator Present Switch CAN Grip Button 8 Switch 1 Position CAN Grip Button 1 Operator Present Switch CAN Grip Button 8 Switch 1 Position CAN Grip Button 1 Switch 2 Position CAN Grip Button 2 Operator Present Switch CAN Grip Button 8 2461 520L0760 Rev 1102 e November 2015 31 Technical Information JS6000 Joystick Base Product installation Dimensions and installation Dimensions millimeter inches 11 93 12 00 105 6 4 16 P eg 0 46968 0 4724 l 61 2 401 9 518 9 531 mounting screw centers a E Gees Friction held Boot 10 37472 057523 3 218 3 2 0 12669 0 126 0 12669 0 1261 re ypical a og o 3 ox S ANS a g Joystick Spring Mounting i Return Surface f Boot L 2 C Orientation Mark 165 6 496 maximum 75 6 02 98 maximum Forward 101 6 04 0 maximum Hr 80 00 3 15 Mating Connector 18 pin with Lead Wires Attached The JS6000 is designed to be install
21. e 16 Operator Presence 17 DOUT5 18 DOUT6 0 Caution Joystick electronics damage may occur possibly causing the joystick to non function Do not connect battery power to operator presence or operator presence CAN and PWM output mating connector DEUTSCH DT16 18SB Danfoss provides mating connector kits bag assemblies for JS6000 joysticks The bag assembly contains loose parts you must assemble The connector with wire harness features a fully assembled connector with an unterminated wire harness Mating connector assemblies Type Danfoss material number Connector bag assembly 11012648 Connector with 400 mm 15 75 in wire harness 11012646 520L0760 Rev 1102 e November 2015 37 Technical Information JS6000 Joystick Base Product installation Potentiometer sensor with analog output connector pin assignments Pin location Shaft Position Output 16 Pin Connector Grip Output 12 Pin Connector Redundant Sensor Output 8 Pin Connector 2240 16 pin sensor connections Pin Pin allocation description N O signal Y axis direction switch forward N C signal X axis direction switch center X axis ground X axis position signal X axis supply voltage X axis center tap supply voltage X axis direction switches supply voltage N O signal X axis direction switch left WO l o N a
22. ed connector with an unterminated wire harness Bag assemblies Type Danfoss material number 16 pin contacts 10101552 12 pin contacts 10101020 8 pin contacts 10101022 12 8 pin contacts 10101023 Wire harness Type Danfoss material number 16 pin with 400 mm 15 75 in leads 10101556 12 pin with 400 mm 15 75 in leads 10101555 8 pin with 400 mm 15 75 in leads 10101554 520L0760 Rev 1102 e November 2015 39 Technical Information JS6000 Joystick Base Product installation Hall effect sensor with analog output pin assignments Pin assignments Directional and Microswitch Output 8 Pin Connector 12 pin shaft position connections Grip Output 16 Pin Connector Shaft Position Output 12 Pin Connector Pin7 Pin 1 2241 Pin Pin allocation description 1 Hall 3 and 4 5 Vdc supply 2 Hall 3 and 4 ground 3 Hall 1 and 2 5 Vdc supply 4 Hall 1 and 2 ground 5 Hall 3 forward backward output 6 Hall 2 left right output 7 Hall 4 left right output 8 Hall 1 forward backward output Not connected 10 Not connected 11 Not connected 12 Not connected 8 pin microswitch and directional switch connections Pin Pin allocation description 1 Joystick forward common Forward switch output Backward switch output Switch backward common Switch left c
23. ed from the panel below through a 68 mm 2 677 in diameter hole Recommended mounting panel cut out 61 00 2 40 30 50 1 20 06 30 0 12 0 249 0 00079 S 72 50 0 50 02 85 0 020 o S D lt 7 a o 2 32 520L0760 Rev 1102 e November 2015 Danfoss Technical Information JS6000 Joystick Base Product installation Installation 1 Drive mounting screws to a maximum torque of 5 N m 44 25 Ibf in when clamped against a 3 0 to Machine wiring guidelines N 6 0 mm 0 118 to 0 236 in thick panel The joystick flange mounting hole depth is 12 6 mm 0 496 in For through hole mounting drive the screws at a torque of 3 5 N m 30 98 Ibf in directly through the blind cast holes to remove the cast covers Use fit and seal for fitting and sealing of the joystick into the mounting panel using the screws supplied Note the panel material type thickness strength and rigidity Install in a panel with a minimum thickness of 3 0 to 6 0 mm 0 118 to 0 236 in This allows the mounting screws to correctly clamp the sealing boot Apply the specified screw torque to ensure sufficient and even clamping force on the sealing boot The mounting flange of the joystick should be connected to the vehicle chassis ground Protect wires from mechanical abuse run wires in flexible metal or plastic conduits Use 85 C 185 F wire with abrasion resistant insulation and 105 C 221 F wire s
24. ent 21 Digitalinputs DIN sserrarinesmaunindeenarenima iaaa A A EA EEST RS 21 CAN message protocol SAE J1939 CAN message specification ssruserrsseersssseerssseressesersseesessseersseseesseeressseerssesresssseesssesessseressssersssesenssersssesensseeennsee 23 SAE J1939 basic joystick message EENEG 23 Data Qi S o scssscscsssisscnteaccnssasstecsnavdsosossinsdccenen apsntninsisedeonbssesbainssccenonvicebebuusisednunosessesutdissebonsacesessidusbebundosseGndbssgbenabecedtoud3ussbenaasecfeius 23 Basic joystick message data field descriptions 23 Joystick X axis neutral position status 24 Joystick X axis handle left negative position status 25 Joystick X axis handle right positive position status 25 Joystick X axis position status s23 Joystick Y axis neutral position status 25 Joystick Y axis handle back negative position status 26 Joystick Y axis handle forward positive position status EEN 26 Joystick Y axis position status 26 SAE J1939 extended joystick message 26 SAE J1939 error DM1 messages HHHH HKKKKKKNMHMA HAAA HHHH KKKKKKNA MAHNA HHH HHKKKKKKR 27 SAE CANopen protocol information sssssserssressersssersserssseesssrssserssssesserssssessssssssessssssserssssesssrsssersserssssrssssssssessssesssessssesser 29 A grip button and rocker CAN naming convention 29 Top and operator present switch naming Coptventlons EEN 30 520L0760 Rev 1102 e November 2015 3 Technical
25. ent Within 0 5 Potentiometer electrical angle 18 Center tap angle 2 5 Insulation resistance at 50 Vdc gt 50 MQ Minimum load impedance 1 MO recommended Potentiometer output options Minimum voltage Maximum voltage Switch track angle Resistance Model code order Vs Vs kQ character 10 2 90 2 1 5 1 6 to 2 4 R 25 2 7542 15 2 2t0 3 6 Q 10 2 90 2 5 1 6 to 2 4 S 25 2 75 2 5 2 2 to 3 6 T 520L0760 Rev 1102 e November 2015 41 Technical Information JS6000 Joystick Base Specifications Dual potentiometer output Minimum voltage Maximum voltage Switchtrackangle Resistance Model code order Vs Vs kQ character 10 2 90 2 1 5 1 6 to 2 4 U Hall effect sensor with analog output Supply voltage Vs 5 0 5 Vdc Maximum survival supply voltage 18 Vdc Maximum current draw base only 90 mA Minimum output voltage 10 4 Vs Center voltage 50 2 Vs Maximum output voltage 90 4 Vs Hall effect sensor with can output option Supply voltage Vs 9 to 36 Vdc Maximum current draw base only 90 mA Supports CAN 2 0B with SAE J1939 message protocol Hall effect sensor with pwm output option Supply voltage Vs 9 to 36 Vdc Maximum survival supply voltage 40 Vdc Maximum current draw base only 13 amps Valve outputs 2 5 amps max
26. er right positive position status 0 7 through 1 1 8 10 Grip X axis position 2 1 2 Grip Y axis neutral position status 2 3 2 Grip Y axis lever back negative position 2 5 2 Grip Y axis lever forward positive position 2 7 through 3 1 8 10 Grip Y axis position 6 5 2 Grip Y axis detent position status not available 6 7 2 Grip X axis detent position status not available Data field descriptions and output ranges for extended joystick messages are similar to those for base X and Y axis basic joystick messages Grip proportional input naming convention Proportional input location Extended joystick message designation Horizontal orientation top Y axis Horizontal orientation bottom X axis Vertical orientation left side X axis Vertical orientation right side Y axis Refer to A grip button and rocker CAN naming conventions on page 29 for proportional input naming conventions SAE J1939 error DM1 messages SAE J1939 DM1 error messages are supported by JS6000 software 520L0760 Rev 1102 e November 2015 27 Technical Information JS6000 Joystick Base CAN message protocol See the following tables for SPN and FMI information Failure Voltage too high Message Axis SPN FMI BJM1 X 2660 3 BJM1 Y 2661 3 BJM1 Grip X 2662 3 BJM1 Grip Y 2663 3 BJM1 Grip Theta 26
27. 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 D kwal447883399370 e Hall effect or potentiometer sensing model dependent One or two sensors per axis for redundancy e Single or dual axis Mechanical direction switches e 2centering spring forces e 3 available friction hold options Output options Analog CAN 2 0B J1939 protocol CANopen protocol High current PWM e Multiple grip options HKN plain knob MG with operator trigger and hand rest A configurable ergonomic Custom designed grips e External to joystick analog and digital information included in JS6000 CAN messages 520L0760 Rev 1102 e November 2015 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
28. hould be considered near hot surfaces Use a wire size that is appropriate for the module connector Separate high current wires such as solenoids lights alternators or fuel pumps from sensor and other noise sensitive input wires Run wires along the inside of or close to metal machine surfaces where possible this simulates a shield which will minimize the effects of EMI RFI radiation Do not run wires near sharp metal corners consider running wires through a grommet when rounding a corner Do not run wires near hot machine members Provide strain relief for all wires Avoid running wires near moving or vibrating components Avoid long unsupported wire spans Ground electronic modules to a dedicated conductor of sufficient size that is connected to the battery Power the sensors and valve drive circuits by their dedicated wired power sources and ground returns Twist sensor lines about one turn every 10 cm 4 in Use wire harness anchors that will allow wires to float with respect to the machine rather than rigid anchors 0 Caution Unused pins on mating connectors may cause intermittent product performance or premature failure Plug all pins on mating connectors A Warning Unintended movement of the machine or mechanism may cause injury to the technician or bystanders Improperly protected power input lines against over current conditions may cause damage to the hardware Properly protect all power input line
29. ick Message 3 or Extended Joystick Message 3 Digital inputs DIN e External inputs are pull down and must be powered by a voltage source lt 32 Vdc Low state is interpreted as lt 0 97 Vdc High state is interpreted as gt 4 00 Vdc Data associated with CAN pins 9 10 11 12 is broadcast in both BJM3 and EJM3 For digital inputs use the appropriate data bytes in BJM3 See Danfoss publication JS6000 PWM Service Tool User Manual 11060942 for technical details on the JS6000 PWM Joystick Base and complete details regarding the use of the PLUS 1 Service Tool interface for troubleshooting and configuring the device Obtain free PLUS 1 Service Tool software license and download the P1D file at http www powersolutions danfoss com products PLUS 1 GUIDE GUIDE service tool software and license External input pin assignment J1939 basic joystick message 3 designation CAN connector CAN function Corresponding J1939 BJM3 pin number data field designation 7 5 Vdc sensor power 0 0 Vdc 1000 5 25 Vdc X Axis Position 9 External input pin 9 AIN Use if pin 9 data is required in analog Y Axis Position form 0 0 Vdc 1000 5 00 Vdc 520L0760 Rev 1102 e November 2015 21 Technical Information JS6000 Joystick Base JS6000 CAN messages External input pin assignment J1939 basic joystick message 3 designation continued CAN connec
30. imum Digital outputs 3 0 amps maximum Maximum output current 13 0 amps External to joystick digital inputs Property Minimum Maximum Comments Allowed voltage at pin 0 Vdc 36 Vdc Rising voltage threshold 2 48 Vdc 3 5 Vdc Digital input will be read as high if voltage is greater than 3 5 Vdc Falling voltage threshold 1Vdc 2 25 Vdc Digital input will be read as low if voltage is less than 1 Vdc CAN output latency 6 ms 24 ms Based on update rate of application software Response to voltage below minimum Response to voltage above maximum Non damaging non latching reading saturates to low limit Non damaging non latching reading saturates to high limit 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Specifications Microswitch characteristics Sensor power supply ratings External to joystick analog inputs Property Minimum Maximum Comments Allowed voltage at pin 0 Vdc 36 Vdc 0 Vdc 25 Vdc AIN CAN_Shld on PWM version Maximum discernable 4 915 Vdc 5 085 Vdc voltage Minimum discernable 0 mVdc 85 mVdc voltage Response to input below Effect on other inputs non minimum voltage damaging non latching reading saturates to low limit Response to input above Effect on other inputs non maximum voltage damaging non latching reading saturates to high limit Response to open input Pull down 0 Vdc
31. n Mm AJ Wn Y axis ground a c Y axis position signal a Y axis supply voltage a Y axis center tap supply voltage a Y axis direction switches supply voltage N O signal Y axis direction switch back a N O signal X axis direction switch right a OI ml BR wt N a N C signal Y axis direction switch center Refer to Potentiometer sensor on page 12 for additional details referencing potentiometer measurement and switch track connections 8 pin redundant sensor connections Pin Pin allocation description for redundant potentiometer sensor 1 Second Y axis supply voltage Second Y axis center tap supply voltage Second Y axis position signal Second Y axis ground Second X axis supply voltage Second X axis position signal Second X axis center tap supply voltage GO N OA uM AJ VIN Second X axis ground 38 520L0760 Rev 1102 e November 2015 Dart Technical Information JS6000 Joystick Base Product installation For 12 pin grip output connections see Danfoss manual J51000 JS6000 Joystick Grips Technical Information 520L0872 for grip connector pin out assignments Analog output mating connector Danfoss provides mating connector kits bag assemblies for JS6000 joysticks The bag assembly contains loose parts you must assemble The connector with 400 mm leads features a fully assembl
32. n connector potentiometer option There are two switches per axis and the microswitches are configured as normally open with the handle centered The microswitch joystick shaft direction indication feature is not available with the dual potentiometer sensing option Optional microswitches are also available with the Hall effect sensing option Microswitch outputs in this case are on the 8 pin connector Optional microswitches are only available on analog output joysticks with the spring return to center mechanical operation Optional microswitches are not available on BMM CAN CPL or PWM output joysticks The Honeywell microswitch electrical details follow These details are taken directly from the switch manufacturer s specification Further information is available from http www honeywell com Microswitch operates at a mechanical deflection of 2 to 5 degrees in any direction e Contact ratings are 3 A at 125 Vac 2 A at 30 Vdc e Life rating is 100 000 cycles minimum at 1 A 12 Vdc Temperature range is 25 C to 85 C 13 F to 185 F when fitted the joystick temperature is limited to this range With the microswitch option choose the letter from the order character column of the following table The choice is either Y for microswitch N for none Microswitch option Microswitch option Mechanical function description Order code Without microswitch No switches N Microswitch Microswitches installed Y
33. nd the world speed up system development reduce costs and bring vehicles to market faster Danfoss Your Strongest Partner in Mobile Hydraulics Go to www powersolutions danfoss com for further product information Wherever off highway vehicles are at work so is Danfoss We offer expert worldwide support for our customers ensuring the best possible solutions for outstanding performance And with an extensive network of Global Service Partners we also provide comprehensive global service for all of our components Please contact the Danfoss Power Solution representative nearest you Local address Danfoss Power Solutions Trading Danfoss Danfoss Shanghai Co Ltd Power Solutions GmbH amp Co OHG Power Solutions ApS Building 22 No 1000 Jin Hai Rd Krokamp 35 Nordborgvej 81 Jin Qiao Pudong New District DK 6430 Nordborg Denmark Phone 45 7488 2222 Shanghai China 201206 Phone 86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues brochures and other printed material Danfoss reserves the right to alter its products without notice This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed All trademarks in this material are property of the respective companies Danfoss and the Danfoss logotype are trademarks of Danfoss A S All rights reserved 520L0760 Rev 1102 November 2015 www da
34. nfoss com Danfoss A S 2015
35. ommon Left switch output Right switch output NI DA U AJ WI IN Switch right common For 12 pin grip output connections see Danfoss manual JS1000 JS6000 Joystick Grips Technical Information 520L0872 40 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Specifications Mechanical characteristics Electrical characteristics Mechanical Shaft mechanical angle limits 20 Shaft maximum overload 5 cycles only at 490 N 110 15 Ibf measured 130 mm 5 12 in above mounting surface Shaft maximum operating load 390 N 87 67 Ibf measured 130 mm 5 12 in above mounting surface Shaft maximum downward loading 2450 N 550 76 Ibf Shaft maximum torques 15 N m 11 06 Ibf ft Base mechanical life X and Y axis only gt 7 5 million operating cycles Base only mass 0 75 kg 1 65 Ibf Breakout load on axis Medium duty spring 6 to 8 5 N 1 349 to 1 911 Ibf Heavy duty spring 12 to 19 N 2 698 to 4 271 Ibf Load at full deflection Medium duty spring 15 to 23 N 3 37 to 5 17 Ibf Heavy duty spring 31 to 47 N 6 97 to 10 57 Ibf Potentiometer sensor with analog output Maximum wiper current Supply voltage Vs 9 to 36 Vdc Maximum survival voltage 36 Vdc 5mA Maximum load current 200 mA resistive Center tap switch alignm
36. on installed SAE J1939 extended joystick message The JS6000 joystick uses the SAE J1939 extended joystick message to transfer information about the measured status of up to 3 additional proportional input functions on the joystick grip and external to 26 520L0760 Rev 1102 e November 2015 Denpi Technical Information JS6000 Joystick Base CAN message protocol the joystick analog inputs The joystick base X and Y axis information is available in the basic joystick message The extended joystick message structure is as follows Extended joystick message structure Extended Priority Base PGN PDU format PDU specific Source address Data field message number Dec hex Dec hex Dec hex Dec hex 1 3 64983 FDD7 253 FD 215 D7 8 bytes 3 FDDB FD DB 8 bytes Depends on position specified in master model code See H2 3 joystick location CAN source address on page 19 Message transmission rate 20 ms CAN bus baud rate 250kbps The resulting SAE J1939 basic joystick message PGN on the CAN bus is OxCFDD7 ____ or OxCFDDB __ KH _ w joystick source address hex Extended joystick message parameters and data field locations Start position byte bit Length Parameter name bits 0 1 2 Grip X axis neutral position status 0 3 2 Grip X axis lever left negative position status 0 5 2 Grip X axis lev
37. onnected 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 12 520L0760 Rev 1102 e November 2015 Dart 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 200 mA resistive Maximum supply voltage gt 36 Vdc Directional potentiometer switch circuit diagram Handle Direction Switch Handle Direction Switch 7 i Pot PE a H Back Forward Left D Right ret j Center Tap Center Tap 16 Pin Connector 16 Pin Connector AA A AA A A A A A A A A A A 13 14 9 12 11 10 16 1 7 8 3 6 5 4 215 Y axis Pin Numbering X axis Pin Numbering Wiper Symbol Potentiometer track outputs Minimum output Maximum output Switch
38. oystick has two bi directional PWM channels and six digital ouputs The PWM option joystick base has an 18 pin DEUTSCH connector 14 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Model code details Code D Centering return spring options JS6000 product configuration model code D CELE KA kel O CO D TIT DTD DD TTTITITI 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 A 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 1
39. put per axis V 10 to 90 of V 1 5 neutral threshold HMM Hall effect dual sensors per axis V 5 Vpc Vo 0 5 to 4 5 Voc CAN Hall effect dual sensors per axis V 9 to 36 Vpc CAN 2 0B J1939 communication 6 pin connector CANopen Hall effect dual sensors per axis Vs 9 to 36 Vpc CANopen 2 0B J1939 communication 6 pin connector CPL Hall effect dual sensors per axis Vs 9 to 36 Vpc CAN 2 0B communication 18 pin connector PWM Hall effect dual sensors per axis V 9 to 36 Vpc high current PWM and digital outputs See H1 electrical interface options on page 19 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 520L0760 Rev 1102 November 2015 7 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 Ib 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 Ibeft
40. r 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 Controller Area Network CAN output Three versions of JS6000 CAN joysticks are available Agrip MGgrip 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 j
41. s 6 5 2 Grip button 6 pressed status 6 7 2 Grip button 5 pressed status 7 1 2 Grip button 12 pressed status 7 3 2 Grip button 11 pressed status 7 5 2 Grip button 10 presses status 7 7 2 Grip button 9 pressed status Button naming convention Refer to A grip button and rocker CAN naming conventions on page 29 for button and proportional input definitions Data field examples Byte 0 Bit 8 7 6 5 4 3 2 1 The 2 LSB of X axis X axis lever right positive X axis lever left negative X axis neutral position position status position status status Least Significant Bit Byte 1 Bit 8 7 6 3 4 3 2 1 MSB X axis position t Most Significant Bit Byte 2 Bit 8 7 6 5 4 3 2 1 The 2 LSB of Y axis X axis lever forward Y axis lever back negative Y axis neutral position position status positive status position status status Joystick X axis neutral position status Reports when the current joystick position is in the neutral position for the X axis of travel Information in the data field Bit status Remarks 00 Not in neutral position 01 In neutral position 10 Error indicator 11 Not available 24 520L0760 Rev 1102 e November 2015 Denpi Technical Information JS6000 Joystick Base CAN message protocol Joystick X axis handle left negative position status Reports when the current jo
42. s against over current conditions 520L0760 Rev 1102 e November 2015 33 Dose Technical Information JS6000 Joystick Base Product installation Joystick safety For a system to operate safely it must be able to differentiate between commanded and uncommanded inputs Take steps to detect and manage joystick and system failures that may cause an erroneous output For safety critical functions Danfoss recommends you use an independent momentary action system enable switch You can incorporate this switch into the joystick as an operator presence switch or can be a separate foot or hand operated momentary switch Disable all joystick functions that the joystick controls when this switch is released Ensure the control system looks for the appropriate system enable switch input before the joystick is displaced from its neutral position Enable functions only after receiving this input Applications using CAN joysticks should continuously monitor for the presence of the CAN messages on periodic basis Messages are to be checked frequently enough for the system or operator to react if the CAN messages lose priority or are no longer received PWM joystick outputs will return to zero output if the joystick s embedded microcontroller detects a measurement error between the redundant shaft position sensors Applications using the PWM joystick option should be designed to ensure a safe machine state exists in the event a joystick outp
43. sembled connector with an unterminated wire harness Mating connector assemblies Type Connector bag assembly Danfoss material number 10101551 Connector with 400 mm 15 75 in wire harness 10101557 520L0760 Rev 1102 e November 2015 35 Technical Information JS6000 Joystick Base Product installation CAN and PWM output connector pin assignments Pin location 2457 CAN output connector pinout and wiring information Pin CAN output Ground Power CAN high CAN low CAN shield Operator present DIN11 Sensor ground 5 Vdc sensor power WO l OJ NI a nl AJ Wn AIN1 DIN7 AIN2 DIN8 AIN3 DIN9 AIN4 DIN10 DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 PWM output connector pinout and wiring information Pin CAN output Ground Power CAN high CAN low PWM Valve Out 1 PWM Valve Out 1 PWM Valve Out 2 PWM Valve Out 2 W l N AT U AJ UJN AIN CAN Shield 36 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base Product installation PWM output connector pinout and wiring information continued Pin CAN output 10 DIN 11 DOUT1 12 DOUT2 13 DOUT3 14 DOUT4 15 Operator Presenc
44. tick Base 520L0760 Rev 1102 e November 2015 45 Technical Information JS6000 Joystick Base 46 520L0760 Rev 1102 e November 2015 Technical Information JS6000 Joystick Base 520L0760 Rev 1102 e November 2015 47 Products we offer Bent Axis Motors Closed Circuit Axial Piston Pumps and Motors Displays Electrohydraulic Power Steering Electrohydraulics Hydraulic Power Steering Integrated Systems Joysticks and Control Handles Microcontrollers and Software Open Circuit Axial Piston Pumps Orbital Motors PLUS 1 GUIDE Proportional Valves Sensors Steering Transit Mixer Drives Comatrol www comatrol com Schwarzmiiller Inverter www schwarzmueller inverter com Turolla www turollaocg com Hydro Gear www hydro gear com Daikin Sauer Danfoss www daikin sauer danfoss com Danfoss Power Solutions US Company 2800 East 13th Street Ames IA 50010 USA Phone 1 515 239 6000 D 24539 Neum nster Germany Phone 49 4321 871 0 Danfoss Power Solutions is a global manufacturer and supplier of high quality hydraulic and electronic components We specialize in providing state of the art technology and solutions that excel in the harsh operating conditions of the mobile off highway market Building on our extensive applications expertise we work closely with our customers to ensure exceptional performance for a broad range of off highway vehicles We help OEMs arou
45. tor CAN function Corresponding J1939 BJM3 pin number data field designation 9 External input pin 9 DIN status Use if pin 9 data is required in Button 1 digital form 10 External input pin 10 DIN status Use if pin 10 data is required Button 2 in digital form 11 External input pin 11 DIN status Use if pin 11 data is required Button 3 in digital form 12 External input pin 12 DIN status Use if pin 12 data is required Button 4 in digital form 13 External input pin 13 status Button 5 14 External input pin 14 status Button 6 15 External input pin 15 status Button 7 16 External input pin 16 status Button 8 17 External input pin 17 status Button 9 18 External input pin 18 status Button 10 6 External input pin 6 status see following Warning statement Button 11 A Warning Potential uncommanded machine movement JS6000 CAN Joysticks fitted with an operator present switch have an internal connection between the operator present switch and pin 6 The operator present switch status is broadcast in BJM1 and BJM3 Unintended machine motion may result if an external DIN is applied to pin 6 with a joystick that has a grip with operator present switch External input pin assignment J1939 extended joystick message 3 designation CAN connector CAN function Corresponding J1939 EJM3 pin number data field designation 10 External input pin 10 AIN Use if pin 10 data is required in Grip X Axis analog form 0 0 Vdc 1000 5 00 Vdc
46. ts two J1939 messages to communicate device information Basic Joystick Message 1 BJM1 and Extended Joystick Message 1 EJM1 The two CAN options available are e CAN 2 0B J1939 protocol option CAN 2 0B CANopen protocol option Joysticks with the CAN option designated as model code CPL allow eleven external inputs that are not associated with the joystick shaft position or grip functions to be read by the joystick s microcontroller and broadcast by the joystick s CAN transceiver CAN joysticks broadcast four CAN messages Basic Joystick Message 1 and Extended Joystick Message 1 have the same data content as the CAN option above External digital input DIN and analog input AIN input information is contained in Basic Joystick Message 3 and Extended Joystick Message 3 The data field format for Basic Joystick Message 3 and Extended Joystick Message 3 is the same as that for Basic Joystick Message 1 and Extended Joystick Message 1 Analog inputs AIN All external analog inputs must be powered by the JS6000 joystick 5 Vdc regulated power supply connector pin 8 e No calibration error checking or software filtering is performed on analog data received from external inputs External analog data is scaled in raw form from 0 to 1000 counts Data associated with CAN pins 9 10 11 and 12 is broadcast in both Basic Joystick Message 3 and Extended Joystick Message 3 For analog inputs use the appropriate data bytes in Basic Joyst
47. tten to recognize this error condition to avoid the possibility of unintended machine motion Per the SAE J1939 71 standard if a specific joystick axis is not available the basic joystick message for the unavailable axis will indicate an output value of 1023 counts Application software should be written to recognize this condition to avoid the possibility of unintended machine motion Joystick Y axis neutral position status Reports when the current joystick position is in the neutral position for the Y axis of travel Information in the data field Bit status Remarks 00 Not in neutral position 01 In neutral position 10 Error indicator 11 Not available 520L0760 Rev 1102 e November 2015 25 Dorf Technical Information JS6000 Joystick Base CAN message protocol Joystick Y axis handle back negative position status Reports when the current joystick position is on the negative travel side back left counterclockwise down relative to the neutral position for the Y axis Information in the data field Bit status Remarks 00 Not on negative side of neutral 01 On negative side of neutral 10 Error indicator 11 Not available Joystick Y axis handle forward positive position status Reports when the current joystick position is on the positive travel side forward right clockwise up relative to the neutral position for the Y axis Information in the data field
48. ut goes to zero due to an error JS6000 connector pin assignments general information JS6000 Joystick base pin assignments are a function of the following options Type of shaft position sensor potentiometer or Hall e Electrical output analog or CAN e Grip type Base pin and connector assignments are different for the potentiometer and Hall sensor options In all cases grip pin assignments are dependent on the type of grip and the number of grip options that are selected Refer to CAN output connector pin assignments on page 35 Refer to CAN and PWM output connector pin assignments on page 36 Refer to Potentiometer sensor with analog output connector pin assignments on page 38 Refer to Hall effect sensor with analog output pin assignments on page 40 34 520L0760 Rev 1102 November 2015 Technical Information JS6000 Joystick Base Product installation Pin assignments CAN output connector pin assignments Pin location Pin 6 Pin 1 O N 2239 Pinout and wiring information Pin CAN output 1 Ground Power CAN high CAN low CAN shield Gn l nl BR ol No connection CAN output mating connector DEUTSCH DTM06 6S Danfoss provides mating connector kits bag assemblies for JS6000 joysticks The bag assembly contains loose parts you must assemble The connector with wire harness features a fully as
49. ystick position is on the negative travel side back left counterclockwise down relative to the neutral position for the X axis Information in the data field Bit status Remarks 00 Not on negative side of neutral 01 On negative side of neutral 10 Error indicator 11 Not available Joystick X axis handle right positive position status Reports when the current joystick position is on the positive travel side forward right clockwise up relative to the neutral position for the X axis Information in the data field Bit status Remarks 00 Not on positive side of neutral 01 On positive side of neutral 10 Error indicator 11 Not available Joystick X axis position status The position of the joystick in the relative motion of travel from the neutral position The position value of 0 is always neutral The output range of the joystick handle at the end of travel is factory set according to the option specified in the electrical interface options section of the master model code The master model code specifies that the full scale output at the end of each linear zone will be 1000 counts A Warning Potential uncommanded machine movement Per the SAE J1939 71 standard if the JS6000 joystick internal diagnostics detect a shaft position measurement error the joystick output will be set to a value of 1022 counts regardless of shaft position Application software should be wri

JS6000 Joystick Base Technical Information Manual

Contents

Download Pdf Manuals

Related Search

Related Contents