CDJ CANopen User Manual REV 1.3
Contents
1. Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x5003 0 Unsigned 8 RO No 0x18 Digital Input Lines Filtering 0x5003 1 to 24 Unsigned 8 RW No 40 Time Refer to the additional sheet for the location of the digital input bits specific to your joystick configuration Page 19 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 4 2 Index 0x6000 Read Digital Input These objects represent the digital inputs The first object sub index 0 returns the number of objects in the array The second object sub index 1 returns the state of the internal flip flops for each analogue input axis if the memory function is in use Subsequent objects represent the digital inputs the values of the objects are updated by the digital input lines Input lines are active low soa value of 1 in a bit of the input object represents a grounding of the input pin Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6000 0 Unsigned 8 RO No Depends on Objects in Operation the Array Mode Memory 0x6000 1 Unsigned 8 RO Yes Function Status for Each Axis Digital Input Ox6000 2 Unsigned 8 RO Yes Byte 1 Digital Input Ox6000 3 Unsigned 8 RO Y2. e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 8 2 SW2 Node Identifier Configuration DIP switch bank SW2 configures the node identifier The switch bank represents a 7 bit binary number with switch 1 as the least significant bit and switch 7 as the most significant bit Switch 8 is unused On Off 1 2 3 4 5 6 71 8 Node Switch Switch Switch Switch Switch Switch Switch Identifier 7 6 5 4 3 2 1 Reserved OFF OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF OFF ON OFF 126 ON ON ON ON ON ON OFF 127 ON ON ON ON ON ON ON 8 3 SW3 Termination Resistor Configuration SW3 enables a 120 O resistor across the CAN data lines to electrically terminate the network The resistor should be enabled if the device is at the end of the bus Switch 2 is unused On Off io Function Switch 1 Resistor disabled OFF Resistor enabled ON 8 4 J1 to J4 Disable Analogue Input These jumpers are used to disable unused analogue axes Jumper Axis 1 X 2 Y 3 Z 4 W Refer to the additional sheet for information specific to your joystick configuration Page 9 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices
3. 9 3 2 Index 0x6202 Polarity Mask This array contains an object to invert the digital outputs When a change is made to the digital output object it is processed with the polarity mask and inverted if necessary A value of 1 will invert the output bit Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6202 0 Unsigned 8 RO No 0x01 Objects in the Array Polarity 0x6202 1 Unsigned8 RW No 0 Mask Refer to the additional sheet for the location of the digital output bits specific to your joystick configuration 9 3 3 Index 0x6206 Error Mode Enable The device has a facility to set the digital outputs into a predefined state in the event of an error This array contains an object to enable the error mode function for each digital output line A value of 1 will enable the error mode function by default it is enabled for all outputs Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6206 0 Unsigned 8 RO No 0x01 Objects in the Array Error Mode 0x6206 1 Unsigned8 RW No Oxff Enable Refer to the additional sheet for the location of the digital output bits specific to your joystick configuration 9 3 4 Index 0x6207 Error Mode Output Value This array contains an object that defines the value of the digital output object in the event of an error The value of each bit will be applied to any output line tha
4. Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 8 5 J5 to J7 Memory Mode These jumpers are used to define the memory function of the device which allows digital inputs to freeze the analogue input value Jumper Memory Description J7 J6 J5 Mode 1 1 1 0 Push button input memory function with internal analogue value freeze 1 1 0 1 Push button input memory function without internal analogue value freeze 1 0 1 2 Switch input memory function with internal analogue value freeze 1 0 0 3 Switch input memory function without internal analogue value freeze 0 1 1 4 Memory function disabled Refer to the additional sheet for information on the memory function specific to your joystick configuration 8 6 J8 Operation Mode This jumper should be enabled for normal operation of the device Disabling this jumper will enable a special CAN features mode provided for legacy systems that does not conform to the CANopen specification 9 Object Dictionary 9 1 Service Data Objects 9 1 1 Index 0x0005 0x0006x and 0x0007 Dummy Objects These objects are implemented to allow reservation of data space in PDOs by mapping to dummy entries Name Index Sub index Data Type Access PDO Default Mapping Value Dummy 8 0x0005 0 Unsigned 8 RO Yes 0 Dummy 16 0x0006 0 Unsigned RO Yes 0 16 Dummy 272 0x0007 0 Unsigned RO Yes 0 32 Page 10 Unit
5. 10 2013 9 1 12 Index 0x1017 Heartbeat Time This object defines the time between NMT heartbeat messages The value of the object is a multiple of 1 ms a value of 0 disables the heartbeat producer The device can use either heartbeat or node guarding do not use both protocols at the same time Name Index Sub index Data Type Access PDO Default Mapping Value Heartbeat 0x1017 0 Unsigned RW No 0 Time 16 9 1 13 Index 0x2180 CAN Restart Time This object defines the restart timeout for the CAN communication layer when the device transitions to the Bus Off state The value of the object is a multiple of 1 ms A value of 0 in this object will disable automatic restart of the device in the case of a Bus Off error state Name Index Sub index Data Type Access PDO Default Mapping Value CAN Restart 0x2180 0 Unsigned RW No 0 Time 16 9 2 Process Data Objects 9 2 1 Communication Parameter Objects Each PDO has an array to define parameters Three PDOs are used by the device and the locations of the parameter arrays are Index PDO Description 0x1400 RxPDO1 Digital Output PDO Parameters 0x1800 TxPDO1 Digital Input PDO Parameters 0x1801 TxPDO2 Analogue Input PDO Parameters The arrays all contain the same objects and the sub indexes are Name Sub index Data Type Access PDO Mapping Default Value Largest Sub 0 Unsigned 8 RO No 5
6. Ee 16 9 3 Digital Output Oblerte 2 20giege dee seg Senecten Ree gia satan Ges Eder Reeg ENEE 17 9 3 1 Index 0x6200 Write Digital Output 17 9 3 2 lndex 0x6202 Polarity Mask isccccccccd cazstncegesssedecdecstennehscbaneaesdedeQecsucladesedeaseasonaaeeesda gees 18 9 3 3 Index 0x6206 Error Mode Enable AAA 18 9 3 4 Index 0x6207 Error Mode Output Value 18 9 4 Digital ei e ODJOCES ices cses accsccsicesessesteeesccaceeensetn 2eesteaceeesrssbageeae aceeeada dn e a aaao oaaao aeiee aait 19 9 4 1 Index 0x5003 Debounce Time 19 9 4 2 Index Ox6000 Read Digital Input 20 9 4 3 Index Ox6005 Global Interrupt Enable cccccsccccecessesssseceeeeecsssesseaeceeeescesseseeaeeeeeesseeeees 20 9 4 4 Index Ox6006 Interrupt Mask Any Change cccccccssssececssseeecsscaeeeeeeaeeeeseaeeeeseaeeeeeeaaes 21 9 4 5 Index O0x6007 Interrupt Mask Rising Edge ccccccccssssssssecececessessaeeeecescessesseaeeeeeesseesees 21 9 4 6 Index Ox6008 Interrupt Mask Falling Edge ccccccccsssssscecceecsssessaeceeeessessesseaeeeeeesseesees 21 9 5 Analogue INDUC ODJECtS sex2dec2sccbeesasadecee ed aaa anae e e ae AR r nea aaa a ae a EES 21 9 5 1 Index 0x5401 Dead Band Value ssssssssssssssssssrsssrrssrnssrnssrnssrnssensstnsserssenssessstesstessressressress 21 9 5 2 Index 0x6401 Read Analogue Input 22 9 5 3 Index 0x6421 Interrupt Trigger Type ccccccssssecececesseseneceeeeecessesenaeeeseeseeeseseeaeeeeeesseeees 23 9 5 4 Index 0x64
7. PDO Mapping Objects PDO Mapping Objects allow any mappable global object to be delivered in a PDO message Each PDO has a structure to define PDO Mapping the location of these structures are Index PDO Description 0x1600 RxPDO1 Digital Output PDO Mapping Object 0x1A00 TxPDO1 Digital Input PDO Mapping Object 0x1A01 TxPDO2 Analogue Input PDO Mapping Object The structures all have the same format The first sub index defines the number of mapped objects in the PDO subsequent sub indexes contain the mapped objects When changing the mapping of a PDO sub index 0 must first be set to 0 to disable mapping then set to the correct number of mapped objects after remapping is complete A maximum of 8 mapped objects in each PDO is possible Name Sub index Data Type Access PDO Mapping Default Value Number of 0 Unsigned 8 RW No Mapped Objects Mapped 1to8 Unsigned 32 RW No Object The Mapped Object sub index is a 32 bit value that points to a mappable object The structure of the sub index is as follows MSB LSB Byte 3 Byte 2 Byte 1 Byte 0 Index of Mapped Object Sub index Length For example to map the two joystick axis potentiometers into transmit PDO2 the analogue input PDO the PDO Mapping structure would be Index Sub index Value Comment 0x1a01 0 2 The structure contains two objects 0x1a01 1 0x64010110 Maps to analogue input 1 in
8. a multiple of 1 ms a value of 0 will disable Node Guarding The device can use either Heartbeat or Node Guarding do not use both protocols at the same time Name Index Sub index Data Type Access PDO Default Mapping Value Guard Time 0x100C 0 Unsigned RW No 0 16 Page 11 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 1 6 Index 0x100D Life Time Factor The Life Time Factor multiplied by the Guard Time is used to determine the Life Time in milliseconds when Node Guarding is used A value of 0 will disable Node Guarding Name Index Sub index Data Type Access PDO Default Mapping Value Life Time 0x100D 0 Unsigned RW No 0 Factor 16 9 1 7 Index 0x100E Node Guarding and Heartbeat Object ID This object holds the identifier of the CAN object for the node guarding and heartbeat protocol By default it is the node ID added to 0x700 Name Index Sub index Data Type Access PDO Default Mapping Value Guard COB Ox100E 0 Unsigned RW No 0x700 ID 32 Node ID 9 1 8 Index 0x1010 Save Parameters This object is used to store modifications to the device s configuration in non volatile memory so that the configuration is maintained after the devic
9. index Supported CAN Object ID 1 Unsigned 32 RW No 0x200 Node ID Transmission 2 Unsigned 8 RW No 255 Type Inhibit Time 3 Unsigned 16 RW No 0 Reserved 4 No Event Time 5 Unsigned 16 RW No 0 9 2 1 1 Sub index 0 Largest Sub index Supported This object returns the number of objects in the structure Page 14 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 2 1 2 Sub index 1 CAN Object ID This object holds the object identifier for the PDO By default it is the node ID added to 0x200 9 2 1 3 Sub index 2 Transmission Type This object is used to define the transmission configuration for the PDO The value of the object defines the transmission type Value Type Description 0 Acyclic Synchronous Message is transmitted on the SYNC signal only if data has changed 1 240 Cyclic Synchronous Message is transmitted on the SYNC signal the value represents the number of SYNC signals before a message is transmitted A value of 1 will transmit a message on every SYNC signal a value of 2 will transmit a message on every second SYNC signal etc 252 Synchronous RTR Data is updated on the SYNC signal but message is only sent on the reception of a Remote Transmission Request 253 Asyn
10. on analogue input See 9 5 4 Index 0x6423 Global Interrupt Enable Write SDO 0x1010 1 u32 0x65766173 Save current configuration so that the configuration is maintained after the device is restarted See 9 1 8 Index 0x1010 Save Parameters NMT Start Set device to operational mode 11 3 Send Message on Change and Periodically In addition to the previous commands in 11 2 Send Message on Change the following commands can be used to also send messages periodically after the event time of 100 ms Operation Index Sub Type Value Description index Write SDO 0x1800 5 u16 0x3EB Set Event Time for digital input PDO to 100 ms See 9 2 1 6 Sub index 5 Event Time Write SDO 0x1801 5 u16 0x3EB Set Event Time for analogue input PDO to 100 ms See 9 2 1 6 Sub index 5 Event Time Write SDO 0x1010 1 u32 0x65766173 Save current configuration so that the configuration is maintained after the device is restarted See 9 1 8 Index 0x1010 Save Parameters NMT Start Set device to operational mode Page 26 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 11 4 Send Message on Remote Transmission Request This configuration with update and send data on recepti
11. 23 Global Interrupt Enable cccscscccecsssessssececeeecesseseeaeceeeessessesssaeeeeeesseesees 23 9 5 5 Index 0x6424 to Ox6428 Interrupt Umits 24 9 5 6 Index Ox6431 Input Offset 24 10 Emergency ET 24 11 Example Usage Scenario S morare eee EE E EE aa e E EEE EEE E EEEE 25 11 1 Default SEtting Siccin aneen ea AE RA EAE E E 25 11 2 Send Message On Change 26 11 3 Send Message on Change and Periodically 26 11 4 Send Message on Remote Transmission Request ssssssssressssssrsenrnssssssreennnssssesrreennsssseerreena 27 11 5 Send Message on Sync Signal 27 Page 3 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices 1 Revision Table Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Revision Date Comment 1 0 19 04 2012 Document issued 1 1 25 05 2012 Corrected formatting added M12 connector 1 2 08 10 2013 Corrected pin allocation on M12 connector 2 Definition of Terms Us TX Rx PDO COB ID NMT EMCY SYNC RTR Ob Ox Millisecond 0 001 seconds Microsecond 0 000001 seconds Transmit Receive Process Data Object CAN Object Identifier Network Management message Emergency message Sync message Remote Transmission Request Prefix to denote a binary number Prefix to denote a hexadecimal number Page 4 Unit 5 79 Bourke Ro
12. 3 Sub index 2 Transmission Type Write SDO 0x1801 2 u8 0x01 Set transmission type for analogue input to Cyclic Synchronous with a multiplier of 1 See 9 2 1 3 Sub index 2 Transmission Type Write SDO 0x1010 1 u32 0x65766173 Save current configuration so that the configuration is maintained after the device is restarted See 9 1 8 Index 0x1010 Save Parameters NMT Start Set device to operational mode Page 27 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net
13. 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net Ce Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 1 2 Index 0x1001 Error Register This object indicates an error in the device Name Index Sub index Data Type Access PDO Default Mapping Value Error 0x1001 0 Unsigned 8 RO Yes Register An error is communicated by active bits the error register bits have the following meaning Bit Meaning 0 Generic error This bit is set if any error is active 4 CAN bus or communication error 7 Device Error 9 1 3 Index 0x1002 Status Register This object indicates the status of the device Name Index Sub index Data Type Access PDO Default Mapping Value Status 0x1002 0 Unsigned RO Yes Register 32 The device status is communicated by an active bit the status register bits have the following meaning Bit Meaning 30 Node guarding error 31 The device is operational 9 1 4 Index 0x1008 Device Name This object holds the name of the device Name Index Sub index Data Type Access PDO Default Mapping Value Device 0x1008 0 String RO No Name 9 1 5 Index 0x100C Guard Time This object defines the Guard Time used for Node Guarding The value of the object is
14. Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Ce Control Devices Joysticks e Control Grips Sensors e Encoders Custom Electronics Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net This document and any information contained therein are confidential and the copyright of Control Devices Australia Pty Ltd and without infringement neither the whole nor any extract may be disclosed loaned copied or used for manufacturing or any other purpose whatsoever without their prior written consent and no liability is accepted for loss or damage from any cause whatsoever from the use of this document e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Contents 1T REVISION El EE 4 2 DERIMITION Een GR EE 4 S SR NEIE de 5 A el 5 5 Electrical GOMMOCH ON sss seei tare pss ceas e aea iaaea gereest ege EE 6 6 Recommended Operating Conditions 7 7 Absolute Maximum Ratings sssini nsn aeaa e a e a aea Ea aE aoas 7 B DEVICE ee ECH del EE 8 8 1 SWI Baud Rat Contig uration gie EE EE Ee 8 8 2 SW2 Node Identifier Configuratio i 0 ic 0ccscscdsdeeveevvesscindaceescoveevsnth caves ieeveeveeiacadeesceveedsasaceteevoeveeees 9 8 3 SW3 Termination Resistor Configuration cceceessssececeeecessesenaeseceescessesauaeeeeeesceescaaaeeeesesseseees 9 8 4 J1 to J4 Dis
15. Current 30 mA 40 mA CAN H Input Voltage 4V 5 3 V CAN H Output Voltage 4 5 V CAN L Input Voltage 0 3 V 1V CAN L Output Voltage 0 4 V Operating Temperature 40 C 85 C 7 Absolute Maximum Ratings Minimum Maximum Power Supply Voltage 40V CAN Input Voltage 0 3 V 6V CAN Output Voltage 0 3 V 6V CAN Output Current Time lt 20 ms 15 mA CAN Output Current 4 mA General Purpose Output Current Time lt 20 ms 15 mA General Purpose Output Current 4 mA Page 7 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 8 Device Configuration Three DIP switch banks and two jumper banks provide hardware configuration of the joystick CDEPPBOO0029 WWW CONTROLDEVICES NET 8 1 SW1 Baud Rate Configuration DIP switch bank SW1 provides baud rate selection Switch 4 is unused On Off i o 3 fa Baud Rate Switch1 Switch2 Switch3 1 Mbit sec OFF OFF OFF 800 kbit sec ON OFF OFF 500 kbit sec OFF ON OFF 250 kbit sec ON ON OFF 125 kbit sec OFF OFF ON 50 kbit sec ON OFF ON 20 kbit sec OFF ON ON 10 kbit sec ON ON ON Page 8 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net
16. Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 5 5 Index 0x6424 to 0x6428 Interrupt Limits There a several arrays of objects to define interrupts limits these objects all have an identical structure The function of each array is Index Name and Function 0x6424 Upper Limit Value Generate interrupt if input voltage is greater than limit value 0x6425 Lower Limit Value Generate interrupt if input voltage is less than limit value 0x6426 Delta Value Generate interrupt if input voltage changes by more than delta value 0x6427 Negative Delta Value Generate interrupt if voltage reduced by more than negative delta value 0x6428 Positive Delta Value Generate interrupt if voltage increased by more than positive delta value The structure of each array is Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x642_ 0 Unsigned 8 RO No Number of Objects in Axes the Array Interrupt 0x642_ 1to Signed 32 RW No 0 Trigger Number of Type Axes 9 5 6 Index 0x6431 Input Offset This array contains objects to define the input offset for each axis The input offset value is added to 9 5 2 Index 0x6401 Read Analogue Input By default the analogue input value is positive and negative wit
17. able Analogue Input 9 8 5 J5 toJ7 MEMORY ModE ceire geg et e ege ee eeh 10 8 6 J8 Op ration MOC E 10 9 Object Dictionary EE 10 9 1 Service Data ODJECTS erissa ieee renie esere EE A Eneee A aa Eea ERNE EE aee EEEE EEEE 10 9 1 1 Index 0x0005 0x0006x and 0x0007 DUMMY Objects ccccccccessssssseceeeescessesseaeeeeeesseeses 10 9 1 2 Index 0x1001 Error Register 11 9 1 3 index Ox 002 Status REGIS d EE 11 9 1 4 Index 0x1008 Device Name AEN 11 9 1 5 Index 0x100C G a rd WU EE 11 9 1 6 Index Ox100D Life Time Factor AEN 12 9 1 7 Index Ox100E Node Guarding and Heartbeat Object ID 12 9 1 8 Index 0x1010 Save Parametere 12 9 1 9 Index 0x1011 Load Default Parameters ee eeeeeseeeseeeeeeeeceeeeeesaeeeeaaeceeeeeseaeeeeaaeeneaaeeeeees 13 9 1 10 Index 0x1014 Emergency Message Object ID 13 9 1 11 Index 0x1015 Emergency Message Inhibit Time 13 9 1 12 Index 0x1017 Heartbeat Time REENEN 14 9 1 13 Index 0x2180 CAN Restart Time 00 cece eeceeesseceeeeeceeeeeeaaeeneaeeeeeeecaaeensaaeseeeeeseaeeseaaeeneaeeesaes 14 9 2 Process Data OBJECTS rremet a Meaceece ceases eaeseauceutse ges Gasaenessesd eo a eeu 14 9 2 1 Communication Parameter Oblects 14 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 2 2 PDO Mapping ODjSCtS ee ee ee
18. ad Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 3 General Description The Control Devices CDJ CANopen is a multi axis potentiometer joystick controller with CANopen output The joystick offers the same compact size strength and reliability as the Penny Giles JC6000 and is available in one or two axis configuration with all handle options available on the standard Penny Giles JC6000 4 Features e Long life potentiometer track e Single or dual axis e High strength lever with superb proportional control e Configurable with all handle options available on Penny Giles JC6000 e Custom handles can be designed with up to 20 digital inputs 4 proportional axes including the joystick axes and 4 digital outputs up to 4 mA e 10 bit resolution of proportional axes e Centre on and directional switches for each axis directional switches consume a general purpose digital input e Memory function to freeze axis position on button input e IP68 sealed connector e Electrically isolated power supply input can withstand 1 5kV transient voltage and CAN transceiver lines can withstand 5kV transient voltage Page 5 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www control
19. chronous RTR Data is updated and message is sent on the reception of a Remote Transmission Request 254 Asynchronous CanEasy Mode for development Message is transmitted immediately on any change unless prohibited by Inhibit Time and after Event Time 255 Asynchronous Message is transmitted immediately on any change unless prohibited by Inhibit Time and after Event Time This transmission type should also be used for the receive PDO the digital output 9 2 1 4 Sub index 3 Inhibit Time This object defines the inhibit time for the PDO messages the minimum duration before a new message can be sent The value of the object is a multiple of 100 ms and a value of 0 in this object will disable the inhibit time for the PDO This object has no effect on the receive PDO 9 2 1 5 Sub index 4 Reserved This object is not used 9 2 1 6 Sub index 5 Event Time This object defines the event time for the PDO messages the duration before a new message is sent This setting only applies to PDO transmission type 254 or 255 as defined in sub index 2 of the PDO parameter structure A value of 0 will disable the event timer This object has no effect on the receive PDO Page 15 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 2 2
20. devices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 5 Electrical Connection The joystick is available with a 5 pin M12 connector or a 4 pin Bulgin PX0413 04P 400 Series Buccaneer plug connector 5 1 M12 5 pin Connector The M12 plug connector mates with M12 socket connectors The figure below shows the connector as viewed from the bottom of the joystick Pin Function CAN SHIELD CAN V CAN GND CAN H CAN L Li B W NI eR Refer to technical drawings supplied with joystick for more information Page 6 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices 5 2 4 pin Bulgin PX0413 04P Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 The 4 pin Bulgin PX0413 04P 400 Series Buccaneer plug connector mates with socket connectors PX0410 S PX0400 S or PX0402 S The figure below shows the connector as viewed from the bottom of the joystick Pin 4 Pin 1 Pin 2 Pin 3 Pin Function 1 24 V Power 2 0 V GND 3 CANH 4 CANL Refer to technical drawings supplier with joystick for more information 6 Recommended Operating Conditions Min Typical Maximum Power Supply Voltage 18 V 24 V 36 V Power Supply
21. dex 0x6401 sub index 0x01 which has a length of 16 bits 0x1a01 2 0x64010210 Maps to analogue input 2 index 0x6401 sub index 0x02 which has a length of 16 bits Page 16 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Another example mapping the joystick axis directional switches and two handle push buttons into transmit PDO1 the digital input PDO would be Index Sub index Value Comment 0x1a00 0 2 The structure contains two objects 0x1a00 1 0x60000208 Maps to digital input byte 1 index Ox6000 sub index 0x02 which has a length of 8 bits The 8 bits of this object are defined by the input from up to 8 directional switches the object is further explained in 9 4 Digital Input Objects 0x1a00 2 0x60000308 Maps to digital input byte 2 index Ox6000 sub index 0x03 which has a length of 8 bits The 8 bits of this object are defined by the input from up to 8 pushbuttons or switches the object is further explained in 9 4 Digital Input Objects All mappable objects not just digital or analogue input or output may be mapped into a PDO The factory default configuration maps 1 digital output object 3 digital input objects and 2 analogue inputs into PDOs Refer to the additional
22. e Parameters Name Index Sub index Data Type Access PDO Default Mapping Value Load 0x1011 1 Unsigned RW No Default 32 Parameters To use this function the register must be written with a signature value the value is the word load MSB LSB ASCII d a o Hexadecimal 0x64 0x61 Ox6f Ox6c 0x64616f6c Decimal 1684107116 9 1 10 Index 0x1014 Emergency Message Object ID This object holds the identifier for CAN emergency messages By default it is the node ID added to 0x80 Name Index Sub index Data Type Access PDO Default Mapping Value EMCY COB 0x1014 0 Unsigned RW No 0x80 ID 32 Node ID 9 1 11 Index 0x1015 Emergency Message Inhibit Time This object defines the inhibit time for emergency messages the minimum duration before a new emergency message can be sent The value of the object is a multiple of 100 us however the device only offers a resolution of 1 ms A value of 0 in this object disables the inhibit time for emergency messages Name Index Sub index Data Type Access PDO Default Mapping Value EMCY 0x1015 0 Unsigned RW No 0 Inhibit Time 16 Page 13 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22
23. e restarts This function is only available in pre operational mode Name Index Sub index Data Type Access PDO Default Mapping Value Save 0x1010 1 Unsigned RW No Parameters 32 To use this function the register must be written with a signature value the value is the word save MSB LSB ASCII e V a S Hexadecimal 0x65 0x76 0x61 0x73 0x65766173 Decimal 1702257011 Page 12 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 1 9 Index 0x1011 Load Default Parameters This object is used to restore the factory default parameters of the device Note that this is the factory default settings of the microcontroller used for CANopen communication and may differ from the original settings that were provided with the joystick This function is only available in pre operational mode After executing this function the device must be rest either by cycling the power or executing the NMT reset command Once the device has booted the default configuration will be in use however it will not be saved and therefore on subsequent resets the device will revert back to its last saved configuration To save the configuration after loading default parameters see 9 1 8 Index 0x1010 Sav
24. es Byte 2 Digital Input Ox6000 4 Unsigned 8 RO Yes Byte 3 Refer to the additional sheet for the location of the digital input bits specific to your joystick configuration 9 4 3 Index 0x6005 Global Interrupt Enable This object enables or disables the global interrupt for the digital input The global interrupt must be enabled to use an event driven PDO transmission type see 9 2 1 3 Sub index 2 Transmission Type for more information A value of 1 enables the global interrupt a value of 0 disables the global interrupt Name Index Sub index Data Type Access PDO Default Mapping Value Global 0x6005 0 Unsigned8 RW No 0x01 Interrupt Enable Page 20 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 4 4 Index 0x6006 Interrupt Mask Any Change This array of objects enables or disables the interrupt for any change of each digital input If enabled an interrupt will be triggered for any change on the digital input line a value of 1 enables the interrupt on any change a value of 0 will disable it The first sub index returns the number of objects in the array subsequent sub indexes define the interrupt mask for each digital input byte The default value enables the interrupt on an
25. evice 9 5 1 Index 0x5401 Dead Band Value This array of objects defines the dead band for each axis The first sub index returns the number of objects in the array subsequent objects define the dead band value for each analogue input If the analogue input is within the dead band greater than the negative of the dead band value and less than the dead band value the value of 9 5 2 Index 0x6401 Read Analogue Input for that input will be Ox0000 If the analogue input is less than the negative of the dead band value the value of 9 5 2 Index 0x6401 Read Analogue Input for that input will be the analogue input value plus the dead band value Similarly if the analogue input is greater than the dead band value the value of 9 5 2 Page 21 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Index 0x6401 Read Analogue Input for that input will be the analogue input value minus the dead band value The following table summarises the calculation to determine the value of the analogue input object Analogue Input Value Analogue Input Object A lt DB AO A DB Axis negative position A gt DB AO 0x0000 AND A lt DB Within dead band A gt DB AO A DB Axis positive position The default value
26. for each dead band object is 0x1000 Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x5401 0 Unsigned 8 RO No Number of Objects in Axes the Array Dead Band 0x5401 1 to Unsigned RW No 0x1000 Value Number of 16 Axes 9 5 2 Index 0x6401 Read Analogue Input This array contains objects to read each analogue input The first sub index contains the number of sub indexes in the array subsequent sub indexes contain the result from the analogue input lines The values of these objects are a signed 16 bit integer a positive value corresponds to a positive position of the analogue input a negative value corresponds to a negative position of the analogue input Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6401 0 Unsigned 8 RO No Number of Objects in Axes the Array Read 0x6401 1 to Signed 16 RO Yes Analogue Number of Input Axes Refer to the additional sheet for the location of analogue input objects specific to your joystick configuration Page 22 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 9 5 3 Index 0x6421 Interrupt Trigger Type This array contains objects to set the type of events tha
27. h 0 at the centre if only positive values are required an input offset of Ox8000 can be used Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6431 0 Unsigned 8 RO No Number of Objects in Axes the Array Input Offset 0x6431 1 to Signed 32 RW No 0 Number of Axes 10 Emergency Messages The device supports several emergency messages the Object ID for these messages is Ox80 Node ID The structure of the message is Byte Page 24 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 0 1 2 3 4 5 6 EMCY Code Error Register 0 Device Error Code A description of each section is given below EMCY Code Emergency error code according to DS310 Error Register The contents of the Error Register index 0x1001 Device Error Code An unsigned 32 bit value to indicate error type A list of device error codes is given below Device Error Code Description 0x80000000 CAN Bus in Bus Off state 0x40000000 CAN Bus in error warning state 0x30000000 Life Guarding error In the event of multiple errors the error codes are combined in a logical OR operation Be aware tha
28. on of a Remote Transmission Request Operation Index Sub Type Value index Description Write SDO 0x1011 1 u32 0x64616f6c Load factory defaults the following instructions assume you are starting from factory defaults You will need to reset the device to complete the operation See 9 1 9 Index 0x1011 Load Default Parameters Write SDO 0x1800 2 u8 OxFD Set transmission type for digital input to Asynchronous RTR See 9 2 1 3 Sub index 2 Transmission Type Write SDO 0x1801 2 u8 OxFD Set transmission type for analogue input to Asynchronous RTR See 9 2 1 3 Sub index 2 Transmission Type Write SDO 0x1010 1 u32 0x65766173 Save current configuration so that the configuration is maintained after the device is restarted See 9 1 8 Index 0x1010 Save Parameters NMT Start Set device to operational mode 11 5 Send Message on Sync Signal This configuration will send a message for each PDO every time a sync signal is received Operation Index Sub Type Value index Description Write SDO 0x1011 1 u32 0x64616f6c Load factory defaults the following instructions assume you are starting from factory defaults You will need to reset the device to complete the operation See 9 1 9 Index 0x1011 Load Default Parameters Write SDO 0x1800 2 u8 0x01 Set transmission type for digital input to Cyclic Synchronous with a multiplier of 1 See 9 2 1
29. sheet for the location of inputs in the PDO for your joystick configuration 9 3 Digital Output Objects The following objects relate to the functionality of the digital outputs of the device if used 9 3 1 Index 0x6200 Write Digital Output This array contains the object to control the digital output The first sub index returns the number of objects in the array the second sub index in the writable byte to control the 8 digital outputs Output lines are active low so a value of 1 in a bit of the output object represents a grounding of the output pin and value of 0 will set the pin to high level Before writing to the output ports the value of the bitmap is processed with 9 3 2 Index 0x6202 Polarity Mask and inverted if necessary Refer to the additional sheet for the location of the digital output bits specific to your joystick configuration Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6200 0 Unsigned 8 RO No 0x01 Objects in the Array Write 0x6200 1 Unsigned8 WO Yes 0 Digital Output Refer to the additional sheet for the location of the digital output bits specific to your joystick configuration Page 17 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net Ce Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013
30. t some error conditions can cause a change of NMT state and or force output pins into their error state 11 Example Usage Scenarios 11 1 Default Settings The factory default settings will send a message on any change of the digital output but no message will be sent on analogue input change There are 2 analogue inputs generally X and Y axis of the joystick and 24 digital inputs mapped into PDO objects Refer to the additional sheet for the location of inputs specific to your joystick configuration Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net Page 25 e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 11 2 Send Message on Change This configuration will send data on any change of the digital inputs and on any change of the analogue inputs no more frequently than the inhibit time of 10 ms Operation Index Sub Type Value Description index Write SDO 0x1011 1 u32 0x64616f6c Load factory defaults the following instructions assume you are starting from factory defaults You will need to reset the device to complete the operation See 9 1 9 Index 0x1011 Load Default Parameters Write SDO 0x1801 3 u16 0x64 Set Inhibit Time for analogue input PDO to 10 ms See 9 2 1 4 Sub index 3 Inhibit Time Write SDO 0x6423 O u8 0x1 Enable global interrupt
31. t has been enabled by 9 3 3 Index 0x6206 Error Mode Enable A value of 1 will force the output to active output level low in the event of an error and value of 0 will force the output to inactive output level high By default all outputs will be forced to inactive Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6207 0 Unsigned 8 RO No 0x01 Objects in the Array Error Mode 0x6207 1 Unsigned8 RW No 0x00 Output Value Page 18 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia Phone 61 2 9330 1700 Fax 61 2 8338 9001 E mail sales controldevices net Visit www controldevices net e Control Devices Control Devices CDJ CANopen User Manual Revision 1 3 22 10 2013 Refer to the additional sheet for the location of the digital output bits specific to your joystick configuration 9 4 Digital Input Objects The following objects relate to the functionality of the digital inputs of the device if available Digital inputs are active low and the device has internal pull up resistors 9 4 1 Index 0x5003 Debounce Time The device provides debounce filtering for each digital input line so that pushbuttons and switches can be connected without external filtering The duration of the debounce filter can be set individually for each input line The value of each object is the filter time in milliseconds a value of O will disable the filtering function
32. t will trigger an interrupt for each analogue input The first sub index returns the number of sub indexes in the array subsequent sub indexes contain a bitmap to set trigger types as show below Bit Interrupt Trigger Type 0 Input voltage greater than Upper Limit 1 Input voltage less than Lower Limit 2 Input changed more than Delta 3 Input decreased more than Negative Delta 4 5 Input increased more than Positive Delta to7 Reserved must be forced to 0 The default value for each axis interrupt trigger type is 7 which enables the first three interrupt trigger types Limit values are defined in 9 5 5 Index 0x6424 to O0x6428 Interrupt Limits Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6421 0 Unsigned 8 RO No Number of Objects in Axes the Array Interrupt 0x6421 1 to Unsigned8 RW No 7 Trigger Number of Type Axes 9 5 4 Index 0x6423 Global Interrupt Enable This object controls the global interrupt for the analogue inputs By default the interrupt is disabled to avoid excessive transmission of analogue input values A value of 1 enables the global interrupt for the analogue input a value of O will disable it Name Index Sub index Data Type Access PDO Default Mapping Value Global 0x6423 0 Unsigned 8 RW No 0 Interrupt Enable Page 23 Unit 5 79 Bourke Road Alexandria NSW 2015 Australia
33. y change for all digital inputs Name Index Sub index Data Type Access PDO Default Mapping Value Number of 0x6006 0 Unsigned 8 RO No Depends on Objects in Operation the Array Mode Digital Input Ox6006 1 Unsigned 8 RW No OXff Byte 1 Digital Input Ox6006 2 Unsigned 8 RW No Oxff Byte 2 Digital Input Ox6006 3 Unsigned 8 RW No Oxff Byte 3 Refer to the additional sheet for the location of digital input bits specific to your joystick configuration 9 4 5 Index 0x6007 Interrupt Mask Rising Edge This array has a similar function and structure to 9 4 4 Index Ox6006 Interrupt Mask Any Change but will only generate interrupts on the rising edge of the input As the input becomes active an interrupt will trigger as it becomes inactive an interrupt will not be triggered The default value of the objects in the array is 0x00 interrupt on rising edge is disabled 9 4 6 Index 0x6008 Interrupt Mask Falling Edge This array has a similar function and structure to 9 4 4 Index Ox6006 Interrupt Mask Any Change but will only generate interrupts on the falling edge of the input As the input becomes inactive an interrupt will trigger as it becomes active an interrupt will not be triggered The default value of the objects in the array is 0x00 interrupt on falling edge is disabled 9 5 Analogue Input Objects The following objects relate to the functionality of the analogue inputs of the d
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