js1 canopen can joystick function block user manual1 configures the function block to listen for can...

User Manual

PLUS+1® CompliantJS1 CANopen Joystick Function Block

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Revision history Table of revisions

Date Changed Rev

March 2018 Re-branding 0102

January 2016 First edition 0101

User ManualPLUS+1® Compliant JS1 CANopen Joystick Function Block

2 | © Danfoss | March 2018 AQ00000203en-US0102

JS1_CANopen Function BlockFunction Block Inputs..................................................................................................................................................................... 4Function Block Outputs..................................................................................................................................................................4Status and Fault Logic.....................................................................................................................................................................7

Boolean Output Signals............................................................................................................................................................ 7Proportional Output Signals................................................................................................................................................... 7

Configuration Values.......................................................................................................................................................................8Function Block Connections.........................................................................................................................................................9Configuration of Input and Output Buses...............................................................................................................................9


Contents

© Danfoss | March 2018 AQ00000203en-US0102 | 3

This joystick has a CAN (Controller Area Network) 2.0B output that uses the CANopen communicationprotocol.

The JS1 Joystick with CAN is a highly configurable joystick that has:• A joystick base with a single three-point Y-axis or with three-point X- and Y-axes.

• Up to three grip-mounted proportional three-point rocker switches.

• Up to 24 grip-mounted push-button switches.

Function Block Inputs

JS1_CANopen Function Block Inputs

Input Type Range Description

Node U8 1 to 127 Specifies the CANopen address of the joystick.All Node addresses on the same CANopen bus must be different. Do not use the same address twice.The Type code on the joystick label identifies the source address. Typical addresses are C33 (right), C34 (left),C35 (center), and C36 (auxiliary).Enter the source address in hexadecimal format as shown in the following examples:C33 (right) = 0x33C34 (left) = 0x34C35 (center) = 0x35C36 (auxiliary) = 0x36

Ext BOOL —— T = Incoming CAN messages must use 29 bit extended identifiers.F = Incoming CAN messages must use 11 bit standard identifiers.

CAN —— —— Inputs CAN messages from the joystick. Route this bus to the CAN pin on this function block.CAN messages sent from the joystick to the function block contain information about the availability of joystickinputs, joystick input faults, and joystick commands.

Function Block Outputs

JS1_CANopen Function Block Outputs

Output Type Range Description

Status —— —— Outputs a bus that contains the following status signals.

Btn1_NA–Btn24_NA BOOL —— Indicates if an input is available from a grip-mounted push button switch.T = Not available.F = Available.

T_NA BOOL —— Indicates if an input from a rotational (theta) axis is available.T = Not available.F = Available.

XGrp_NA BOOL —— Indicates if an input from a grip-mounted, X-axis proportional switch is available.T = Not available.F = Available.


JS1_CANopen Function Block


JS1_CANopen Function Block Outputs (continued)


X_NA BOOL —— Indicates if an input from the joystick’s X-axis is available.T = Not available.F = Available.

YGrp_NA BOOL —— Indicates if an input from a grip-mounted, Y-axis proportional switch is available.T = Not available.F = Available.

Y_NA BOOL —— Indicates if an input from the joystick’s Y-axis is available.T = Not available.F = Available.

Fault —— —— Outputs a bus that contains the following fault signals.

Btn1_Flt–Btn24_Flt BOOL —— Indicates if the input from a grip-mounted push-button switch signal sources has timedout and switch states are not actively updated.T = Fault.F = No fault.

T_Flt BOOL —— Indicates if the input from the joystick’s rotational (theta) axis has a fault or the signalsource has timed out.T = Fault.F = No fault.

TimeOut_X BOOL —— Indicates if the function block has not received a CAN PDO or NMT message within theconfigured timeout limit after already receiving the message at least once since startup.When this signal is T, the function block sets all Out signals associated with the missingPDO message to either 0 or F. It sets all Fault signals associated with the message to T.When this signal becomes F again, the function block enables all Out signals associatedwith the PDO message. It resets all Fault signals associated with the PDO message to F (orcurrently fault conditions as detected and reported by the joystick).T = Message not received within the time limit.F = Message received within the time limit.

NoMsgReceived_X BOOL —— Indicates if the function block has not received a CAN PDO or NMT message within theconfigured timeout limit after never receiving the message since startup.When this signal is T, the function block sets all Out signals associated with the missingPDO message to either 0 or F. It sets all Fault signals associated with the message to T.When this signal becomes F again, the function block enables all Out signals associatedwith the PDO message. It resets all Fault signals associated with the PDO message to F (orcurrently fault conditions as detected and reported by the joystick).T = Message not received within the time limit.F = Message received within the time limit.

XGrp_Flt BOOL —— Indicates if the input from a grip-mounted, X-axis proportional switch has a fault or thesignal source has timed out.T = Fault.F = No fault.

X_Flt BOOL —— Indicates if the input from the joystick’s X-axis has a fault or the signal source has timedout.T = Fault.F = No fault.

YGrp_Flt BOOL —— Indicates if the input from a grip-mounted, Y-axis proportional switch has a fault or thesignal source has timed out.T = Fault.F = No fault.

Y_Flt BOOL —— Indicates if the input from the joystick’s Y-axis has a fault or the signal source has timedout.T = Fault.F = No fault.

Out —— —— Outputs a bus that contains the following command signals. These signals indicate theposition of each joystick axis and the state of push-button and detent switches.






Btn1–Btn24 BOOL —— Indicates the states of grip-mounted push-button switches.T = Closed.F = Open.

Curr_NMT_State U8 0 to 255 Indicates the CANopen communication state of the joystick.• 0x00 = Boot Up• 0x04 = Stopped• 0x05 = Operational• 0x7F = Pre-operational

Rx_PDOX BOOL —— Indicates when the function block receives a CANopen PDO.This message reports joystick base and grip proportional signals as well as the state ofgrip-mounted button switches.T = Message received.F = Message not received.

Rx_Heartbeat BOOL —— Indicates when the function block receives a CANopen Heartbeat or NMT message.This message reports the current NMT State and provides a continuous heartbeat toindicate the joystick is alive on the bus.T = Message received.F = Message not received.

T_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s rotational (theta) axis.-10000 = -100%+10000 = +100%

X_Grp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, X-axis proportional switch.-10000 = -100%+10000 = +100%

X_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s X-axis.-10000 = -100%+10000 = +100%

YGrp_Psn S16 -10000 to +10000 Indicates the position of a grip-mounted, Y-axis proportional switch.-10000 = -100%+10000 = +100%

Y_Axis_Psn S16 -10000 to +10000 Indicates the position of the joystick’s Y-axis.-10000 = -100%+10000 = +100%

EMCY —— —— Outputs a bus that contains the following status signals. These signals indicate errors andfailure information reported by the joystick.

Error_Code U16 0 to 0xFFFF Indicates the specific error condition reported for the joystick.• 0x3110 = Voltage high• 0x3120 = Voltage low• 0xFF10 = Not calibrated• 0xFF20 = Redundancy failure

Error_Register U8 0 to 10000 Indicates what type of error is reported by the joystick.• Bit 0 : Generic• Bit 1 : Current• Bit 2 : Voltage• Bit 3 : Temperature• Bit 4 : Communication• Bit 5 : Device• Bit 6 : Reserved• Bit 7 : Manufacturer Specific

OccurrenceCounter U8 0 to 127 Indicates number of recorded instances of the error.






SensorIdentifier U8 0 to 255 Indicates the source of the error reported by the joystick.• 0x80 = X• 0x81 = Y• 0x82 = Grip X• 0x83 = Grip Y• 0x84 = Grip Theta

Rx_EMCY BOOL —— Indicates when the function block receives a CANopen EMCY message. This messagereports joystick detected failures and fault conditions.T = Message received.F = Message not received.

Status and Fault Logic

Use status and fault codes to determine if the function block is operating properly.

Boolean Output Signals

You can change the states of the Status and Fault signals to impact the value of Boolean output signals.

Output Signal Status Signal State Fault Signal State Output Signal Value

Btn1–Btn24 F F T or F

T T F

T F F

F T F

For example:• As long as the Status signal and the Fault signal for the Btn1 input are both F, the Btn1 output signal

can be either T or F.• As soon as either the Status signal or the Fault signal for the Btn1 input becomes T, the Btn1 output

signal goes to and stays F.• When the Status signal and the Fault signal for the Btn1 input are again both F, the Btn1 output

signal returns to its normal T or F operation.

Proportional Output Signals

The states of the Status and Fault signals can change and affect the value of proportional output signals.

Output Signal Status Signal State Fault Signal State Output Signal Value

T_Axis_Psn, XGrp_Psn, X_Axis_Psn, YGrp_Psn, Y_Axis_Psn F F ±10000

T T 0

T F 0

F T 0

For example:• As long as the Status signal and the Fault signal for the T_Axis_Psn input are both F, the

T_Axis_Psn output signal ranges ±10000.• As soon as either the Status signal or the Fault signal for the T_Axis_Psn input becomes T, the

T_Axis_Psn output signal goes to and stays at 0.• When the Status signal and the Fault signal for the T_Axis_Psn input are again both F, the

T_Axis_Psn output signal returns to its normal ±10000 operation.




Configuration Values

The first level inside the function block contains constant values that set the function block’s operatingcharacteristics.

Typically, you do not have to change any of these values for the correct operation of the function block.Optionally, you can modify the constant values on this page.

Configuration Values

Input Type Range Description

Timeouts

Heartbeat_Timeout_ms U16 0 to 1000 Heartbeat_Timeout_ms sets the maximum time allowed between received NMTmessages before either Timeout_Heartbeat or NoMsgReceived_Heartbeat is set totrue.

PDO1_Timeout_ms U16 0 to 1000 PDO1_Timeout_ms sets the maximum time allowed between received PDO1 messagesbefore either Timeout_PDO1 or NoMsgReceived_PDO1 is set to true.



NMT Strt BOOL — Enables the function block to transmit a request to the joystick to enter the operationalstate when the joystick is in Boot up or Preoperational state.




Function Block Connections

Item Description

1 Configures the function block to listen for CAN data from the joystick’s network address.

2 Configures the function block to listen for CAN data from Extended or Standard CAN IDs.

3 Determines the CAN port connected to the joystick.

4 Reports CANopen Emergency Object failures detected and reported by the joystick.

5 Reports Not Available state for each signal if connected joystick hardware does not support the function or for all signals if communicationhas not yet been established.

6 Reports faults for individual signals or communication timeout.

7 Output bus containing the joystick axis position, proportional grip inputs, and button states.

Configuration of Input and Output Buses

You do not have to change the configuration of either input or output buses to use the function block.




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