Danfoss JS6000 Manuale
MAKING MODERN LIVING POSSIBLE
Technical Information
Joysticks
JS6000 Joystick Base
powersolutions.danfoss.com
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
include 18 pin connector, added recommended mounting panel cut-out illustration, and
updated installation instructions.
KA
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
Technical Information JS6000 Joystick Base
2520L0760 • Rev 1102 • November 2015
General information Overview..............................................................................................................................................................................................5
Features and options...................................................................................................................................................................... 5
Product configuration Product configuration model code............................................................................................................................................6
Base model code...............................................................................................................................................................................7
Grip model code............................................................................................................................................................................... 9
Model code details Code B: Single or dual axis options......................................................................................................................................... 10
Code C: Shaft sensor and output options............................................................................................................................. 12
Potentiometer sensor............................................................................................................................................................. 12
Center tap.............................................................................................................................................................................. 12
Directional potentiometer switches.............................................................................................................................13
Dual potentiometer outputs per axis................................................................................................................................13
Hall effect sensor.......................................................................................................................................................................14
Controller Area Network (CAN) output.............................................................................................................................14
CAN (configuration model code CAN).........................................................................................................................14
CAN+ (configuration model code CPL).......................................................................................................................14
Pulse Width Modulated (PWM) output.............................................................................................................................14
PWM (configuration model code PWM)..................................................................................................................... 14
Code D: Centering return spring options..............................................................................................................................15
Code E: Hardware configuration.............................................................................................................................................. 15
Code F: Mechanical options.......................................................................................................................................................16
Code G: Microswitch option.......................................................................................................................................................18
Code H: Electrical interface options........................................................................................................................................ 19
Analog...........................................................................................................................................................................................19
CAN 2.0B, J1939 protocol.......................................................................................................................................................19
CANopen 2.0B, J1939 protocol............................................................................................................................................19
PWM ............................................................................................................................................................................................. 19
H1 electrical interface options.............................................................................................................................................19
H2, 3 joystick location/CAN source address....................................................................................................................19
H4 CAN proportional output................................................................................................................................................20
Code I, J, K, L: Grip options..........................................................................................................................................................20
JS6000 CAN messages CAN option.......................................................................................................................................................................................21
CAN+ option....................................................................................................................................................................................21
CAN+ external inputs................................................................................................................................................................... 21
Analog inputs (AIN)..................................................................................................................................................................21
Digital inputs (DIN)...................................................................................................................................................................21
CAN message protocol SAE J1939 CAN message specification...................................................................................................................................23
SAE J1939 basic joystick message...................................................................................................................................... 23
Data field......................................................................................................................................................................................23
Basic joystick message data field descriptions.............................................................................................................. 23
Joystick X-axis neutral position status.........................................................................................................................24
Joystick X-axis handle left negative position status...............................................................................................25
Joystick X-axis handle right positive position status..............................................................................................25
Joystick X-axis position status........................................................................................................................................ 25
Joystick Y-axis neutral position status.........................................................................................................................25
Joystick Y-axis handle back negative position status............................................................................................ 26
Joystick Y-axis handle forward positive position status........................................................................................26
Joystick Y-axis position status.........................................................................................................................................26
SAE J1939 extended joystick message............................................................................................................................. 26
SAE J1939 error (DM1) messages........................................................................................................................................27
SAE CANopen protocol information.......................................................................................................................................29
A grip button and rocker CAN naming conventions........................................................................................................ 29
Top and operator present switch naming conventions.............................................................................................30
Technical Information JS6000 Joystick Base
Contents
520L0760 • Rev 1102 • November 2015 3
Proportional rocker naming conventions........................................................................................................................30
MG grip button CAN naming conventions...........................................................................................................................31
Product installation Dimensions and installation...................................................................................................................................................... 32
Dimensions................................................................................................................................................................................. 32
Recommended mounting panel cut-out.........................................................................................................................32
Installation...................................................................................................................................................................................33
Machine wiring guidelines......................................................................................................................................................... 33
Joystick safety..................................................................................................................................................................................34
JS6000 connector pin assignments general information................................................................................................34
Pin assignments..............................................................................................................................................................................35
CAN output connector pin assignments..........................................................................................................................35
CAN output mating connector DEUTSCH DTM06-6S..................................................................................................35
CAN+ and PWM output connector pin assignments.................................................................................................. 36
CAN+ and PWM output mating connector DEUTSCH DT16-18SB......................................................................... 37
Potentiometer sensor with analog output connector pin assignments..............................................................38
Analog output mating connector ..................................................................................................................................... 39
Hall effect sensor with analog output pin assignments ............................................................................................40
Specifications Mechanical characteristics..........................................................................................................................................................41
Electrical characteristics...............................................................................................................................................................41
Microswitch characteristics........................................................................................................................................................43
Sensor power supply ratings..................................................................................................................................................... 43
Environmental characteristics...................................................................................................................................................43
Technical Information JS6000 Joystick Base
Contents
4520L0760 • Rev 1102 • November 2015
Overview
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 function assignments, output characteristics) to be
configured using the PLUS+1®Service Tool interface. Refer to JS6000 PWM User Manual, 11060942 for
instructions and information required to configure JS6000 PWM joystick options.
The flexible design of the JS6000 offers many options, making it the right choice for applications that
require more than a simple dual axis joystick with spring return to center.
JS6000 joystick base
Features and options
•Hall effect or potentiometer sensing (model dependent)
•One or two sensors per axis for redundancy
•Single or dual axis
•Mechanical direction switches
•2 centering spring forces
•3 available friction-hold options
•Output options:
‒Analog
‒CAN 2.0B, J1939 protocol
‒CANopen protocol
‒High current PWM
•Multiple grip options:
‒HKN — plain knob
‒MG — with operator trigger and hand rest
‒A— configurable ergonomic
‒Custom designed grips
•External-to-joystick analog and digital information included in JS6000 CAN+messages
Technical Information JS6000 Joystick Base
General information
520L0760 • Rev 1102 • November 2015 5
Product configuration model code
Use the JS6000 product configuration model code to specify particular features when ordering a JS6000
joystick. The model code begins with the product family name: JS6000. Fill in the remaining fields to
configure the product with the desired features.
The model code includes both joystick base and joystick grip information. JS6000 Joystick Base Technical
Information Manual, 520L0760 provides information required to configure the base portion of the
joystick. JS1000, JS6000 Joystick Grips Technical Information Manual, 520L0872 provides information
required to configure JS6000 joystick grips.
Product configuration model code example
J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
Technical Information JS6000 Joystick Base
Product configuration
6520L0760 • Rev 1102 • November 2015
Base model code
JS6000 product configuration model code example
Base Grip
A B C D E F G H I J K L M N O P Q R S
J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
A—Product series
Code Description
JS6000 Series JS6000 Joystick
B—Operational axis options
Code Description
XY Bi-directional: X and Y axis
NY Uni-directional: Y axis only (required for friction-holding)
C—Shaft position sensing and output options
Code Description
PRR Potentiometer: single output per axis; Vo= 10 to 90% of Vs; ±1.5° neutral threshold
PQQ Potentiometer: single output per axis; Vo= 25 to 75% of Vs; ±1.5° neutral threshold
PSS Potentiometer: single output per axis; Vo= 10 to 90% of Vs; ±5° neutral threshold
PTT Potentiometer: single output per axis; Vo= 25 to 75% of Vs; ±5° neutral threshold
PUU Potentiometer: dual output per axis; Vo= 10 to 90% of Vs; ±1.5° neutral threshold
HMM Hall effect: dual sensors per axis; Vs= 5 VDC; Vo= 0.5 to 4.5 VDC
CAN
*Hall effect: dual sensors per axis; Vs= 9 to 36 VDC; CAN 2.0B J1939 communication, 6 pin connector
CANopen
*Hall effect: dual sensors per axis; Vs= 9 to 36 VDC; CANopen 2.0B J1939 communication, 6 pin connector
CPL Hall effect: dual sensors per axis; Vs= 9 to 36 VDC; CAN 2.0B communication, 18 pin connector
PWM Hall effect: dual sensors per axis; Vs= 9 to 36 VDC; high current PWM and digital outputs
*See H1 electrical interface options on page 19.
D—Centering spring options
Code Description
HHeavy force
MMedium force
FFriction-hold (position maintained, center detent)
E—Gate pattern options
Code Description
SSquare, full output at 45 degree
Technical Information JS6000 Joystick Base
Product configuration
520L0760 • Rev 1102 • November 2015 7
F—Mechanical options
Code Description
NL No mechanical option; spring return to center only
FB Friction-held in Y axis; no X axis; center detent; 1.25 Nm [0.92 lb•ft] friction-hold force; 2.5 Nm [1.66 lb•ft]
breakout force
FC Friction-held in Y axis; no X axis; center detent; 1.25 Nm [0.92 lb•ft] friction-hold force; 3.25 Nm [2.40
lb•ft] breakout force
HC Friction-held in Y axis; no X axis; center detent; 2.25 Nm [1.66 lb•ft] friction-hold force; 4.0 Nm [2.95 lb•ft]
breakout force
G—Direction (microswitch) options
Code Description
N No switches
Y Microswitches installed
Technical Information JS6000 Joystick Base
Product configuration
8520L0760 • Rev 1102 • November 2015
Grip model code
JS6000 product configuration model code example
A B C D E F G H I J K L M N O P Q R S
J S 6 0 0 0 X Y H M M H S N L N J 3 3 1 A 0 H 0 R V N N N N N N N N
1 2 3 4
H1—Electrical interface options
Code Description
S Analog (DC voltage output)
J CAN, SAE J1939 protocol
W PWM output
P CANopen protocol (default: 125 Kbit band rate)
H2, 3—CAN source address*
Code Description
NN None—use with analog outputs when H1 = S
33 Source address = 0x 33 (use this source address with PWM outputs.)
34 Source address = 0x 34
35 Source address = 0x 35
36 Source address = 0x 36
*Consult the factory if additional source addresses are required.
H4—Joystick output type
Code Description
N None—use with analog and PWM outputs
1 CAN full scale output = 1000 counts
I, J, K, L, M, N, O, P, Q, R, S—Grip options
JS1000, JS6000 Joystick Grips Technical Information, 520L0872 provides information required to configure
the JS6000 joystick grip.
Technical Information JS6000 Joystick Base
Product configuration
520L0760 • Rev 1102 • November 2015 9
Code B: Single or dual axis options
JS6000 product configuration model code B
B
J S 6 0 0 0
Code B designates the number of operational axes.
Single Axis Base—NY with friction hold option in the configuration code
+Y Axis
-Y Axis
Dual Axis Base—XY in the configuration code
+Y Axis
Orientation Mark
(lift boot)
-X Axis
-Y Axis
2456B
+X Axis
Technical Information JS6000 Joystick Base
Model code details
10 520L0760 • Rev 1102 • November 2015
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