JS1000 and JS6000

Joysticks
CANopen Object Dictionary
©2007 Sauer-Danfoss (US) Company. All rights reserved.

Specification Revision Log

Rev Description Ref Date Author
1.00 Initial release 06 SEP 07 B. Spranger
1.01 Correction to the Manufacturer Specific field definition 14 SEP 07 B. Spranger
1.02 Added/corrected scaling and units 20 SEP 07 B. Spranger

1.03 Updated PDOs to support JS6000 CAN Plus 17 OCT 07 B. Spranger

1.04 Added Node-ID and Baud Rate to the Object Dictionary 24 MAR 09 B. Spranger
2.10 Updated Rev so that it matches the application version 22 JUL 09 B. Spranger

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Contents
1 General ........................................................................................................................ 2

2 Parameter/Variable Index ............................................................................................ 2

2.1 1000h Device Type ...........................................................................................................................2
2.2 1001h Error Register.........................................................................................................................2
2.3 1003h Error Log: Code......................................................................................................................2
2.4 1008h Manufacturer Device Name ...................................................................................................2
2.5 1009h Manufacturer Hardware Version ............................................................................................2
2.6 100Ah Manufacturer Software Version .............................................................................................2
2.7 100Bh CAN Node ID .........................................................................................................................2
2.8 1014h COB-ID EMCY Message........................................................................................................2
2.9 1017h Producer Heartbeat time ........................................................................................................2
2.10 1018h Identity Object ......................................................................................................................2
2.11 1200h Server SDO1 Parameters ....................................................................................................2
2.12 1800h Transmit PDO1 Communication Parameters ......................................................................2
2.13 1801h Transmit PDO2 Communication Parameters ......................................................................2
2.14 1802h Transmit PDO3 Communication Parameters ......................................................................2
2.15 1803h Transmit PDO4 Communication Parameters ......................................................................2
2.16 1A00h Transmit PDO1 Map Parameters ........................................................................................2
2.17 1A01h Transmit PDO2 Map Parameters ........................................................................................2
2.18 1A02h Transmit PDO3 Map Parameters ........................................................................................2
2.19 1A03h Transmit PDO4 Map Parameters ........................................................................................2
2.20 3000h CAN Baud Rate....................................................................................................................2
2.21 6000h Read Input 8-Bit ...................................................................................................................2
2.22 6401h Read Analog Input 16-Bit .....................................................................................................2

3 Error Handling .............................................................................................................. 2

3.1 General .............................................................................................................................................2
3.2 Emergency Error Codes....................................................................................................................2
3.3 Manufacturer Specific Error Codes ...................................................................................................2
3.4 Error Register....................................................................................................................................2

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1 General
This document describes the Object Dictionary for Sauer-Danfoss JS1000 and JS6000 CANopen
joysticks. The document is an essential part of the CANopen device profile. For further information about
CANopen, reference “CANopen Application Layer and Communication Profile, CiA Draft Standard 301,
Version 4.01” and “CANopen Device Profile for Generic I/O Modules, CiA Draft Standard 401, Version
2.1.”
In order to access an Entry within an Object, the Service Data Object (SDO) is used. The Initiate SDO
Download/Upload protocol and the Upload SDO Segment protocol (used when Data type is
VISIBLE_STRING) are supported. Each Object has an Index and a Name. For each Entry within an
Object there is a Sub-Index followed by a Name and a Description (if applicable).
The different Data types of an Entry can be as follows:
• U32 (UNSIGNED32), U16 (UNSIGNED16) or U8 (UNSIGNED8)
• S32 (INTEGER32), S16 (INTEGER16) or S8 (INTEGER8)
• STR (VISIBLE_STRING)
The Access of an Entry can be as follows:
• ro (Read Only)
• rw (Read Write)
• wo (Write Only)
• const
The Min and Max value of an Entry is also specified where applicable. This does not mean that there is a
check within the Joystick that the written value is within the value range, i.e. the User is responsible to
write a value within the value range. It should also be observed that the Default value of an Entry may not
be true for all applications. The Unit/Scale gives either the unit of the value and/or the scaling used where
applicable.

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2 Parameter/Variable Index

2.1 1000h Device Type

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Device Type 01050191h: Joystick without digital outputs U32 const - - see Desc -

2.2 1001h Error Register

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Error Register Bit 0 (Generic): 1 in case of an unknown error. U8 ro - - - -
Bit 1 (Current): Always zero.
Bit 2 (Voltage): 1 in case of a voltage to high or low.
Bit 3 (Temperature): Always zero.
Bit 4 (Communication Error): Always zero.
Bit 5 (Device Profile Specific): Always zero.
Bit 6 (Reserved): Always zero.
Bit 7 (Manufacture-Specific): 1 in case of an IIC grip
communication error, or a calibration error

2.3 1003h Error Log: Code

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0h Log Size The entry at sub-index 0 contains the number of actual U8 rw 0 24 - -
errors that are recorded starting at subindex 1. Writing a
zero to sub-index 0 clears the error log. Writing a value
other than zero to sub-index 0 will result in an abort
message.
1h Error 1 Code Every new error is stored at sub-index 1, the older ones U32 ro 0 2 -1
32
- -
move down the list.
32
2h Error 2 Code U32 ro 0 2 -1 - -

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2.3 1003h Error Log: Code
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
32
3h Error 3 Code U32 ro 0 2 -1 - -
32
4h Error 4 Code U32 ro 0 2 -1 - -
32
5h Error 5 Code U32 ro 0 2 -1 - -
32
6h Error 6 Code U32 ro 0 2 -1 - -
32
7h Error 7 Code U32 ro 0 2 -1 - -
32
8h Error 8 Code U32 ro 0 2 -1 - -
32
9h Error 9 Code U32 ro 0 2 -1 - -
32
Ah Error 10 Code U32 ro 0 2 -1 - -
32
Bh Error 11 Code U32 ro 0 2 -1 - -
32
Ch Error 12 Code U32 ro 0 2 -1 - -
32
Dh Error 13 Code U32 ro 0 2 -1 - -
32
Eh Error 14 Code U32 ro 0 2 -1 - -
32
Fh Error 15 Code U32 ro 0 2 -1 - -
32
10h Error 16 Code U32 ro 0 2 -1 - -
32
11h Error 17 Code U32 ro 0 2 -1 - -
32
12h Error 18 Code U32 ro 0 2 -1 - -
32
13h Error 19 Code U32 ro 0 2 -1 - -
32
14h Error 20 Code U32 ro 0 2 -1 - -
32
15h Error 21 Code U32 ro 0 2 -1 - -
32
16h Error 22 Code U32 ro 0 2 -1 - -
32
17h Error 23 Code U32 ro 0 2 -1 - -
32
18h Error 24 Code U32 ro 0 2 -1 - -

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2.4 1008h Manufacturer Device Name
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Manufacturer Device Sauer-Danfoss internal device family name. Returns STR const - - - -
Name “JOYSTICK”.

2.5 1009h Manufacturer Hardware Version

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Manufacturer Hardware Sauer-Danfoss hardware part number. The part number STR const - - - -
Version will be different for joystick models

2.6 100Ah Manufacturer Software Version

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Manufacturer Software Sauer-Danfoss software part number and version. STR const - - - -
Version

2.7 100Bh CAN Node ID

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 CAN Node ID Changes the CAN Node ID, requires repower U8 rw 1 127 - -

2.8 1014h COB-ID EMCY Message

Sub Name Description Data Access Min Max Default Unit/Scale
–Index type

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0 COB-ID EMCY Message Defines the COB-ID of the EMCY object. U32 ro 0
32
2 -1 80h+ -
Node Id

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2.9 1017h Producer Heartbeat time
Sub Name Description Data Access Min Max Default Unit/Scale
–Index type
0 Producer heartbeat time Time in milliseconds on how often the Joystick will U16 rw 0 2 -1
16
20 -
transmit a heartbeat. A value of 0 will disable the
heartbeat. It requires a reboot for the value to take effect
after change.

2.10 1018h Identity Object

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 4 -
1 Vendor Id Returns the Vendor Id for Sauer-Danfoss = 19h. U32 const - - 19h -
2 Product Code U32 const - - 1h -
3 Revision Number U32 const - - 10001h -
4 Serial Number Device Serial Number U32 const - - - -

2.11 1200h Server SDO1 Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 2 -
32
1 COB-ID used by SDO1rx U32 ro 0 2 -1 600h+ -
Node Id
32
2 COB-ID used by SDO1tx U32 ro 0 2 -1 580h+ -
Node Id

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2.12 1800h Transmit PDO1 Communication Parameters
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 5 -
COB-ID used by PDO1Tx U32 ro 32
1 0 2 -1 180h+ -
Node Id
30
+2
2 Transmission Type. FEh: event driven (manufacturer specific) U8 ro 0 255 FEh -
Inhibit Time U16 rw 16
3 The time is the minimum interval for PDO transmission. 0 2 -1 0 ms/10
The value is defined as multiple of 100 microseconds. The
value of 0 shall disable the inhibit time.
4 Reserved Not implemented; a read or write access results in an SDO - - - - - -
abort with abort code 06090011h
Event Timer U16 Rw 16
5 The time is the maximum interval for PDO transmission. 0 2 -1 20 ms
The value of 0 shall disable the event timer, resulting in the
PDO not being transmitted.

2.13 1801h Transmit PDO2 Communication Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 5 -
COB-ID used by PDO2Tx U32 ro 32
1 0 2 -1 280h+ -
Node Id
30
+2
2 Transmission Type. FEh: event driven (manufacturer specific) U8 ro 0 255 FEh -
Inhibit Time U16 rw 16
3 The time is the minimum interval for PDO transmission. 0 2 -1 0 ms/10
The value is defined as multiple of 100 microseconds. The
value of 0 shall disable the inhibit time.
4 Reserved Not implemented; a read or write access results in an SDO - - - - - -
abort with abort code 06090011h

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2.13 1801h Transmit PDO2 Communication Parameters
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
Event Timer U16 rw 16
5 The time is the maximum interval for PDO transmission. 0 2 -1 20 ms
The value of 0 shall disable the event timer, resulting in the
PDO not being transmitted.

2.14 1802h Transmit PDO3 Communication Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 5 -
COB-ID used by PDO3Tx U32 ro 32
1 0 2 -1 380h+ -
Node Id
30
+2
2 Transmission Type. FEh: event driven (manufacturer specific) U8 ro 0 255 FEh -
Inhibit Time U16 rw 16
3 The time is the minimum interval for PDO transmission. 0 2 -1 0 ms/10
The value is defined as multiple of 100 microseconds. The
value of 0 shall disable the inhibit time.
4 Reserved Not implemented; a read or write access results in an SDO - - - - - -
abort with abort code 06090011h
Event Timer U16 rw 16
5 The time is the maximum interval for PDO transmission. 0 2 -1 20 ms
The value of 0 shall disable the event timer, resulting in the
PDO not being transmitted.

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2.15 1803h Transmit PDO4 Communication Parameters
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of entries U8 const - - 5 -
COB-ID used by PDO4Tx U32 ro 32
1 0 2 -1 380h+ -
Node Id
30
+2
2 Transmission Type. FEh: event driven (manufacturer specific) U8 ro 0 255 FEh -
Inhibit Time U16 rw 16
3 The time is the minimum interval for PDO transmission. 0 2 -1 0 ms/10
The value is defined as multiple of 100 microseconds. The
value of 0 shall disable the inhibit time.
4 Reserved Not implemented; a read or write access results in an SDO - - - - - -
abort with abort code 06090011h
Event Timer U16 rw 16
5 The time is the maximum interval for PDO transmission. 0 2 -1 20 ms
The value of 0 shall disable the event timer, resulting in the
PDO not being transmitted.

2.16 1A00h Transmit PDO1 Map Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Mapped U8 ro 0 4 4 -
Applications Objects in
PDO1Tx.
Example: 6000h:1 gives value=60000108h U32 ro 32
1 Mapping for Proportional 0 2 -1 60000108h -
Memory Freeze Status where index=6000h sub-index=01h data type=08h (8 bits)
U32 ro 32
2 Mapping for Buttons 1 - 8 0 2 -1 60000208h -
Status
U32 ro 32
3 Mapping for Buttons 9 – 0 2 -1 60000308h -
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2.16 1A00h Transmit PDO1 Map Parameters
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
16 Status
U32 ro 32
4 Mapping for Buttons 17 – 0 2 -1 60000408h -
24 Status
U32 ro 32
5 Mapping for Buttons 25 – 0 2 -1 60000508h -
32 Status

2.17 1A01h Transmit PDO2 Map Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Mapped U8 ro 0 2 2 -
Applications Objects in
PDO2Tx.
Example: 6401h:1 gives value=64010110h U32 ro 32
1 Mapping for X-Axis 0 2 -1 64010110h -
Proportional where index=6401h sub-index=01h data type=10h (16
bits)
U32 ro 32
2 Mapping for Y-Axis 0 2 -1 64010210h -
Proportional

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2.18 1A02h Transmit PDO3 Map Parameters
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Mapped U8 ro 0 3 3 -
Applications Objects in
PDO3Tx.
Example: 6401h:1 gives value=64010310h U32 ro 32
1 Mapping for Grip 1 0 2 -1 64010310h -
Proportional where index=6401h sub-index=03h data type=10h (16 bits)
U32 ro 32
2 Mapping for Grip 2 0 2 -1 64010410h -
Proportional
U32 ro 32
3 Mapping for Grip 3 0 2 -1 64010510h -
Proportional

2.19 1A03h Transmit PDO4 Map Parameters

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Mapped U8 ro 0 4 4 -
Applications Objects in
PDO4Tx.
Example: 6401h:1 gives value=64010610h U32 ro 32
1 JS6000 CAN Plus 0 2 -1 64010610h -
External Analog Pin 9 where index=6401h sub-index=06h data type=10h (16 bits)
U32 ro 32
2 JS6000 CAN Plus 0 2 -1 64010710h -
External Analog Pin 10
U32 ro 32
3 JS6000 CAN Plus 0 2 -1 64010810h -
External Analog Pin 11
U32 ro 32
4 JS6000 CAN Plus 0 2 -1 64010910h -
External Analog Pin 12

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2.20 3000h CAN Baud Rate
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 CAN Baud Rate Changes the baud rate of the CAN, requires repower U32 rw 10000 1000000 125000 -

2.21 6000h Read Input 8-Bit

Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Inputs 8-Bit U8 ro 0 4 - -
1 Proportional Memory *Not supported U8 ro 0 0 0- -
Freeze
Memory status for the proportional outputs.
0: memory function off (release proportional values)
1: memory functions on (freeze proportional values)
2 Buttons 1 - 8 Status 1: button is active U8 ro - - - -
0: button is inactive
3 Buttons 9 – 16 Status 1: button is active U8 ro - - - -
0: button is inactive
4 Buttons 17 – 24 Status 1: button is active U8 ro - - - -
JS6000 CAN Plus 0: button is inactive
External Digital Inputs
(Pins 9 – 16)
5 Buttons 25 – 32 Status 1: button is active U8 ro - - - -
JS6000 CAN Plus 0: button is inactive
External Digital Inputs
(Pins 17, 18 and 6)

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2.22 6401h Read Analog Input 16-Bit
Sub Name Description Data Access Min Max Default Unit/Scale
-Index type
0 Number of Analog Inputs U8 ro 0 5 - -
16-Bit
1 X-Axis Proportional S16 ro -1000 1000 0 %*10
2 Y-Axis Proportional S16 ro -1000 1000 0 %*10
3 Grip 1 Proportional S16 ro -1000 1000 0 %*10
4 Grip 2 Proportional S16 ro -1000 1000 0 %*10
5 Grip 3 Proportional S16 ro -1000 1000 0 %*10
6 JS6000 CAN Plus S16 ro 0 1000 0 %*10
External Analog Pin 9
7 JS6000 CAN Plus S16 ro 0 1000 0 %*10
External Analog Pin 10
8 JS6000 CAN Plus S16 ro 0 1000 0 %*10
External Analog Pin 11
9 JS6000 CAN Plus S16 ro 0 1000 0 %*10
External Analog Pin 12

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 3 Error Handling
3.1 General
When an event classified as an error occurs, a CANopen standard error code is sent out in an EMCY message. The emergency message and its contents are
shown in Table 1 below. The emergency message follows reference CiA Draft Standard 301, Version4.0. Parts of the manufacturer specific Error Field are used for
the more specified error definition.

Byte 0 1 2 3 4 5 6 7
Content Emergency Error Manufacturer Specific
Error Code Register
Table 2 Table 4 Table 3
Table 1. Emergency message.

3.2 Emergency Error Codes

CANopen Failure Codes
Voltage to High Voltage to Low Not Calibrated Redundancy IIC Communications**
Inputs
Error Manufacturer Error Manufacturer Manufacturer Error Manufacturer Error Manufacturer
Error Code
Code Specific Code Specific Specific Code Specific Code Specific
X 0x3110 0x80 0x3120 0x80 0xFF10 0x80 0xFF20 0x80
Y 0x3110 0x81 0x3120 0x81 0xFF10 0x81 0xFF20 0x81
Grip X 0x3110 0x82 0x3120 0x82 0xFF10 0x82 0xFF20 0x82 0xFF30 0x82
Grip Y 0x3110 0x83 0x3120 0x83 0xFF10 0x83 0xFF20 0x83 0xFF30 0x83
Grip Theta 0x3110 0x84 0x3120 0x84 0xFF10 0x84 0xFF20 0x84 0xFF30 0x84
Sensor
0x3310 0xC0 0x3320 0xC0
Power*
Buttons 0xFF30 0x00 - …
Table 2. Emergency Error Codes

Requires Fault Definition

* JS6000 CAN+ only
**JS1000 only

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3.3 Manufacturer Specific Error Codes
The Manufacturer specific error codes are used to help identify which sensor has experienced the failure.

Manufacturer Specific Definition

Byte 0 Byte 2 Byte 3
Byte 1
Occurrence Not Not
Sensor Identifier
Counter Used Used
0-127 Digital Inputs 0x00 - 0x3F 0 0
0-127 Digital Outputs 0x40 - 0x7F 0 0
0-127 Analog Inputs 0x80 - 0xBF 0 0
0-127 Analog Outputs 0xC0 - 0xFF 0 0
Table 3. Manufacturer-specific error code

3.4 Error Register

This is the standard error register (bit field) for the emergency message. The Error Register can also be read at index 1001h:0.

Code Bit Value Description

Generic 0 0
Current 1 0
Voltage 2 0
Temperature 3 0
Communication 4 0
Device 5 0
Reserved 6 0
Manufacturer 7 0
Table 4. Error Register.

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