Danfoss PVED-CLS, User Manual, Page: 116 / 182

116 | © Danfoss | August 2018 AQ00000211
ENGINEERING TOMORROW
11.12 AUX TYPE - ELOBAU JOYSTICK
PVED-CLS is compatible to be configured with ELOBAU joystick series J4F with 351JCM, an auxiliary joystick. Two
J4F joysticks can be present on vehicle, in the same CAN network, as joystick 1 and joystick 2 for right and left hand
operations respectively.
PVED-CLS will accept and process below steering related signals received from ELOBAU joystick
•
Basic Joystick Message (BJM):
BJM and inverted BJM shall be received as a message pair
where, main controller uses BJM message and Safety controller uses inverted BJM.
•
Extended Joystick Message (EJM):
EJM and inverted EJM shall be received as a message pair
where, main controller uses EJM message and Safety controller uses inverted EJM.
If there are two J4F joysticks present on vehicle, in one CAN network, then the right joystick will use BJM1, EJM1 and
left joystick will use BJM2 and EJM2 messages.
PVED-CLS processes the received percentage value of Joystick position signal (X-axis position), intended for steering.
Percentage values received from joystick for x-axis position are from 0.0 % to 100.0 %, i.e. from 0 to 1000, with
resolution of 0.1%, and those will be used for steering purpose. If the received x-axis position is greater than 100.0%, i.e.
if greater than 1000, PVED-CLS will enter safe state.
Below is the graphical overview of how ELOBAU joystick signal is processed and then used for steering, using open
loop joystick control.
For safety controller:
Figure 61
For main controller:
Figure 62
Once PVED-CLS receives the BJM and invBJM, byte 1 and 2 of invBJM will be bitwise inverted in safety controller.
11.12.1 Validation of Elobau Joystick Position Status
ELOBAU
Joystick -
InvBJM ( Safety
Controller)
Bitwise
Inversion
Error Check (if
>1000)
Scaling
(Convert to IR -
1000 to +1000)
Exchange data
with Main UC
Signal Cross
Check
(between Main
and Safety)
ELOBAU
Joystick - BJM
(Main
Controller)
Error Check (if
>1000)
Scaling (Covert
to IR -1000 to
+1000)
Exchange data
with safe UC
Signal Cross
Check
(between Main
and Safety)
AUX Joystick -
Open Loop
Control