File Version: 1.2
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JAKA MiniCab Hardware User Manual
5.1.2 Control stick Interface (STICK)
Figure 5-3 Diagram of Control stick Interface
MiniCab control stick interface is defined as follows:
Table 5-3 Definition of Handle Interface
Pin Serial
No.
Signal
Signal Type
Description
1
24V
PO
Control stick power output
2
PBn
I
3.3V logic signal input, low level trigger controller
switch operation
3
BP_CANL
IO
Control stick and controller communication CAN
signal
4
BP_CANH
IO
Control stick and controller communication CAN
signal
5
ESTOP_BP_C1
PO
Connected to pin 1 internally (24V)
6
ESTOP_BP_PC1
I
24V logic input, high level indicates that
emergency stop is normal.
7
ESTOP_BP_C2
PO
Connected to pin 1 internally (24V)
8
ESTOP_BP_PC2
I
24V logic input, high level indicates that
emergency stop is normal.
9
Reserved
-
System reservation
10
GND
PO
Logic ground
Note:
(1) Only used to connect JAKA
control
stick
. External interface cannot be modified arbitrarily.
5.1.3 Emergency Stop Interface (E-STOP)
5
4
3
2
1
10
9
8
7
6
