•
MCU A1: 51
•
MCU A2: 52
•
MCU B1: 53
•
MCU B2: 54
Functional safety communications protocol: SAE J1939-76
Safety header for SAE J1939-71 is used with the following format:
Start
position
Length
Name
1.1
1 bit
Inverted SDM data page (always 1)
1.2
1 bit
Inverted SDM extended data page (always 1)
1.3
1 bit
Reserved (set to 1)
1.4
5 bits
SDG sequence number
2
1 byte
Inverted joystick address
3
1 byte
Inverted PDU specific value of joystick message
4
1 byte
Inverted SDM PDU format value of joystick message
5-8
4 bytes
Data CRC of all 8 byte of joystick message (polynomial 0x6398392D)
Vehicle application layer: SAE J1939-71
BJM1 messages is used to transmit on CAN bus using the following message ID data:
•
Data length: 8 bytes
•
Extended data page: 0
•
Data page: 0
•
PDU format: 253
•
PSU specific: 214 PGN supporting information:
‒
Default priority: 3
‒
Parameter group number: 64982 (0x00FDD6)
BJM1 SPN data format:
Start
position
Length
Name
SPN
1.1
2 bits
Joystick X-Axis Neutral Position Status
0x00: Not in Neutral Position
0x01: In neutral Position
0x02: Error Indicator
0x03: Not Available
2675
1.3
2 bits
Joystick X-Axis Lever Left Negative Position Status
0x00: Not on negative side of Neutral
0x01: On negative side of Neutral
0x02: Error Indicator
0x03: Not Available
2670
1.5
2 bits
Joystick X-Axis Right Positive Position Status
0x00: Not on positive side of Neutral
0x01: On positive side of Neutral
0x02: Error Indicator
0x03: Not Available
2665
1.7-2
10 bits
Joystick X-Axis Position
0-1000: Joystick position in 0.1%
1022: Error Indicator
2660
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Steer by Wire Joystick
12 |
©
Danfoss | December 2022
AX436683569858en-000101
