Technical Information

Joysticks
JS1 Heavy Duty Joysticks

www.danfoss.com

Technical Information
JS1 Heavy Duty Joysticks

Revision history

Table of revisions
Date

ChangedRev

March 2024

Updated Mechanical Specificatioins, Joystick Functions Product configuration model codes

1501

May 2023

Added Analog Function for 18-pin connector, new FNR joystick function

1401

October 2020

Corrected some information in tables and removed discontinued product line

1305

July 2020

Changed document number from 'BC00000347' to 'BC171886484518' and added cablemodel code option W

1304

June 2019

Updated for PWM

1201

November 2018 Moved PR2, PP2 grip cover option H8-Y and put in circle and lowered; Added note to top of 1101
Electronic modules chapter; Updated JS1-H Analog Category 1 and 3 wiring connection
diagrams; Changed FNR IP to IP 66; Under Mechanical, changed table Friction hold/Spring
return, base only, row 1 code to E and row 2 code to J; JS1-H Base model code Table C,
added row PEP; Table D, Changed row 1 code to E and row 2 code to J that applies only
when using XF base; added sub-topic JS1 Heavy Duty Joystick critical mounting under topic
Joystick safety critical functions

2 | © Danfoss | March 2024

August 2018

Updated for spring/friction base

1001

June 2018

Changed vertical maximum load; Added table under Joystick Functions for Operator
Presence Switch (PR7, PPR grip only); Added A and E options for Operator Presence Switch,in last two rows of table H8-Defining grip side, under chapter Product configuration model
code.

0901

March 2018

Removed J options from PR7, PP7 grip faceplate options; Added Grip only sales and service
options topic; removed the wire color column from all connectors pin tables; corrected H4through H12 tables under Grip model code; added to types of grips offered for applications
that require high ingress protection; and listed grips with Operator Presence Switch in
Product configuration model code table H7 and H8

0801

January 2018

Added Analog Cat 1, 3 information

0701

November 2017 Added CANalog and CAN+ information

0601

January 2017

Pushbutton color codes updated

0503

January 2017

Removed information that does not apply, corrected PR2 grip options information

0502

December 2016 Added PVE information

0501

October 2016

0403

Updated PR2 faceplate designation; and Environmental IP rating

September 2016 Updated Operating temperature for CAN to 85° C in Environmental table

0402

September 2016 Updates regarding IP switches; Common model code for J3-cable

0401

September 2016 Various updates; updated to Engineering Tomorrow design0302

February 2016

Removed Connection diagrams chapter

0201

February 2016

First edition

0101

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Contents
Overview
JS1-H description..............................................................................................................................................................................6
Features................................................................................................................................................................................................6
Options.................................................................................................................................................................................................7
HR1, HP1 grip
Description..........................................................................................................................................................................................8
Dimensions......................................................................................................................................................................................... 9
Ten total grip functions..................................................................................................................................................................9
Function overview......................................................................................................................................................................... 10
Faceplate options.......................................................................................................................................................................... 10
Cover options.................................................................................................................................................................................. 11
Base options.....................................................................................................................................................................................12
ST2, SP2 grip
Dimensions.......................................................................................................................................................................................14
Five total grip functions...............................................................................................................................................................14
ST2—Faceplate options.............................................................................................................................................................. 15
Cover options.................................................................................................................................................................................. 15
PR2, PP2 grip
Dimensions.......................................................................................................................................................................................17
Twelve total grip functions.........................................................................................................................................................17
Faceplate options.......................................................................................................................................................................... 18
Cover options.................................................................................................................................................................................. 19
ST7, SP7 grip
Dimensions.......................................................................................................................................................................................21
ST7—Faceplate options.............................................................................................................................................................. 22
Cover options.................................................................................................................................................................................. 23
PR7, PP7 grip
Dimensions.......................................................................................................................................................................................25
Faceplate options.......................................................................................................................................................................... 26
Cover options.................................................................................................................................................................................. 27
Compatible grips
Dimensions.......................................................................................................................................................................................28
Grip only sales and service options......................................................................................................................................... 28
BaseDimensions.......................................................................................................................................................................................30
Electronic modules
CAN..................................................................................................................................................................................................... 31
CAN+...................................................................................................................................................................................................31
CANalog.............................................................................................................................................................................................31
Additional X and Y analog outputs.................................................................................................................................... 31
Proportional roller output..................................................................................................................................................... 31
PVE.......................................................................................................................................................................................................31
PVE—Standard................................................................................................................................................................................32
PVE—Extended...............................................................................................................................................................................33
PVE - Programmable..................................................................................................................................................................... 33
Non-Redundant Analog interface (CAT1)............................................................................................................................. 34
Full-Redundant Analog interface (CAT3)...............................................................................................................................34
PWM (Programmable)..................................................................................................................................................................35
Connection diagrams
CAN+...................................................................................................................................................................................................36
CANalog.............................................................................................................................................................................................37
PVE DSUB.......................................................................................................................................................................................... 38
Analog Cat 1.....................................................................................................................................................................................39
Analog Cat 3.....................................................................................................................................................................................40© Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
Contents
PVE Deutsch..................................................................................................................................................................................... 41
PWM....................................................................................................................................................................................................42
Specifications
Mechanical....................................................................................................................................................................................... 43
Electrical—CAN, CAN+, and CANalog.................................................................................................................................... 44
Electrical—PVE (Standard and Extended).............................................................................................................................44
Electrical—PVE (Extended only)............................................................................................................................................... 44
Electrical—Analog Cat 1, Cat 3..................................................................................................................................................45
Electrical—PWM.............................................................................................................................................................................45
Environmental.................................................................................................................................................................................45
Joystick functions
Grip options..................................................................................................................................................................................... 46
Push button......................................................................................................................................................................................47
Roller...................................................................................................................................................................................................48
FNR...................................................................................................................................................................................................... 50
Toggle switch.................................................................................................................................................................................. 51
Operator Presence switch...........................................................................................................................................................51
Connector options and cabling
One 6 pin connector..................................................................................................................................................................... 53
Two 6 pin connectors................................................................................................................................................................... 54
Two 12 pin connectors.................................................................................................................................................................55
Two 12 pin and one 6 pin connectors.................................................................................................................................... 56
One 18 pin connector...................................................................................................................................................................57
One 25 pin SUB-D and one 6 pin connectors...................................................................................................................... 59
Mating connectors bag assemblies.........................................................................................................................................60
Cable assemblies............................................................................................................................................................................61
Product configuration model code
JS1-H base and grip model code fields..................................................................................................................................63
JS1-H Base model code.......................................................................................................................................................... 64
Grip model code....................................................................................................................................................................... 67
Other model code.................................................................................................................................................................... 76
Product installation
Joystick safety critical functions............................................................................................................................................... 77
JS1 Heavy Duty Joystick critical mounting......................................................................................................................77
Machine wiring guidelines......................................................................................................................................................... 77
Appendix: CAN J1939 protocol
Joysticks CAN J1939 protocol option..................................................................................................................................... 80
SAE J1939 basic joystick message............................................................................................................................................81
Data field......................................................................................................................................................................................81
JS1-H Basic joystick message data field descriptions.................................................................................................. 82
Joystick X-axis neutral position status.........................................................................................................................83
Joystick X-axis handle left negative position status............................................................................................... 83
Joystick X-axis handle right positive position status..............................................................................................83
Joystick X-axis position status........................................................................................................................................ 83
Joystick Y-axis neutral position status......................................................................................................................... 84
Joystick Y-axis handle back negative position status............................................................................................ 84
Joystick Y-axis handle forward positive position status........................................................................................84
Joystick Y-axis position status.........................................................................................................................................84
Joystick button 1-8 pressed status................................................................................................................................85
SAE J1939 extended joystick message...................................................................................................................................86
Extended joystick message parameters and data field descriptions.....................................................................86
SAE J1939 error (DM1) messages............................................................................................................................................. 88
Appendix: CAN+ and CANopen protocol
CANopen Object Dictionary for JS1-H joysticks..................................................................................................................90
Parameter/variable index - JS1-H CAN, JS1-H CANalog...................................................................................................91
4 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
Contents
Parameter/variable index - JS1-H CAN+..............................................................................................................................103
Error handling............................................................................................................................................................................... 115© Danfoss | March 2024

BC171886484518en-001501 | 5

Technical Information
JS1 Heavy Duty Joysticks
Overview
JS1-H description
A wide variety of new grip designs

The Danfoss JS1 platform offers a wide variety of new grip designs and were developed after extensive
research detailing operator needs. The JS1 heavy duty joysticks (JS1-H) and compatible grips meet thedemanding conditions typically found in mobile equipment environments. The available grips features
provide a high degree of protection from chemicals, shock, vibration and EMC exposure. Danfoss
joysticks are appropriate for both in-cabin and out of cabin applications and feature ergonomic forms
that minimize machine operator fatigue. The JS1-H ergonomic left-hand, right-hand and ambidextrous
grip design options enable efficient operation and comfortable human-machine interface with easy touse fingertip controls for maximum productivity. The grips feature a modular design that allows switch
and proportional rollers locations flexibility.
Features•••6 | © Danfoss | March 2024

Hall effect with two sensors per axis or long life potentiometer position sensing
Simultaneous operation of two proportional rollers
Operator Presence switch

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Overview
Options
Axis• Dual Axis Spring Return• Single Axis Spring Return• Single Axis with Friction• Dual Axis with one axis Spring, one axis Friction
Output options• CAN J1939• CANopen• PVE• CANalog• CAN+• Analog Category 1• Analog Category 3• PWM (programmable)
Ergonomic grip
Right hand
Left hand
Ambidextrous (used with either the left or right hand)•••On axis shaft, deflection±18°•

JS1-H grips
HR1
ST2
ST7
PR2
PR7

•
•
•
•
•

© Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
HR1, HP1 grip
Horizontal, multifunction, ergonomic HR1, HP1 grip

Description
The horizontal, multifunction, ergonomic HR1, HP1 grip is designed with easy to use fingertip controls for
a comfortable user interface and maximum functional control.
The grip features a modular design that allows flexibility in the location of switches and proportional
functions.
For applications that require high ingress protection (IP66) select the HP1 grip. For more information, seeordering code F2, under Grip model code on page 67.

8 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
HR1, HP1 grip
Dimensions
HR1 (horizontal) grip with base dimensions in millimeters [inches]
145.00 [5.73]

18°

18°

18°

18°

150.00 [5.90]

10.00 [0.39]

68.80 [2.71]

Ø 72.60 [2.86]

Ø 6.00 [0.24]
88.00 ± 0.05 [3.46 ± 0.002]

45.00 [1.77]

90.00 [3.54]

kwa1433358071249

Ten total grip functions•••

Front plate: Up to five functions
Grip top side: Up to two functions
Grip rear side: Up to three functions

Push button = 1 function, roller/rocker/FNR/Operator Presence Switch = 2 functions© Danfoss | March 2024

BC171886484518en-001501 | 9

Technical Information
JS1 Heavy Duty Joysticks
HR1, HP1 grip
Function overview
HR1 grip function overview
1

2

3
kwa1452624614146

1. Faceplate finger function location
2. Cover finger function location
3. Base finger function location

Faceplate options
HR1 grip faceplate options

H1=U

H1=U

H1=U

H1=U
H3=U

L-NNNNN

R-NNNNN

L-UNNNN

R-UNNNN

H1=U
H1=Y

H1=U

R-YNNNN

H2=Y

H2=Y

H1=Y

H1=Y

H3=Y

H3=Y

L-UNYNN

R-UNYNN

R-YYNNN

H2=Y

H2=Y

H1=Y

H1=Y

H4=Y

H4=Y

H1=U

H3=Y

H3=Y

L-UNYYN

R-UNYYN

H5=Y

H5=Y

H1=U

H4=Y

H4=Y

H3=Y

H3=Y

L-YYYNN

R-YYYNN

L-UNYYY

R-UNYYY

H4=Y

H2=Y

H2=Y

H1=Y

H1=Y

H5=Y

H5=Y

H5=Y

H5=Y

H3=U

H3=U

H3=K

H3=K

L-UNUNYR-UNUNYL-PNKNYR-PNKNYL-YYYYN

R-YYYYN

H5=Y

H5=Y

H4=Y

H4=Y

H1=Y
H3=Y

L-YYYYY

H1=U

H1=K

H1=Y

H3=U

H3=U

L-YYUNN

R-YYUNN

H5=Y

H5=Y

H3=U

H3=U

L-YYUNYR-YYUNY

H2=Y

H2=Y

H1=Y

H1=Y

H1=U

H2=Y

L-KNNNN

R-KNNNN

H3=K

H3=K

L-NNKNN

R-NNKNN

L-NYNNN

R-NYNNN

L-NNYNN

H3=Y

R-NNYNN

H2=Y

H1=K
H3=K

H3=K

L-KNKNN

R-KNKNN

H4=P

H4=P

H4=Y

L-NNNYN
H5=Y

H4=Y

R-NNNYN
H5=Y

H1=Y

H3=Y

R-YYYYY

H1=U

H1=K

H1=K

H3=Y

R-PNKNN

H2=Y

H4=Y

H3=Y

L-PNKNN

H3=Y

H3=Y

H1=Y

H3=K

H1=U

H3=Y

H2=Y

H1=U
H3=K

H2=Y
H1=U

L-YYNNN

R-UNUNN

H1=U

H1=Y

L-YNNNN

H2=Y

L-UNUNN

H1=U

H3=U

H3=Y

H3=Y

L-NNYPN

R-NNYPN

L-NNNNY

R-NNNNYkwa1452624730259

10 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
HR1, HP1 grip
Related reference
Cover options
HR1 grip cover options

L-#####NN

R-#####NN

H7=Y

H7=Y

H6=Y

H6=Y

R-#####YY

L-#####YY

H6=K
H6=Y

L-#####YN

R-#####YN

H7=Y

R-#####KN

L-#####KN

H7=Y
H6=U

L-#####NY

H6=K

H6=Y

R-#####NY

L-#####UN

H6=U

R-#####UN
kwa1452624768604© Danfoss | March 2024

BC171886484518en-001501 | 11

Technical Information
JS1 Heavy Duty Joysticks
HR1, HP1 grip
Base options
HR1 grip base options

L-#######NNN

H9=Y

R-#######NNN

L-#######YYN

R-#######YYN

H8=Y

H9=Y H10=Y

R-#######YNN

L-#######NYY

R-#######NYY

H8=Y

H10=Y H9=Y

H8=Y

L-#######YNN

H9=Y

H9=Y

L-#######NYN

H10=Y

L-#######NNY

H8=Y

H9=Y

H8=Y

R-#######NYN

H10=Y

R-#######NNY

H9=Y H10=Y

L-#######YYY

H8=D

L-#######DNN

H10=Y

H9=Y

H8=Y

R-#######YYY

H8=D

R-#######DNN
kwa1452624813199

12 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
ST2, SP2 grip

The ergonomic ST2, SP2 grip is designed to provide a solution to grip applications requiring an operator
presence function. The profile of the ST2, SP2 grip, ensures that the operator’s fingers are always close to
the buttons to minimize operator fatigue and maximize functional control.
For applications that require high ingress protection (IP66) select the SP2 grip. For more information see
F2 ordering code under Grip model code on page 67.

© Danfoss | March 2024

BC171886484518en-001501 | 13

Technical Information
JS1 Heavy Duty Joysticks
ST2, SP2 grip
Dimensions
ST2 grip with base dimensions in millimeters [inches]

18°
18°

18°

18°

166.00 [6.55]
Ø 75.80 [2.98]

10.00 [0.39]

68.80 [2.71]

Ø 72.60 [2.86]

Ø 6.00 [0.24]
88.00 ± 0.05 [3.46 ± 0.002]

45.00 [1.77]

90.00 [3.54]

kwa1433433604401

Five total grip functions•••

Front plate: Up to three functions
Pointer finger side: one function (if nothing is placed in position 2)
Grip rear side: Up to two functions or an Operator Presence switch

Push button = 1 function, roller/rocker/FNR/Operator Presence Switch = 2 functions
14 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
ST2, SP2 grip
ST2—Faceplate options
ST2 grip faceplate options

H3=Y
H2=Y

H1=Y

H1=Y+
Y+N

YNN

NYN

H3=Y

H3=Y

H3=Y

H1=Y
NNY

H1=P
H1=Y

H2=Y
NYY

YNY

H3=Y

H3=Y

H1=K

H1=Y

H2=Y

YYY

PNN

H2=P

H2=K

NPN

NKN

H2=Y
YYN

H1=K

KNN

H1=Y+

KNY

Y+Y

kwa1442519181260

Related reference
Cover options
ST2 grip cover options
H6=Y

H6=Y
H8=Y
H9=Y

H8=0

kwa1467052019867© Danfoss | March 2024

BC171886484518en-001501 | 15

Technical Information
JS1 Heavy Duty Joysticks
PR2, PP2 grip

The PR2, PP2 grip is the successor of the Prof 1. The grip features a forward-leaning, curved, ergonomic
shape. The textured surface and movement pattern of the grip is designed for a comfortable userinterface and maximum functional control.
For applications that require high ingress protection (IP66) select the PP2 grip. For more information see
F2 ordering code under Grip model code on page 67.

16 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
PR2, PP2 grip
Dimensions
PR2 grip with base dimensions in millimeters [inches]

18°

18°

190.00 [7.48]

Ø 76.00 [2.98]

10.00 [0.39]

68.80 [2.71]

Ø 72.60 [2.86]
Ø 6.00 [0.24]
88.00 [3.46]
45.00 [1.77]

90.00 [3.54]

kwa1433433677109

Twelve total grip functions

•
•
•
•

Front plate: Up to five functions
Grip left side: Up to three functions
Grip right side: Up to two functions
Grip rear side: Up to two functions or an OPS

Push button = 1 function, roller/rocker/FNR/Operator Presence Switch = 2 functions© Danfoss | March 2024

BC171886484518en-001501 | 17

Technical Information
JS1 Heavy Duty Joysticks
PR2, PP2 grip
Faceplate options
PR2 faceplate options
H2=Y

NNNNN

NYNNN

H2=Y

H3=Y H2=Y

H3=Y H2=Y

H3=Y H2=Y

H1=Y

H1=Y

H4=Y H1=Y

H4=Y H1=Y

H4=Y H1=Y

H5=Y

H5=Y

YYYYY

YNNYY

YYNNN

H3=Y

YYYNN

YYYYN

H1=Y

H4=Y H1=Y

H4=Y H1=Y

H4=Y

H3=Y H2=Y

H5=Y

NYYNN

NYYNY

H2=Y

H3=Y

H4=Y H2=Y

H4=Y

H3=Y H2=Y

H3=Y

H4=Y

H3=Y H2=Y

H5=Y

NNNYN

NNYNN

H2=P

YNNNN

YNYYN

YNNYN

H3=P

H3=P

H3=P

H5=Y

YP NYN
H2=Y

YYFNN

NNPNN

H3=Y

H3=Y

H3=P

H3=Y H2=Y

H4=Y

P NYYNP NYNN

H3=P H1=P

H3=F H1=P

H2=P

H1=Y

H4=P

YYPNN
H3=Y

YYP NY

PNNNN

H2=P

H3=Y H2=Y

H1=P
H4=P

NYYPN

H4=P

H4=P

H5=Y

H5=Y

H5=Y

P NYYYYP NYY

NYYPY

H2=P
H4=P

PNPNN
H2=Y

H3=F
H4=P

H4=P

NNNPN

H3=P H1=P
H4=Y H1=Y

H4=Y

NPNNN

H2=F

H2=P

NNYYN

H5=Y

H1=P

H1=P

NYPNN

NNP NY

NNNNY

H1=P

H3=P
H1=Y

H1=Y

H4=Y H1=Y

YYNYN

H2=Y

H2=Y

H2=Y
H3=F

NYYYN

H1=F

H3=P

NPNPN
H3=Y

H1=F
H4=P

H4=P

H5=Y

H5=Y

H5=Y

H5=Y

H5=Y

H5=Y

H5=Y

H5=Y

H5=Y

NPNPY

PNP NYPNF NY

NFNPY

NNNPY

FNFNY

FNP NY

NYNPY

NNYPY

H3=Y
H3=F

H3=Y
H1=F

H3=F

H1=F

H3=F

H3=Y
H1=F

H1=K

H1=F

H5=Y

NNFNN

FNYYY

H3=P

H3=P

FNFNN

NNFNN

FNYYN

H1=K
H4=Y

H4=Y

H4=Y

H1=K

H3=Y
H1=K

KNNNN

FNNNN

H5=Y

H5=Y

KNYNY

KNYYY

H1=K

H5=Y

KNP NY

KNPNN

kwa1442519652547

Related reference

18 | © Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
PR2, PP2 grip
Cover options
PR2 cover options
H11=Y
H12=Y

H6=Y

H12=U

H9=Y
H10=Y
H7=Y
H8=Y

H6=U
H10=K

H6 alternate position when configuring Prof1 replacement

H6=Y

When this option is used, grip is limited to 8 functions.

© Danfoss | March 2024

BC171886484518en-001501 | 19

Technical Information
JS1 Heavy Duty Joysticks
ST7, SP7 grip

The multifunction, ambidextrous, ergonomic ST7, SP7 grip is designed for a comfortable user interface
and maximum functional control. The ST7, SP7 grip features a modular design that allows switch location
flexibility.
The ST7, SP7 grip is available with combinations of up to 11 push-button switches, or a mix ofproportional, FNR, rocker switches, and an Operator Presence switch.
For applications that require high ingress protection (IP66) select the SP7 grip. For more information see
F2 ordering code under Grip model code on page 67.

20 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
ST7, SP7 grip
Dimensions
ST7 grip with base dimensions in millimeters [inches]

18 °

18 °

18°

18°

190.00 [7.48 ]Ø 75.80 [2.98]

10.00 [0.39]

68.80 [2.71]

Ø 72.60 [2.86]

Ø 5.50 [0.24]

88.00 [3.46]

45.00 [1.77]

90.00 [3.54]

kwa1452886441007© Danfoss | March 2024

BC171886484518en-001501 | 21

Technical Information
JS1 Heavy Duty Joysticks
ST7, SP7 grip
ST7—Faceplate options
ST7 grip faceplate options
H2=Y

H3=Y

H1=Y

H4=Y
H5=Y

YNNNNN

NNNNNN

H3=Y

H2=Y

NNYNNNNYNNNN

H3=Y

H2=P
H1=P

H1=Y

NNNNYN

H2=Y

H6=Y
H4=Y

NNNYNN

H4=Y

H3=P

H1=Y

H5=Y

YYYYYN

NNNNNYPNNNNNYYYYNNNNPNNNNPNNNN

H2=P
H1=K

H3=P

H3=K

H1=P

H3=P

H1=P
H4=P

H4=P
H5=Y

NNNPNNKNNNNNNNKNNN

H2=P

H3=Y
H3=P

H1=K

H3=P

H1=P

H1=K

H4=P

PNPNYNPNPNNN

H2=Y
H3=P

H4=Y

H5=Y

NPNPYN

H3=Y

KNPNNN

H2=Y

H3=Y

H2=Y
H4=P

H3=Y
H1=P

H1=Y

H5=Y

H5=Y

H5=Y

KNPNYNPNYYYNYYPNYN

H3=Y

NPNPNNPNYNNN

H2=Y
H4=P

H4=Y

H1=Y

H5=Y

NYYPNNNYYNNNNYYPYNYNNYNNjbf1473988482902

ST7 grip faceplate customer specified options
H2=Y
H3=Y

H2=Y

H3=Y

H2=Y

H1=Y

H3=Y

H3=Y

H6=Y

H3=Y

Y+NNNN

H3=Y

NYY+NNYYY+NN

H4=Y

H4=Y

YYYY+NYYYY+Y

H2=Y
H5=Y

H3=P

H1=Y

H3=Y

H1=P

H2=Y

H3=Y

H6=Y

H5=Y

H3=P

H1=Y
H6=Y

YYYYYY22 | © Danfoss | March 2024

Y+PNNNPNY+NN

H2=Y
H5=Y

H1=Y
H4=Y

H1=Y

H1=Y+

H4=Y

H2=Y

H1=Y

YYYYY+

H1=P

H1=Y

H4=Y

YYPN+YPNYYY+

kwa1470173173764

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
ST7, SP7 grip
Cover options
ST7 cover options

H7=Y

H10=Y

H11=Y
H8=Y

H9=Y

H8=O

H8=O

kwa1470173162014© Danfoss | March 2024

BC171886484518en-001501 | 23

Technical Information
JS1 Heavy Duty Joysticks
PR7, PP7 grip

The ergonomic PR7, PP7 left and right hand grips, with easy-to-use finger tip switches, are designed forease of access to push-button, trigger switches and proportional grip function manipulation for a
comfortable user interface and maximum functional control.
The PR7, PP7 grip features quicker adaptability, especially for new and complex machines, maximizing
productivity in all operating conditions.
For applications that require high ingress protection (IP66) select the PP7 grip. For more information see
F2 ordering code under Grip model code on page 67.

24 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
PR7, PP7 grip
Dimensions
PR7 grip with base dimensions in millimeters [inches]
126 [4.96]

166.00 [6.53]
78.00 [3.07]

18°

117.00 [4.60]

18°

18°

18°

274.00 [10.79]

121.00 [4.76]

Ø 5.50 [0.22]

88.00 ± 0.05 [3.46 ± 0.002]

45.00 [1.77]

90.00 [3.54]

kwa1452895556296© Danfoss | March 2024

BC171886484518en-001501 | 25

Technical Information
JS1 Heavy Duty Joysticks
PR7, PP7 grip
Faceplate options
PR7 faceplate options

H2=U

L-NNNNN

R-NNNNN

H2=U

L-NUNNN

H4=U

H2=U
H2=Y

R-NUNNN

R-NYNNN

H3=Y

L-NKNNN

H4=U

R-NKNNN

H4=K

H4=K
H2=K

H2=U

H2=K

L-NUNUNR-NUNUN

L-NKNKN

R-NKNKN

H3=Y
H2=U

H2=Y

H2=Y

L-NYYNN

H2=U

L-YUNNN

H3=Y

H4=U

L-YYYNN

H1=Y

L-YKNNN

L-YUNUN

H5=Y

R-YKNNN

H4=K

H4=K

H2=K

H2=U
H1=Y

H5=Y

H5=Y
H3=Y

H1=Y

H4=U

H1=Y

R-YYYNN

H1=Y

R-YUNNN

H2=U
H2=Y

H2=Y

H2=K

H2=K

H1=Y

H1=Y

R-NYYNN

H3=Y

H2=K

H1=Y

R-YUNUN

H1=Y

L-YKNKN

R-YKNKN

H5=Y

H5=Y

H5=Y

H3=Y
H4=Y

H4=Y
H2=Y

L-NYYYY

R-NYYYY

H5=Y

H4=Y

H2=U

H2=Y

H4=Y

L-NUNYY

H5=Y

H2=U

H2=K

R-NUNYY

H5=Y

H3=Y

H4=Y

L-NKNYY

H5=Y

H4=Y

H2=K

R-NKNYY

H5=Y

H5=Y

H3=Y
H4=Y

H4=Y

H2=U

H2=Y

H2=Y

L-YYYYY

R-YYYYY

H1=Y

H2=K

H2=Y

L-NYNNN

H1=Y

H2=K

H5=Y
H2=F

H4=Y

H1=Y

H4=Y

H4=Y

H2=U

H1=Y

H1=Y

L-YUNYY

H4=Y

H2=K

R-YUNYY

H4=Y

H2=K

H1=Y

H1=Y

L-YKNYYR-YKNYY

H5=Y
H4=Y

H2=F

H2=F

H1=Y

H2=F

H2=F

H4=F

H4=F

H2=F

H1=Y

L-YFNYY

L-NFNNN

R-YFNYY

R-NFNNN

L-NFNFN

R-NFNFN

H5=Y

H5=Y
H4=F
H2=F

H2=F

H2=F

H1=Y

H1=Y

L-YFNNN

R-YFNNN

H4=F
H2=F

H2=F

H1=Y

H4=Y

H4=Y

H2=F

H1=Y

L-YFNFN

R-YFNFN

L-NFNYY

R-NFNYY

kwa1454539607113

26 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
PR7, PP7 grip
Cover options
PR7 cover options

H6=Q

L-#####NN#

R-#####NN#

H6=Y

L-#####YN#

H6=Q

L-#####QN#

R-#####QN#

H6=Y

R-#####YN#
H8=A
H7=Y

H7=Y

H6=Y

H6=Y

L-#######N
L-#####YY#

L-#######A

R-#####YY#

H6=K

H6=K

H8=E

L-#####KN#

R-#####KN#

H6=F

L-#####FN#© Danfoss | March 2024

R-#######N

R-#######E

H6=F

R-#####FN#

kwa1454542269293

BC171886484518en-001501 | 27

Technical Information
JS1 Heavy Duty Joysticks
Compatible grips
Other Danfoss grips compatible with the JS1 heavy duty base are Prof1, PVRE and PVRET which are
generally used together with valves. For more information regarding Prof1, PVRE and PVRET grips pleasereference Prof 1, PVRE and PVRET Joystick Technical Information Manual, BC152886484305.
Dimensions
PVRE; and PVRET grips dimensions in millimeters [inches]

18°

18°

18°

18°
198.00 [7.80]

139.00 [5.47]

AA

B

kwa1433434519003

STN grip, no switch: IP65
STS grip with rocker switch: IP42
STP grip with proportional: IP65

B

STT grip: IP54

Grip only sales and service options
All Danfoss grips are sell-able items. Go to Product configuration model code on page 63 and Grip model
code on page 67 for developing grips.
All finger functions are marked with colored tape to indicate their position on the grip. The grip locations
will match to a location on the printed circuit board.

28 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Compatible grips
Printed circuit board

Plug in connectors accordingly© Danfoss | March 2024

Position

Tape color

H1

Red

H2

Yellow

H3

Blue

H4

Black

H5

White

H6

None

H7

Green

H8

Blue/Black

H9

Yellow/Black

H10

Yellow/Red

H11

White/Red

H12

White/Green

Prop 3

N/A

Prop 4

Yellow

Prop 5Red

BC171886484518en-001501 | 29

Technical Information
JS1 Heavy Duty Joysticks
Base
Dimensions
Base dimensions in millimeter [inches]24
21

90 [4]
3
6

39[1]

38 [1]

130 [5]
132
[5]

69
[3]

Ø 88 [3]Ø 74 [3]1

62 [2]

4x Ø 662 [2]

kwa1433458535145

1. Minimum clearance from the bottom of the base:• 25.4 mm (1 in) for the one and two 6 pin connector cables (CAN output)• 40 mm (1.6 in) for all other cables
Mounting screws have a maximum torque of 7.9 N•m (69.9 in•lbf).

30 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Electronic modules
Due to mechanical limitations, the sensor outputs may not reach 100% output when the JS1-H joystick is
moved to the corners of the base.
CAN
The CAN heavy duty joystick provides conditioned output information in CAN 2.0B, J1939 or in CAN 2.0B,
CANopen message protocols.
CAN+
The CAN+ electronic module is designed to provide the same functionality as some of the Danfoss
JS6000 and JS7000 modules. "The "+" feature set allows developers to take advantage of 4 analog and 7
digital inputs for other machine functions.
The Can+ electronic module has a sensor power output of 5.0 VDC rated for 250 mA.
CANalog
The CANalog electronic module provides conditioned output information in CAN 2.0B, J1939 or in CAN
2.0B, CANopen message protocols. Additionally, the two X-axis outputs and the two Y-axis outputs arebrought out as analog signals on the connecting cables. The outputs from any other optional analog
devices, such as rollers, are also brought out to the connecting cables.
Additional X and Y analog outputs
There are two X-axis outputs and two Y-axis outputs on the CAN joystick. The outputs are linear withrespect to the shaft angle. The two outputs of the same axis are complementary of each other, as theoutput voltage of one increases, the output voltage of the second decreases. The voltage output ranges
from 0.5 to 4.5 VDC.
Proportional roller output
5.0
4.5
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0

+

0

P200078

Volts:

Output with Halls = 0.5 to 4.5 V

Solid line:

Output 1

Dashed line:

Output 2

Left arrow:

Direction 1 (+ travel)

Right arrow:

Direction 2 (- travel)

PVE
The PVE electronic module is designed to provide functionality the same as the Danfoss Prof1 Joystick.
There are two different PVE modules, the Standard and the Extended.

© Danfoss | March 2024

BC171886484518en-001501 | 31

Technical Information
JS1 Heavy Duty Joysticks
Electronic modules
PVE—Standard
The standard level electronic module provides amplifiers, inverting and signal relays on all fiveproportional outputs, and an electronic switch on all eight On/Off outputs. The base also includes four
analog directional outputs as equivalent to physical directional switches.
The signal relays are controlled by the power supply in such a way that a power failure will disconnect theoutput. When used together with a Danfoss proportional valve signal inversion, the joystick moves thespool in the direction opposite to the default. This is equivalent to swapping the hoses on the valve
outlets.
The directional switches are not affected by the signal inversion.

32 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Electronic modules
PVE—Extended
The extended level electronic module has the same configuration as the standard level module, with theaddition of four additional On/Off outputs for a total of 12 On/Off outputs. Additionally it has adjustableproportional functions. The extended level module offers the option of individual signal adaption (flowadjustment) and common dead-band compensation.

The dead band compensation ensures that the dead band of the valve is reduced to a minimum
movement of the grip. The dead band compensation is only active outside the neutral range, which
ensures normal amplification within the neutral position range. The dead band compensation is set for all
four proportional functions on one potentiometer. For each proportional function there are two
integrated potentiometers that independently control the gain for the A and B directions of the signal
output without limiting the movement range of the handle (adjustable flow range). The gain of eachfunction can be adjusted from 0.25 to 2.00. This has no effect within the dead band compensation.
PVE - Programmable
The PVE programmable base is a fully functional PVE joystick that allows for customers to develop theirown solution using PLUS+1® Guide as well.

© Danfoss | March 2024

BC171886484518en-001501 | 33

Technical Information
JS1 Heavy Duty Joysticks
Electronic modules
Non-Redundant Analog interface (CAT1)

The Non-Redundant Analog interface provides single channel X-axis and Y-axis output signals by a pureanalog platform that contains no active electronics. This version offers raw signals from function
modules, proportional modules, and push buttons. This module is available only with Hall effect sensing
elements. The Hall effect base is limited to 5 VDC input power and provides an output of 10 to 90% of the
input voltage.
Full-Redundant Analog interface (CAT3)

In addition to the features of the Analog Category 1 electronic module, the Analog Category 3 interface
provides redundant X- and Y-axis output signals with separated power supply and ground connections.
Due to mechanical limitations, the sensor outputs may not reach 100% output when the JS1-H joystick is
moved to the corners of the base.

34 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Electronic modules
PWM (Programmable)
The PWM base features 4 PWM and 2 On/Off type outputs. This joystick is shipped with no application
installed and allows for customers to develop their own solution using PLUS+1® GUIDE.
Not all of the joystick functions are released for the PWM base. See Joystick functions on page 46 fordetails.

© Danfoss | March 2024

BC171886484518en-001501 | 35

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
CAN+
Numbers in [] indicate external DTM pin number.
VBatt
[2]
GND
[1]

CAN HICAN LO[3][4]

CAN Shield[5]+5V Sensor Power

12-Pin DTM A[10]

Sensor Gnd
[9]

[7]

[8]

[11]

[12]

36 | © Danfoss | March 2024

ADIN 1+ADIN 2+ADIN 3+ADIN 4

+

[7]

DIN 1

[8]

DIN 2

[9]

DIN 3

[10]

DIN 4

[11]

DIN 5

[12]

DIN 6

[1]

DIN 7

12-Pin DTM B

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
CANalog
Numbers in [] indicate external DTM pin number, numbers in {} indicate external 18 pin DT pin number.
[2] {2}[1] {1}

VBatt

GND

CAN HI[3] {3}

CAN LO[4] {4}CAN Shield[5] {5}

12-Pin DTM A+5V_REF[10] {7}+5V_REF Gnd[9] {8}© Danfoss | March 2024+

Analog Out 3A+

Analog Out 3B+

Analog Out 1A+

Analog Out 1B+

Analog Out 2A+

Analog Out 2B+

Analog Out YA+

Analog Out XA+

Analog Out YB+

Analog Out XB[7] {9}[8] {10}[11] {11}[12] {13}[7] {12}[8] {14}[9] {15}[10] {16}12-Pin DTM B[11] {17}[12] {18}BC171886484518en-001501 | 37

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
PVE DSUB
Numbers in [ ] indicate the DB25 connector pin number.
[10][3, 15][16][22]

PVE Power Feedback
VBatt+

Prop X[7]

GND
Direction X A

Direction X B

+

+

[11]

Prop Y[8]

Direction Y A[9]Direction Y B[23]

Prop 3[5]

Direction 3A / Push 1

Direction 3B / Push 2

+

[24]

Prop 4

Direction 4A / Push 3

Direction 4B / Push 4

Direction 5A / Push 5

Direction 5B / Push 6

Push 7

Push 8

DB25 Conn

[6]

[19]

[18]

[20]

[21]

[4]

[17]

[13]

[12]

Neutral Position Switch [1, 2, 14]

38 | © Danfoss | March 2024

CAN HI[3]

CAN LO[4]CAN Shield[5]

6-Pin DTMCAN Function

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
Analog Cat 1
Numbers in [ ] indicate external DTM pin number.

[2][1], [12]5V_(Halls)_(Pots)

Prop X A

Prop Y A
[11]

[3]

GND

5V_(Halls)_[4]_(Pots)
Prop 3 A

Prop 4 A[5][6]
12-Pin DTM A
Standard, and Extended

Push 1

Push 2

Push 3

Push 4

[1]

[8]

[9]

[10]

PWR_DIG
Prop X B

Prop Y B

Prop 3 B

Prop 4 B

Push 5

Push 6

Push 7

Push 8 / Operator Presence

Prop 5 A

Prop 5 B

Push 9Push 10

Push 11

Push 12© Danfoss | March 2024

[7]

[3]

[4]

[5]

[6]

[7]
12-Pin DTM B
Standard and Extended
[8]

[9]

[10]

[11]

[12]

[1]

[2]

6-Pin DTM
Extended[3][4]

BC171886484518en-001501 | 39

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
Analog Cat 3
Numbers in [ ] indicate external DTM pin number.

[2]

5V_1

[1]

GND_1

[11]

5V_2

[12]

GND_2

Prop X A

Prop Y A

Prop 3 A

Prop 4 A

[3]

[4]

[5]

[6]
12-Pin DTM A
Standard, and Extended

Push 1

Push 2

Push 3

Push 4[1]

PWR_DIG

Prop X B

Prop Y B

Prop 3 B

Prop 4 B

Push 5

Push 6

Push 7

Push 8 / Operator Presence

Prop 5 A

Prop 5 B

Push 9Push 10

Push 11

Push 1240 | © Danfoss | March 2024

[7]

[8]

[9]

[10]

[3]

[4]

[5]

[6]

[7]
12-Pin DTM B
Standard and Extended
[8]

[9]

[10]

[11]

[12]

[1]

[2]

6-Pin DTM
Extended[3][4]

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
PVE Deutsch
Numbers in [] indicate external DTM pin number.
CAN HI[3]

CAN LO[4]CAN Shield
[12]
[2]
[1]

PVE Power Feedback
VBatt
GND

[5]

+

Prop X+

Prop Y[7]+

Prop 3[8]

Push 7[9]

Push 8[10][6]
12-Pin DTM A
PVRE, Standard,and Extended

Neutral Position Switch [11]Direction X A[1]Direction X B[2]

Direction Y A[3]

Direction Y B[4]

Direction 3a/ Push 1[5]

Direction 3b/ Push 2++

Prop 4[7]

Direction 4a/ Push 3[8]

Direction 4b/ Push 4[9]Prop 5[10]

Direction 5a/ Push 5[11]

Direction 5b/ Push 6[1]© Danfoss | March 2024

[6]

12-Pin DTM B

[12]

VBatt
Push 9[2]

Push 10[3]

Push 11[4]

Push 12[5]

6-Pin DTM

BC171886484518en-001501 | 41

Technical Information
JS1 Heavy Duty Joysticks
Connection diagrams
PWM
Numbers in [] indicate external DTM pin number.

[2, 7]

VBatt[8, 9][1, 6]GND

CAN HI[3]

CAN LO[4]CAN Shield

Valve X+

Valve X-

Valve Y+

Valve Y-

12-Pin DTM A

[5]

[1]

[2]

[3]

[4]

12-Pin DTM B

Dig out 1

Dig out 2

42 | © Danfoss | March 2024

[7]

[8]

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Specifications

Mechanical
Mechancial characteristics
Shaft mechanical angle limits± 18˚Base mechanical life

Single axis with friction = 1 million full operating cycles
Single axis and dual axis with spring return = 2.0 million full operating cycles
Dual axis with spring in one axis, friction in one axis = 1 million full operating cycles

Maximum force on handle

1000 N

Maximum torque

15 Nm

Base only mass

0.75 kg (1.65 lbf)

Weight (base without grip)

725 N (1.8 lb)

Vertical maximum load

2500 N (560 lbs)

Sprint return, base only
Breakout load on axis
Standard duty spring: 6 to 8.5 N (1.4 to 1.9 lbf)

Heavy duty spring: 12 to 19 N (2.7 to 4.3 lbf)

Extra heavy duty spring: 17 to 22 N (3.8 to 4.7 lbf)

Friction hold, base only
Friction level

Friction

Center detentA

Low friction-Low detent

0.8 Nm

1.5 NmB

Low friction-Low detent

0.8 Nm

2.0 NmC

High friction-High detent

1.6 Nm

3.0 NmFriction level

Spring typeE

A

Standard

J

A

Heavy

Friction hold/Spring return, base only

© Danfoss | March 2024

BC171886484518en-001501 | 43

Technical Information
JS1 Heavy Duty Joysticks
Specifications
Electrical—CAN, CAN+, and CANalog
Electrical—CAN, CAN+, and CANalog characteristics
Hall effect with redundant sensors

Sensor type

Potentiometer
Resolution

12 bitSupply voltage (Vs)

9 to 36 VDC

OutputJ1939 and CANopen protocols

Can+ Sensor Power

5.0 VDC +/- 5% at 250 mA

CANalog volt reference

5.0 VDC +/- 5% at 50 mA

Base maximum current consumption

120 mA at 9 V

CANalog analog outputs

0.5 to 4.5 VDC at 1 mA max

Electrical—PVE (Standard and Extended)
Electrical—PVE (Standard and Extended) characteristics
Supply voltages

9 to 36 VDC

UDC

Maximum current consumption

8A

Current consumption, no load

150 mA

Maximum load for push buttons and directional switches for all proportional functions

0.6 A

Neutral position switch

3A

Sensor typeHall effect with redundant sensors
Potentiometer

Signal voltage US
Signal load in neutral position
Signal current at maximum movement

Minimum to maximum

0.25 to 0.75

Neutral position

0.50

Load type

PVE

Other

Load impedance>6 kΩ

>15 kΩ

UDC = 12 V

6 kΩ

15 kΩ

± 0.6 mA

0.2 to 0.6 mA± 1.2 mA

0.4 to 1.2 mA

UDC= 24 V
Signal current in neutral position
Inverter

UDC = 12 V

± 0 mA± 0.4 mA

UDC = 24 V

± 0 mA± 0.8 mA

Non inverted

Output signal = Us

Inverted

Output signal = -1 x (Us -0.5 x U+) + 0.5 x U+Electrical—PVE (Extended only)
Electrical—PVE (Extended only) characteristics
Signal regulation Us
Dead band compensation

44 | © Danfoss | March 2024

Us Minimum (50%)

0.37 to 0.63 at 100% movement

U+ Maximum (200%)

0.25 to 0.75 at 50% movement

Us Minimum

0.00

U+ Maximum

0.06

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Specifications
Electrical—Analog Cat 1, Cat 3
Electrical—Analog Cat 1, Cat 3 characteristics
Sensor typeHall effect with redundant sensors

Supply voltage (Vs)

4.5 to 5.5 VDC

Output10 to 90% of input voltage

Output impedance

1 mA max output current at 200 Ohm output impedance

Digital outputs

Vs-0.3 VDC, maximum current 100 mA

Electrical—PWM
Electrical—PWM (programmable) characteristics
Hall effect with redundant sensors

Sensor type

Potentiometer
Resolution

12 bitSupply voltage (Vs)

9 to 36 Vdc

Current consumption, no load

120 mA

Maximum current consumption

15 A

Outputs (3 amps)

PWM(4)
Digital(2)Environmental
Environmental characteristics
Operating temperature

CAN, CANalog, CAN+, Analog Cat1,
Analog Cat3, PWM-30° C to 80° C (-22° F to 176° F)

PVE-30° C to 70° C (-22° F to 158° F)

Storage temperature-40° C to 85° C (-40° F to 185° F)

EMI/RFI rating

150 V/mVibration

25 G, 10 ms, 500 bumps in each of 6 directions
IEC 60068-2-29 test Eb

Shock

50 G, 11 ms, 3 shocks in each of 6 directions
IEC 60068-2-29 test Ea

Ingress Protection (IP) rating

Up to IP 66 (dependent on grip sealing selected)

For more information regarding IP rating reference F2—Grip type, Grip model code on page 67© Danfoss | March 2024

BC171886484518en-001501 | 45

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions

Grip options
Name

Image

OptionSwitchfunctionsquantity

Push buttons
quantity

Roller/rocker
quantity

Alternative
configuration

HR1

Left hand and 10
right hand grip

10

3

2 rollers orrockers with 4
push buttons

ST2

Ambidextrous
grip

5

5

1

1 roller orrocker with 1
push button
and 1 Operator
Presence
switchPR2

Left hand and 12
right hand grip

11

3

3 rollers orrockers with 3
push buttons
and 1 Operator
Presence
switchST7

Ambidextrous
grip

11

11

2

2 rollers orrockers with2
push buttons
and 1 Operator
Presence
switchPR7

Left hand and 8
right hand grip

7

3

3 rollers orrocker with 1
push button
and 1 trigger
switchHx Nomenclature
Simplified NomenclatureComplete NomenclatureF

46 | © Danfoss | March 2024

F1x, T1x

K

K1x

M

M1x, M7x

N

NNN

O

O1x, O2xP

P1x, S1x, V1x, V3

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
Hx Nomenclature (continued)
Simplified NomenclatureComplete NomenclatureU

Q1x, U1x, V2x, V4x

Y

11x, 21x, 31x, 41x, 51x, 61x, B1x, G1x, H1x, L1x, R1x, W1x,
Y1x

Suffix "x" used to determine with which bases its configurable, does not affect aspect or functionality

Push button
Flat profile
View

Description

Data

ActionMomentaryType

Single pole, NO

Current rating

30 Vdc/50 mA

Connection in baseUse 1 function

Mechanical life

1 million cycles

Operating force

1 to 2.5 N (100 to 250g)

Ingress protection, IP
rating

IP 66

Operatingtemperature-30°C to 60°C (-22°F to
140°F)

Description

Data

Code number
Color

Use with all
except for PWH

Use with PWHbase only

Black
Red
Yellow
Gray
Green
Blue
White

B1A
R1A
Y1A
G1A
L1A
W1A
H1A

B1H
R1H
Y1H
G1H
L1H
W1H
H1H

Dome shape
View© Danfoss | March 2024

ActionMomentaryType

SPST-NO-DB

Current rating

30 Vdc/50 mA

Connection in baseUse 1 function

Mechanical life

1 million cycles

Operating force

Nominal 3 N (306 g)

Ingress protection, IP
rating

IP 66

Operatingtemperature-40°C to +85°C C (-40°F
to 185°F)

Code number
Color

Use with all
except for PWH

Use with PWHbase only

Yellow
Black
Green
Red
Blue
White

11A
21A
31A
41A
51A
61A

11H
21H
31H
41H
51H
61H

BC171886484518en-001501 | 47

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
RollerRoller—5mm (use only on the faceplate except for HR1, HP1, PR7, PP7 grips)
View

Description

Data

ActionSpring return toneutralOutputMax. voltage: 30
Vdc

Code number
Use with all
except for PWH

Use with PWHbase only

P1A

P1H

S1A

S1H

Proportional signal:
25% - 50% - 75%
Impedance: 5 kΩ±50%
Signal: 15 uA (1 mA
peak)
Direction switches

30 Vdc/2 mA

Working angle±42°

Mechanical life

3 million cycles

Ingress protection (IP)ratingIP 43

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Roller—3mm (use only on the grip and HR1, HP1, PR7, PP7 faceplate)
View

Description

Data

ActionSpring return toneutralOutputMaximum voltage:
30 VdcCode number
Use with all
except for PWH

Use with PWHbase only

U1A

U1H

Q1A

Q1H

Proportional signal:
25% - 50% - 75%
Impedance: 5 kΩ±50%
Signal: 15 uA (1mA
peak)

48 | © Danfoss | March 2024

Direction switches

30 Vdc/2 mA

Working angle±42°

Mechanical life

3 million cycles

Ingress protection (IP)ratingIP 43

Operating temperature-30°C to 60°C (-22°F
to 140°F)

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
Hall Roller - 5mm (use only on the faceplate except for HR1, HP1, PR7, PP7 grips
View

Description

Data

Code number
Use with all
except for PWH

Action

Proportional spring
return to center

Working angle±42˚

Sensing

Hall effect

CAN electrical output±0 to 1000 counts
from center

Analog electrical output

0.5 to 4.5 Vdc (2.5
Vdc center)

Mechanical life

3 million cycles

Ingress protection (IP)ratingElectrical shielding
IP66

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Use with PWHbase only

V1A
V3A (redundant)

V1H

Hall Roller - 3mm (use only on the faceplate except for HR1, HP1, PR7, PP7 grips
View

Description

Data

Code number
Use with all
except for PWH© Danfoss | March 2024

Action

Proportional spring
return to center

Working angle±42˚

Sensing

Hall effect

CAN electrical output±0 to 1000 counts
from center

Analog electrical output

0.5 to 4.5 Vdc (2.5
Vdc center)

Mechanical life

3 million cycles

Ingress protection (IP)ratingElectrical shielding
IP66

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Use with PWHbase only

V2A
V4A (redundant)

V1H

BC171886484518en-001501 | 49

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
FNR
Black
View

Description

Data

Action3-position
maintained

Type

Single pole, NC - NO
- NC

Contact rating

30 Vdc/50 mA

Connection in baseUse 2 functions

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 40

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Description

Data

Code number
Use with all
except for PWH

Use with PWHbase only

F1A

F1H

IP 66 Rocker
View

Action3-position
maintained

Type

Single pole, NC - NO
- NC

Contact rating

30 Vdc/50 mA

Connection in baseUse 2 functions

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Description

Data

Code number
Use with all
except for PWH

Use with PWHbase only

M1A

M1A

Red
View

50 | © Danfoss | March 2024

Action3-position
maintained

Type

Single pole, NC - NO
- NC

Contact rating

30 Vdc/50 mA

Connection in baseUse 2 functions

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Code number
Use with all
except for PWH

Use with PWHbase only

K1A

K1H

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
Toggle switch
IP 66 Black
View

Description

Data

Action2 and 3-position
maintained

Type

Single pole, NO and
NC & NC - NO - NC

Contact rating

30 Vdc/50mA

Connection in baseUse 2 functions

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Description

Data

Code number
Use with all
except for PWH

Use with PWHbase only

M7A

M7H

RockerView

Action2-position
maintained

Type

Single pole, NO andNC output

Contact rating

30 Vdc/50 mA

Connection in baseUse 2 functions

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 40

Operating temperature-30°C to 60°C (-22°F
to 140°F)

Description

Data

Code number
Use with all
except for PWH

Use with PWHbase only

T1A

T1H

Operator Presence switch
Operator Presence switch*
View

Action© Danfoss | March 2024

MomentaryType

Single pole, NO

Contact rating

10 mA, 12 Vdc
resistive

Connection in baseUse 1 function

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-40° C to +85° C(-40° F to 185° F)

Code number
Use with all
except for PWH

Use with PWHbase only

O1A

O1H

BC171886484518en-001501 | 51

Technical Information
JS1 Heavy Duty Joysticks
Joystick functions
Operator Presence switch (HR1, HP1 grip only)
View

Description

ActionData

MomentaryType

Single pole, NO

Contact rating

10 mA, 12 Vdc
resistive

Connection in baseUse 1 function

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-40° C to +85° C(-40° F to 185° F)

Code number
Use with all
except for PWH

Use with PWHbase only

O2A

O2H

Operator Presence switch (PR7, PPR grip only)
View

Description

Data

ActionMomentaryType

Single pole, NO

Contact rating

30 Vdc, 50 mA

Connection in baseUse 1 function

Mechanical life

1 million cycles

Ingress protection, IP
rating

IP 66

Operating temperature-40° C to 85° C (-40°
F to 185° F)

Code number
Use with all
except for PWH

Use with PWHbase only

A1A (left)
E1A (right)

A1H (left)
E1H (right)*In order to ensure the full and correct engagement of the OPS button, Danfoss recommends applying
the force to the center of the OPS lever.

52 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
One 6 pin connector
Used only with CAN base.
Cabling and pin location: One 6 pin DEUTSCH DTM04 connector

6

4

1

3
kwa1442328497987

One 6 pin pinout© Danfoss | March 2024

DEUTSCH DTM04 6 pin

Function

1

Ground

2

Power

3

CAN high

4

CAN low

5

CAN shield

6

NC

BC171886484518en-001501 | 53

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
Two 6 pin connectors
Used only in CAN base.
Cabling and pin location: Two 6 pin DEUTSCH DTM04 connectors
6

4

1

3

6

4

1

3
kwa1442328596963

Two 6 pin pinout
DEUTSCH DTM04 6 pin

DEUTSCH DTM04 6 pin

1

Ground

2

Power

3

CAN high

4

CAN low

5

CAN shield

6

54 | © Danfoss | March 2024

FunctionNC
1

Ground

2

Power

3

CAN high

4

CAN low

5

CAN shield

6

NC

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
Two 12 pin connectors
Used only on CANalog, CAN+, PVE, Analog Cat 1, and Analog Cat 3 Standard base.
Cabling and pin location: Two 12 pin DEUTSCH DTM04 connectors

7

12

A
1

6

12

7
B

1

6

Standard, 12 pin A pinout (Gray)
DEUTSCH DTM04
12 PINPVE Standard

CANalog

CAN+

Analog Cat 1

Analog Cat 3

PWM

1

GND

GND

GND

2

PWR

PWR

PWR

GND

GND_ANA1

GND 1

PWR_ANAPWR_ANA1 (+5V
only)

PWR 1

3

CAN high

CAN high

CAN high

Y1 (Prop 1)

Y1 (Prop 1)

CAN high

4

CAN low

CAN low

CAN low

X1 (Prop 2)

X1 (Prop 2)

CAN lo5

CAN shield

CAN shield

CAN shield

Analog 3A

Analog 3A

CAN shield

6

Proportional X

NC

NC

Analog 4A

Analog 4A

GND 2

7

Proportional Y

Grip analog 3a

A/D 1

Button 1

Button 1

PWR 2

8

Proportional 3

Grip analog 3b

A/D 2

Button 2

Button 2

PWR 3

9Push 7

Reference ground

Sensor ground

Button 3

Button 3

PWR 4

10

Push 85V reference

Sensor power

Button 4

Button 4

Not used11

PVE power(neutral switch)

Grip analog 1a

A/D 3

PWR_ANAPWR_ANA2(+5V Only)NC

12

PVE power
feedback

Grip analog 1b

A/D

GND

GND_ANA2

NC

Analog Cat 1

Analog Cat 3

PWM

Standard, 12 pin B pinout (Black)
DEUTSCH DTM04
12 PINPVE Standard

CANalog

CAN+

1

Direction Xa

NC

Digital input 7

NCNC

PWM X+

2

Direction Xb

NC

NC

NC

NC

PWM X-© Danfoss | March 2024

BC171886484518en-001501 | 55

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cablingStandard, 12 pin B pinout (Black) (continued)
DEUTSCH DTM04
12 PINPVE Standard

CANalog

CAN+

Analog Cat 1

Analog Cat 3

PWM

3

Direction Ya

NC

NC

Y2

Y2

PWM Y+

4

Direction Yb

NC

NC

X2

X2

PWM Y-

5

Direction 3a/ Push 1

NC

NC

Analog 3B

Analog 3B

NC

6

Direction 3b/ Push 2 NC

NC

Analog 4B

Analog 4B

NC

7

Proportional 4

Grip analog 2a

Digital input 1

Button 5

Button 5

Dig Out 1

8

Direction 4a/ Push 3

Grip analog 2b

Digital input 2

Button 6

Button 6

Dig Out 2

9

Direction 4b/ Push 4 Y1Digital input 3

Button 7

Button 7

Not used

10

Proportional 5

X1

Digital input 4

Button 8 / OPS

Button 8 / OPS

Not used11

Direction 5a/ Push 5

Y2

Digital input 5

Analog 5A

Analog 5A

Not used12

Direction 5b/ Push 6 X2Digital input 6

Analog 5B

Analog 5B

Not used

When using PWM base, make sure that all Power and Ground pins have connections to avoid an overcurrent occurrence from happening.

Two 12 pin and one 6 pin connectors
Used only on PVE Extended base.
Cabling and pin location: Two 12 pin and one 6 pin DEUTSCH DTM04 connectors
7

12

1

6
6

4

1

3
7

12

1

6
kwa1454871825360

Extended, 12 pin A pinout (Gray)56 | © Danfoss | March 2024

DEUTSCH DTM04 12 PIN

PVE Extended

Analog Cat 1

Analog Cat 3

1
2

GroundGND

GND_ANA1

Power

PWR_ANAPWR_ANA1 (+5V only)

3

CAN high

Y1 (Prop 1)

Y1 (Prop 1)

4

CAN low

X1 (Prop 2)

X1 (Prop 2)

5

CAN shield

Analog 3A

Analog 3A

6

Proportional X

Analog 4A

Analog 4A

7

Proportional Y

Button 1

Button 1

8

Proportional 3

Button 2

Button 2

9

Push 7

Button 3

Button 3

10

Push 8

Button 4

Button 4

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
Extended, 12 pin A pinout (Gray) (continued)
DEUTSCH DTM04 12 PIN

PVE Extended

Analog Cat 1

Analog Cat 3

11

PVE power (neutral switch)

PWR_ANAPWR_ANA2 (+5V Only)

12

PVE power feedback

GND

GND_ANA2

Extended, 12 pin B pinout (Black)
DEUTSCH DTM04 12 PIN

PVE Extended

Analog Cat 1

Analog Cat 3

1

Direction Xa

NC

NC

2

Direction Xb

NC

NC

3

Direction Ya

Y2

Y2

4

Direction Yb

X2

X2

5

Direction 3A/Push 1

Analog 3B

Analog 3B

6

Direction 3B/Push 2

Analog 4B

Analog 4B

7

Proportional 4

Button 5

Button 5

8

Direction 4A/Push 3

Button 6

Button 6

9

Direction 4B/Push 4

Button 7

Button 7

10

Proportional 5

Button 8 / OPS

Button 8 / OPS

11

Direction 5A/Push 5

Analog 5A

Analog 5A

12

Direction 5B/Push 6

Analog 5B

Analog 5B

DEUTSCH DTM04 6-pin

PVE

Analog Cat 1

Analog Cat 3

1

Power

Button 9

Button 9

2

Push 9Button 10

Button 10

3

Push 10

Button 11

Button 11

4

Push 11

Button 12

Button 12

5

Push 12

open

open

6

NC

NC

NC

Extended, 6 pin pinout

One 18 pin connector
Used only on CAN+ or CANalog base.
Cabling and pin location: One 18 pin DEUTSCH connector (DT16-18SB-K004)

13

18

1

6
zmf1490390716959© Danfoss | March 2024

BC171886484518en-001501 | 57

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
18 pin pinout

58 | © Danfoss | March 2024

DEUTSCH 18 pin

CAN+ function

CANalog function

Analog Function

1

GroundGround

GND

2

Power

Power

PWR

3

CAN HiCAN Hi

Prop 3

4

CAN Lo

CAN LoProp 4

5

CAN Shield

CAN Shield

Prop 5

6

Digital input 7

Not connectedNC

7

Vref ground

Reference ground

Dig In 1

8

Vref +5V

Reference +5V

Dig In 2

9Analog in 1

Grip analog 3a

Dig In 3

10

Analog in 2

Grip analog 3b

Dig In 4

11

Analog in 3

Grip analog 1a

Dig In 5

12

Analog in 4

Grip analog 2a

Dig In 6

13

Digital input 1

Grip analog 1b

Dig In 7

14

Digital input 2

Grip analog 2b

Dig In 8

15

Digital input 3

Proportional Y-axis 1

Y1 (Prop 1)

16

Digital input 4

Proportional X-axis 1

X1 (Prop 2)

17

Digital input 5

Proportional Y-axis 2

Y2 (Prop 1)

18

Digital input 6

Proportional X-axis 2

X1 (Prop 2)

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
One 25 pin SUB-D and one 6 pin connectors
Used only on PVE base, with PP2, PR2, STT, and STP grips as Prof 1 replacements.
Cabling and pin location: One 25 pin SUB-D and one 6 pin DEUTSCH DTM04 connectors; Code number:
11173403-T
1

14

25

13

4

6

3

1

wew1481755641811

25 pin SUB-D pinout© Danfoss | March 2024

25 pin SUB-D

Function

1

PVE power (neutral switch)

2

PVE power (neutral switch)

3

Power

4

Direction 5a/Push 55

Proportional 3

6

Direction 3a/Push 1

7

Proportional X

8Proportional Y

9Direction Ya

10

PVE Power feedback

11

Direction Xb

12

Push 8

13

Push 714

PVE power (neutral switch)

15

Power

16

Power

17

Direction 5b/ Push 618

Proportional 4

19

Direction 3b/Push 2

20

Direction 4a/Push 3

21

Direction 4b/Push 4

22

Ground23

Direction Yb

24

Direction Xa

25

NC

BC171886484518en-001501 | 59

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
6 pin DEUTSCH DTM04 pinout
6 pin DEUTSCH DTM04

Function

1

NC

2

NC

3

CAN high

4

CAN low

5

CAN shield

6

NC

Mating connectors bag assemblies
Danfoss connector bag assemblies part numbers (Must be ordered separately from joystick)Description

Danfoss part number

One 6 pin DEUTSCH connector

10101551

Two 6 pin DEUTSCH connectors

11177980

Two 12 pin DEUTSCH connectors (GRY/BLK)

10100945

Two 12 pin (GRY/BLK) and One 6 pin DEUTSCH
connectors

11176538

One 18 pin DEUTSCH connector

11012648

DEUTSCH mating connector bag assemblies contents

60 | © Danfoss | March 2024

Description

6 pin module

12 pin module (GRY)

12 pin module (BLK)

Crimp tool

HDT-48-00

HDT-48-00

HDT-48-00

Contacts

0462-201-2031

0462-201-2031

0462-201-2031

Connector plug

DTM06-6S,GRY

DTMO6-12SA, GRY

DTMO6-12SB, BLK

Wedge

WM-6S

WM-12S

WM-12S

Strip length

3.96 to 5.54 mm(0.156 to 0.218 in)

3.96 to 5.54 mm(0.156 to 0.218 in)

3.96 to 5.54 mm(0.156 to 0.218 in)Rear seal maximum
insulation OD

3.05 mm (0.120 in)

3.05 mm (0.120 in)

3.05 mm (0.120 in)

Sealing plugs

0413-204-2005

0413-204-2005

0413-204-2005

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
Cable assemblies
All cable assemblies for JS1-H are 219 mm from the bottom of the case to the end of the connector.
JS1-H cable length in millimeters

1. DEUTSCH DTM04 receptacle
Compatible mating cables available for different applications© Danfoss | March 2024

Code no. 162B….

Length mm

Plug type

Type

6013

4000

Leads

Vertical SUB-D

6014

4000

Leads

Horizontal SUB-D

6015

500

Clipper

–

6016

230

TRIM TRIO

–

6017

230

Tabs

PVRE compatibility

BC171886484518en-001501 | 61

Technical Information
JS1 Heavy Duty Joysticks
Connector options and cabling
Cable assemblies - first is vertical view, followed by horizontal views

kwa1385300991617

62 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
The product configuration model code specifies particular features when ordering the JS1-H. The model
code begins with the product family name and the remaining fields are filled in to configure the productwith the desired features.
JS1-H base and grip model code fields
The configuration model code contains information relating to both base and grip features.
JS1-H Joystick product configuration model code
Family
A
JS1H

B

C

Base
D

© Danfoss | March 2024

E

F1

F2

G

H1

H2

H3

H4

H5

Grip
H6

H7

H8

H9

H10

H11

H12

Other
J1 J2 J3 J4 K

BC171886484518en-001501 | 63

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
JS1-H Base model code
JS1-H Joystick product configuration model code
Family
A
JS1H

B

C

Base
D

E

F1

F2

G

H1

H2

H3

H4

H5

Grip
H6

H7

H8

H9

H10

H11

H12

Other
J1 J2 J3 J4 K

A—Product family
Code

Description

JS1H

Family name

B—Operational axis
Code

Description

NN

No baseXY

Bi-directional: X and Y-axis

NY

Uni-directional: Only Y-axis

XN

Uni-directional: Only X-axis

NF

Single Axis: Frictional Y-axis

XF

Bi-directional: X Spring Return, Y Frictional

FN

Single Axis: Frictional X-axis

C—Shaft position, sensing output

64 | © Danfoss | March 2024

Code

Description

NNNNo baseNN2

No base, no connectors on wires

CJP

CAN J1939 with potentiometerCJH

CAN J1939 with Hall effect

CPP

CANopen with potentiometer

CPH

CANopen with Hall effectCSP

CAN Analog, J1939 with potentiometer

CSH

CAN Analog, J1939 with Hall effectCTP

CAN Analog, Open with potentiometer

CTH

CAN Analog, Open with Hall effect

CLP

CAN+ J1939 with potentiometer

CLH

CAN+ J1939 with Hall effect

CMP

CAN+ Open with potentiometer

CMH

CAN+ Open with Hall effectPSP

PVE Standard base with potentiometer

PSH

PVE Standard base with Hall effectPEH

PVE Extended base with Hall effectPEP

PVE Extended base with potentiometer

PBH

Analog Category 1 with Hall effect

PRH

Analog Category 3 with Hall effect

PWH

PLUS+1® GUIDE Programmable PWM, Hall effect

P2H

PLUS+1® GUIDE Programmable PVE, Hall effect

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
D—Centering spring
Code

DescriptionN

No baseS

Standard spring force

H

Heavy spring force

A

Friction 0.8 Nm, Center 1.5 Nm

B

Friction 0.8 Nm, Center 2.0 Nm

CFriction 1.6 Nm, Center 3.0 Nm

M

Extra Heavy spring force

The following table only applies when using XF base.
Code

Description

E

Friction 0.8 Nm, Center 1.5 Nm, Standard spring force

J

Friction 0.8 Nm, Center 1.5 Nm, Heavy spring force

E—CAN© Danfoss | March 2024

Code

Description

NNN

Analog (base and/or grip)

C10

Node ID 10, 250kbps

C13Node ID 13, 250kbps

C16Node ID 16, 250kbps

C33

Node ID 33, 250kbps

C34

Node ID 34, 250kbps

C35

Node ID 35, 250kbps

C36

Node ID 36, 250kbps

D33

Node ID 33, 500kbps

D34

Node ID 34, 500kbps

D35

Node ID 35, 500kbps

D36

Node ID 36, 500kbps

D90

Node ID 90, 500kbps

D93

Node ID 93, 500kbps

D96Node ID 96, 500kbps

D9C

Node ID 9C, 500kbps

C90

Node ID 90, 250kbps

C93

Node ID 93, 250kbps

C96

Node ID 96, 250kbps

C9C

Node ID 9C, 250kbps

B10

Node ID 10, 125kbps

B13

Node ID 13, 125kbps

B16

Node ID 16, 125kbps

B1C

Node ID 1C, 125kbps

C1C

Node ID 1C, 250kbps

C71

Replace of NodeID: N71

C72

Replace of NodeID: N72

BC171886484518en-001501 | 65

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
F1—Mounting

66 | © Danfoss | March 2024

Code

DescriptionN

No baseT

Top mount with NBR bootD

Top mount with EPDM bootBC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
Grip model code
JS1-H Joystick product configuration model code
Family
A
JS1H

B

C

Base
D

E

F1

F2

G

H1

H2

H3

H4

H5

Grip
H6

H7

H8

H9

H10

H11

H12

Other
J1 J2 J3 J4 K

F2—Grip type
Code

Description

HR1

Horizontal grip

HP1

IP 66 version of HR1

ST2

Medium straight grip

SP2

IP 66 version of ST2

PR2

Prof1 version 2 grip

PP2

IP 66 version of PR2

ST7

Large straight grip

SP7

IP 66 version of ST7

PR7

Professional JS7000 grip

PP7

IP 66 version PR7

IP66 rating only applicable to full joystick configurations.
Select the grip that meets the needs of your application.
Grip only solution in selected regions.
G—Left or right hand or ambidextrous
Code

Description

L

Left hand grip

R

Right hand grip

U

Ambidextrous grip (accommodates left and right hand)

Select the grip that meets the needs of your application.
H1—Defining of front plate
Code© Danfoss | March 2024

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

No button

BC171886484518en-001501 | 67

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H1—Defining of front plate (continued)
Code
Use with all bases
except for PWH

Use with PWH base only

51A

51H

Description

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

P1A

P1H

Roller, [position 1-2]

S1A

S1H

Roller v-Lead, [position 1-2]

V1A

V1H

IP 66 Roller, [position 1-2]

F1A

F1H

FNR [Black], [position 1-2]

T1A

T1H

Toggle [Rocker], [position 1-2]

K1A

K1H

FNR [Red], [position 1-2]

V3A-

IP66 Roller (redundant), [position 1-2]

M1A

M1H

IP66 FNR [Black], [position 1-2]

M7A

M7H

IP66 Toggle [Rocker], [position 1-2]

H2—Defining of front plate
Code

68 | © Danfoss | March 2024

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

Description

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

P1A

P1H

Roller, [position 2-3]

S1A

S1H

Roller v-Lead, [position 2-3]

V1A

V1H

IP 66 Roller, [position 2-3]

F1A

F1H

FNR [Black], [position 2-3]

V3A-

IP66 Roller (Redundant), [position 2-3]

M1A

M1H

IP66 FNR [Black], [position 2-3]

M7A

M7H

IP66 Toggle [Rocker], [position 2-3]

T1A

T1H

Toggle [Black], [position 2-3]

K1A

K1H

FNR [Red], [position 2-3]

+++

+++

Customer refer to ST2—Faceplate options on page 15
and ST7—Faceplate options on page 22

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H3—Defining of front plate
Code

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

P1A

P1H

Roller,[position 3-4]

S1A

S1H

Roller v-Lead, [position 3-4]

V1A

V1H

IP 66 Roller, [position 3-4]

F1A

F1H

FNR [Black], [position 3-4]

V3A-

IP66 Roller (redundant), [position 3-4]

M1A

M1H

IP66 FNR [Black], [position 3-4]

M7A

M7H

IP66 Toggle [Rocker], [position 3-4]

T1A

T1H

Toggle [Black], [position 3-4]

K1A

K1H

FNR [Red], [position 3-4]

+++

+++

Customer refer to ST2—Faceplate options on page 15
and ST7—Faceplate options on page 22

No button

H4—Defining of front plate
Code
Use with all bases
except for PWH© Danfoss | March 2024

Description

Use with PWH base only

NNN

NNN

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

BC171886484518en-001501 | 69

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H4—Defining of front plate (continued)
Code
Use with all bases
except for PWH

Use with PWH base only

51A

51H

Description

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

P1A

P1H

Roller, [position 4-1]

S1A

S1H

Roller v-Lead, [position 4-1]

V1A

V1H

IP 66 Roller, [position 4-1]

F1A

F1H

FNR [Black], [position 4-1]

V3A-

IP66 Roller (redundant)

M1A

M1H

IP66 FNR [Black], [position 4-1]

M7A

M7H

Toggle [Rocker], [position 4-1]

T1A

T1H

Toggle [Black], [position 4-1]

K1A

K1H

FNR [Red], [position 4-1]

+++

+++

Customer refer to ST2—Faceplate options on page 15
and ST7—Faceplate options on page 22

H5—Defining of front plate
Code
Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

Description

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

+++

+++

Customer refer to ST2—Faceplate options on page 15
and ST7—Faceplate options on page 22

H6—Defining grip sideCode70 | © Danfoss | March 2024

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H6—Defining grip side (continued)
Code

Description

Use with all bases
except for PWH

Use with PWH base only

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

P1A

P1H

Roller, [position 6-12]

S1A

S1H

Roller v-Lead, [position 6-12]

V1A

V1H

IP 66 Roller, [position 6-12]

F1A

F1H

FNR [Black], [position 6-12]

V3A-

IP66 Roller (redundant)

M1A

M1H

IP66 FNR [Black], [position 6-12

M7A

M7H

IP66 Toggle [Rocker], [position 6-12]

T1A

T1H

Toggle [Black], [position 6-12]

K1A

K1H

FNR [Red], [position 6-12]

+++

+++

Customer refer to ST2—Faceplate options on page 15
and ST7—Faceplate options on page 22

H7—Defining grip side
Code

© Danfoss | March 2024

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

No button

B1A

B

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

D1A

D1H

Square Push Button - Operator Presence Switch

BC171886484518en-001501 | 71

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H7—Defining grip side (continued)
Code

Description

Use with all bases
except for PWH

Use with PWH base only

O1A

O1H

Operator Presence Switch (PR2 and PP2 grips only)

U1A

U1H

Roller, [position 7-8]

Q1A

Q1H

Roller v-Lead, [position 7-8]

V1A

V1H

IP 66 Roller, [position 7-8]

V4A-

IP 66 Roller (redundant)

M1A

M1H

IP 66 FNR [Black], [positioin 7-8

M7A

M7H

IP 66 Toggle [Rocker], [position 7-8]

H8—Defining grip side
Code

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

O1A

O1H

Operator Presence Switch (ST7, SP7, ST2, and SP2 grips
only)

O2A

O2H

Operator Presence Switch(HR1 and HP1 grips only)

A1A

A1H

Operator Presence Switch (left hand PR7, PP7 grips only)

E1A

E1H

Operator Presence Switch (right hand PR7, PP7 grips
only)

H9—Defining of back sideCode

72 | © Danfoss | March 2024

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

No button

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H9—Defining of back side (continued)
Code

Description

Use with all bases
except for PWH

Use with PWH base only

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

K1A

K1H

FNR [Red], [position 9-10]

H10—Defining grip side
Code

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

F1A

F1H

FNR [Black], [position 10-11]

T1A

T1H

Toggle [Black], [position 10-11]

M1A

M1H

IP66 FNR [Black], [position 10-11]

M7A

M7H

IP66 Toggle [Rocker], [position 10-11

No button

H11—Defining grip side
Code

© Danfoss | March 2024

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

No button

BC171886484518en-001501 | 73

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
H11—Defining grip side (continued)
Code

Description

Use with all bases
except for PWH

Use with PWH base only

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

H12—Defining grip side
Code

Description

Use with all bases
except for PWH

Use with PWH base only

NNN

NNN

B1A

B1H

Black push button

R1A

R1H

Red push button

Y1A

Y1H

Yellow push button

G1A

G1H

Gray push button

L1A

L1H

Green push button

W1A

W1H

Blue push button

H1A

H1H

White push button

11A

11H

Yellow push button - Dome Shape

21A

21H

Black push button - Dome Shape

31A

31H

Green push button - Dome Shape

41A

41H

Red push button - Dome Shape

51A

51H

Blue push button - Dome Shape

61A

61H

White push button - Dome Shape

No button

K1A

K1H

FNR [Red], [position 12]

%%%

%%%

Assigned by factory when H10 has no restrictions for use.
(ST7, SP7 grips only)

M1A

M1H

IP66 FNR [Black], [position 12]

M7A

M7H

IP66 Toggle [Rocker], [position 12]

J1—Grip color

74 | © Danfoss | March 2024

Code

DescriptionN

No gripG

HR1 and PR7 grip

B

ST2, ST7 and PR2 grip

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
J2—Color band
Code

DescriptionN

No color bandY

Yellow color band

B

Black color band

R

Red color band

Related reference© Danfoss | March 2024

BC171886484518en-001501 | 75

Technical Information
JS1 Heavy Duty Joysticks
Product configuration model code
Other model code
JS1-H Joystick product configuration model code
Family
A
JS1H

B

C

Base
D

E

F1

F2

G

H1

H2

H3

H4

H5

Grip
H6

H7

H8

H9

H10

H11

H12

Other
J1 J2 J3 J4 K

J3—Cable
Code

DescriptionN

No cableB

CAN+ cable with 1 x 12 pin DEUTSCH connector

G

CAN cable with 1 x 6 pin DEUTSCH connector

H

CAN cable with 2 x 6 pin DEUTSCH connector

J

CANalog cable with 18 pin DEUTSCH connector

L

PVE cable with 12+12+6 pin DEUTSCH connector

K

PVE cable with 12+12 pin DEUTSCH connector

T

PVE cable with SUB-D 25 + 6 pin DEUTSCH connector

Q

CAN+ cable with 18 pin DEUTSCH connectorW

PWM cable with 12+12 pin DEUTSCH connector

A

Analog cable with 18 pin DEUTSCH connector

J4—Kit and extension cable
Code

DescriptionN

No kitB

Adapter Plate for JS7000

C

JS6000 bottom mount adapter

K—Software or settings

76 | © Danfoss | March 2024

Code

Description

NN

No software or settings

J6

Used by factory to designate reverse roller operation on JS6000
replacements with horizontal rollers

MP

JS1-H & MP1P - Perfect MatchRO

Roller signal changexx

Reserved for factory settings

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Product installation
Joystick safety critical functions
For a system to operate safely it must be able to differentiate between commanded and uncommanded
inputs. Take steps to detect and manage joystick and system failures that may cause an erroneous
output.
For safety critical functions Danfoss recommends you use an independent momentary action systemenable switch. You can incorporate this switch into the joystick as an operator presence switch or can bea separate foot or hand operated momentary switch. Disable all joystick functions that the joystick
controls when this switch is released.
Ensure the control system looks for the appropriate system enable switch input before the joystick isdisplaced from its neutral position. Enable functions only after receiving this input.
Applications using CAN joysticks should continuously monitor for the presence of the CAN messages on
periodic basis. Messages are to be checked frequently enough for the system or operator to react if the
CAN messages lose priority or are no longer received.
JS1 Heavy Duty Joystick critical mounting
JS1 Heavy Duty Joysticks are intended to be mounted in an upright position. Failure to mount properly
could result in erroneous Out of Neutral signals.
JS1-H mounted in upright position

Machine wiring guidelines

•
•
•
•
•
•
•
•
© Danfoss | March 2024

Protect wires from mechanical abuse, run wires in flexible metal or plastic conduits.
Use 85˚ C (185˚ F) wire with abrasion resistant insulation and 105˚ C (221˚ F) wire should beconsidered near hot surfaces.
Use a wire size that is appropriate for the module connector.
Separate high current wires such as solenoids, lights, alternators or fuel pumps from sensor and othernoise-sensitive input wires.
Run wires along the inside of, or close to, metal machine surfaces where possible, this simulates ashield which will minimize the effects of EMI/RFI radiation.
Do not run wires near sharp metal corners, consider running wires through a grommet whenrounding a corner.
Do not run wires near hot machine members.
Provide strain relief for all wires.
BC171886484518en-001501 | 77

Technical Information
JS1 Heavy Duty Joysticks
Product installation

•
•
•
•
•
•

78 | © Danfoss | March 2024

Avoid running wires near moving or vibrating components.
Avoid long, unsupported wire spans.
Ground electronic modules to a dedicated conductor of sufficient size that is connected to thebattery (-).
Power the sensors and valve drive circuits by their dedicated wired power sources and groundreturns.
Twist sensor lines about one turn every 10 cm (4 in).
Use wire harness anchors that will allow wires to float with respect to the machine rather than rigid
anchors.

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
Joysticks CAN J1939 protocol option on page 80
SAE J1939 basic joystick message on page 81
SAE J1939 extended joystick message on page 86
SAE J1939 error (DM1) messages on page 88© Danfoss | March 2024

BC171886484518en-001501 | 79

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
Joysticks CAN J1939 protocol option
Joysticks CAN J1939 protocol option designated as model code CAN and broadcast two J1939 messages
to communicate the device information. The two messages are:
• Basic Joystick Message 1 (BJM1)• Extended Joystick Message (EJM1)

80 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
SAE J1939 basic joystick message
The JS1-H joystick uses the SAE J1939 basic joystick message to transfer information about the measured
status of the X-axis and Y-axis of a joystick, the state of the switches on the joystick grip, and the state ofexternal to the joystick digital inputs.
Basic joystick message structure
Basic message Priority
numberBase parameter
Group number(PGN)

Protocol Data Unit
(PDU) format

PDU specific

Dec

Dec

Dec

hex

hex

Source address

Data field

hex

Dec

hex
*

8 bytes*

8 bytes

1

3

64982

FDD6

253

FD

214

D6

*

3

3

64986

FDDA

253

FD

218

DA

*

* Depends on position specified in master model code.

••

Message transmission rate: 20 ms
CAN bus baud rate: 250kbps

The resulting SAE J1939 basic joystick message PGN on the CAN bus is:
0xCFDD6 * * or 0xCFDDA * ** = joystick source address (hex)
Data field
The data field contains the joystick’s output information. SAE J1939 data fields contain 8 bytes of data.
Information in the data field© Danfoss | March 2024

Byte#

0

Bit#

1

1
2

3

4

5

6

7

8

1

2 and so on
2

3

4

5

6

7

8

1

2

3

4

5

6

7

8

BC171886484518en-001501 | 81

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
JS1-H Basic joystick message data field descriptions
Basic joystick message parameters and data field locations
Start position(byte/bit)

Length(bits)

Parameter name0/1

2

Joystick X-axis neutral position status

0/3

2

Joystick X-axis lever left negative position status

0/5

2

Joystick X-axis lever right positive position status

0/7 through 1/1-8

10

Joystick X-axis position (Byte 0 Bit 7 is LSB. Byte 1 Bit 8 is MSB)

2/1

2

Joystick Y-axis neutral position status

2/3

2

Joystick Y-axis lever back negative position

2/5

2

Joystick Y-axis lever forward positive position

2/7 through 3/1-8

10

Joystick Y-axis position (Byte 2 Bit 7 is LSB. Byte 3 Bit 8 is MSB)

4/5

2

Joystick Y-axis detent position status

4/7

2

Joystick X-axis detent position status

5/1

2

Grip button 4 pressed status

5/3

2

Grip button 3 pressed status

5/5

2

Grip button 2 pressed status

5/7

2

Grip button 1 pressed status

6/1

2

Grip button 8 pressed status

6/3

2

Grip button 7 pressed status

6/5

2

Grip button 6 pressed status

6/7

2

Grip button 5 pressed status

7/1

2

Grip button 12 pressed status

7/3

2

Grip button 11 pressed status

7/5

2

Grip button 10 presses status

7/7

2

Grip button 9 pressed status

Data field example 1
Byte

0

Bit

8

7

The 2 LSB* of X-axis
position status

6

5

4

3

2

1

X-axis lever right positive X-axis lever left negative
statusposition status

X-axis neutral position
status6

2* Least Significant Bit.

Data field example 2
Byte

1

Bit

8

7

5

4

3

1

MSB* X-axis position* Most Significant Bit.

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JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
Data field example 3
Byte

2

Bit

8

7

The 2 LSB* of X-axis
position status

6

5

X-axis lever forward
positive status

4

3

2

Y-axis lever back negative
position status

1

Y-axis neutral position
status* Least Significant Bit.

Joystick X-axis neutral position status
Reports when the current joystick position is in the neutral position for the X-axis of travel.
Information in the data field
Bit status

Remarks00

Not in neutral position01

In neutral position

10

Error indicator11

Not available

Joystick X-axis handle left negative position status
Reports when the current joystick position is on the negative travel side (back, left, counterclockwise,down) relative to the neutral position for the X-axis.
Information in the Data Field
Bit status

Remarks00

Not on negative side of neutral01

On negative side of neutral

10

Error indicator11

Not available

Joystick X-axis handle right positive position status
Reports when the current joystick position is on the positive travel side (forward, right, clockwise, up)
relative to the neutral position for the X-axis.
Information in the data field
Bit status

Remarks00

Not on positive side of neutral01

On positive side of neutral

10

Error indicator11

Not available

Joystick X-axis position status
This is the position of the joystick in the relative motion of travel from the neutral position. The position
value of 0 is always neutral. The output range of the joystick handle at the end of travel is factory set
according to the option specified in the electrical interface options section of the master model code.
The master model code specifies that the full-scale output at the end of each linear zone will be 1000
counts.

© Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol

W Warning
Potential uncommanded machine movement. Per the SAE J1939-71 standard:• if the joystick internal diagnostics detect a shaft position measurement error, the joystick output will
be set to a value of 1022 counts regardless of shaft position.
• if a specific joystick axis is not available, the basic joystick message for the unavailable axis will
indicate an output value of 1023 counts.
Ensure application software recognizes these conditions to avoid the possibility of unintended machinemotion.

Joystick Y-axis neutral position status
Reports when the current joystick position is in the neutral position for the Y-axis of travel.
Information in the data field
Bit status

Remarks00

Not in neutral position01

In neutral position

10

Error indicator11

Not available

Joystick Y-axis handle back negative position status
Reports when the current joystick position is on the negative travel side (back, left, counterclockwise,down) relative to the neutral position for the Y-axis.
Information in the data field
Bit status

Remarks00

Not on negative side of neutral01

On negative side of neutral

10

Error indicator11

Not available

Joystick Y-axis handle forward positive position status
Reports when the current joystick position is on the positive travel side (forward, right, clockwise, up)
relative to the neutral position for the Y-axis.
Information in the data field
Bit status

Remarks00

Not on positive side of neutral01

On positive side of neutral

10

Error indicator11

Not available

Joystick Y-axis position status
This is the position of the joystick in the relative motion of travel from the neutral position. The position
value of 0 is always neutral. The output range of the joystick handle at the end of travel is factory set
according to the option specified in the electrical interface options section of the master model code.

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
The master model code specifies that the full-scale output at the end of each linear zone will be 1000
counts.

W Warning
Potential uncommanded machine movement. Per the SAE J1939-71 standard:
if the joystick internal diagnostics detect a shaft position measurement error, the joystick output will
be set to a value of 1022 counts regardless of shaft position.
• if a specific joystick axis is not available, the basic joystick message for the unavailable axis will
indicate an output value of 1023 counts.
Ensure application software recognizes these conditions to avoid the possibility of unintended machinemotion.

•Joystick button 1-8 pressed status
Joystick button 1-8 pressed status© Danfoss | March 2024

Bit status

Remarks

00

Button not pressed

01

Button pressed

10

Error indicator11

Not available (no button installed)

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
SAE J1939 extended joystick message
The JS1-H joystick uses the SAE J1939 extended joystick message to transfer information about themeasured status of up to 3 additional proportional input functions on the joystick grip, and external-tothe-joystick analog inputs. The joystick base X and Y-axis information is available in the basic joystickmessage.
Extended joystick message structure
MessagenumberPriority

Base PGN
Dec

1

3

64983

3

3

64987

PDU format

PDU specificSource address

Data field

hex

Dec

hex

Dec

hex

Dec

FDD7

253

FD

215

D7

The source address
depends on position
specified in mastermodel code.

8 bytes

FDDB

253

FD

219

DB

The source address
depends on position
specified in mastermodel code.

8 byteshex

Message transmission rate: 20 ms
CAN bus baud rate: 250kbps
The resulting SAE J1939 extended joystick message PGN on the CAN bus is:
0xCFDD7 * * or 0xCFDDB * ** = joystick source address (hex)Extended joystick message parameters and data field descriptions
Extended joystick message parameters and data field locations
Start position(Byte/Bit)

Length(Bits)

Parameter name0/1

2

Grip X-axis neutral position status

0/3

2

Grip X-axis lever left negative position status

0/5

2

Grip X-axis lever right positive position status

0/7 through 1/1-8

10Grip X-axis position

2/1

2

Grip Y-axis neutral position status

2/3

2

Grip Y-axis lever back negative position

2/5

2

Grip Y-axis lever forward positive position

2/7 through 3/1-8

10Grip Y-axis position

6/5

2

Grip Y-axis detent position status-not available

6/7

2

Grip X-axis detent position status-not available

Data field descriptions and output ranges for extended joystick messages are similar to those for base Xaxis and Y-axis basic joystick messages.
Grip proportional input naming convention

86 | © Danfoss | March 2024

Proportional input location

Extended joystick message designation

Horizontal orientation, top

X-axisHorizontal orientation, bottom

Y-axisBC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
Grip proportional input naming convention (continued)© Danfoss | March 2024

Proportional input location

Extended joystick message designation

Vertical orientation, left side

X-axisVertical orientation, right side

Y-axisBC171886484518en-001501 | 87

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN J1939 protocol
SAE J1939 error (DM1) messages
SAE J1939 DM1 error messages are supported. Suspect Parameter Number (SPN) and Failure Mode
Identifier (FMI) information are in the following tables.
Failure: Voltage too highMessage

Axis

SPN

FMI

BJM1

X

2660

3

BJM1

Y

2661

3

BJM1

Grip X

2662

3

BJM1

Grip Y

2663

3

BJM1

Grip Theta

2664

3

Message

Axis

SPN

FMI

BJM1

X

2660

4

BJM1

Y

2661

4

BJM1

Grip X

2662

4

BJM1

Grip Y

2663

4

BJM1

Grip Theta

2664

4

Message

Axis

SPN

FMI

BJM1

X

2660

13

BJM1

Y

2661

13

BJM1

Grip X

2662

13

BJM1

Grip Y

2663

13

BJM1

Grip Theta

2664

13

Failure: Voltage too low

Failure: Input not calibrated

Failure: Redundant input failure
Message

Axis

SPN

FMI

BJM1

X

2660

14

BJM1

Y

2661

14

BJM1

Grip X

2662

14

BJM1

Grip Y

2663

14

BJM1

Grip Theta

2664

14

SAE J1939 dynamic addressing is not supported, since the joystick source addresses are hard-coded(static). However, there is SAE J1939 address claiming protocol compliance. In the unlikely event anothernode on the SAE J1939 bus claims an identical source address to the joystick, the joystick may ceasecommunication on the bus, depending on the message priority on the other node.

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JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
CANopen Object Dictionary for JS1-H joysticks on page 90
Parameter/variable index - JS1-H CAN, JS1-H CANalog on page 91
Parameter/variable index - JS1-H CAN+ on page 103
Error handling on page 115© Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
CANopen Object Dictionary for JS1-H joysticks
To access the CANopen Object Dictionary go to https://www.danfoss.com/en/products/electroniccontrols/dps/plus1-joysticks-and-pedals/, then under Download find CANopen EDS under the JS1-H.
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)• NEUTRAL_STATE (2 bit state value)
The Access of an Entry can be as follows:ro (Read Only)
rw (Read Write)
wo (Write Only)
const

•
•
•
•

The minimum and maximum 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, for example, the Useris responsible to write a value within the value range. It should also be observed that the Default value ofan Entry may not be true for all applications. The Unit/Scale gives either the unit of the value and/or thescaling used where applicable.
CANopen Baud Rate and Node ID setting
Baud rate and Node ID may be set using the Danfoss PLUS+1® Service Tool. Additionally, the parameters
can be set using the CANopen LSS protocol.
CiA® 305: Layer Setting Services (LSS)
LSS distinguishes between an LSS master (typically residing in the host controller) and the LSS slaves. LSS
enables the LSS master to modify the LSS slaves’ CANopen node-ID and to switch the entire networkfrom one data rate to another. LSS utilizes exactly two CAN frames. The CAN data frame 7E5h carries thecommand from the LSS master to one or several LSS slaves. The CAN frame 7E4h is used to provide theresponse(s) to the LSS master. LSS is specified in the document CiA 305.

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JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
Parameter/variable index - JS1-H CAN, JS1-H CANalog
40h Device typeSub-index

Name

Description

0

NEUTRAL_ST 2-bit Proportional Axis
ATE
(Neutral State) data type.
0x00 = Neutral
0x01 = Out Of Neutral
0x02 = Error
0x03 = Not Available

Data type

AccessMinimum

Maximum

Default

Unit/Scale

U32

ro

-

-

-

-

1000h Device typeSub-index

Name

Description

AccessMinimum

Maximum

Default

Unit/Scale0

Device Type

01050191h: Joystick without U32
digital outputs

Data type

const

-

-

See
description-

Description

AccessMinimum

Maximum

Default

Unit/Scale

ro

-

-

-

-

1001h Device register
Sub-index

Name

Data type0

Error Register Bit 0 (Generic): 1 in case ofU8an unknown error
Bit 1 (Current): Always zeroBit 2 (Voltage): 1 in case of a
voltage to high or low
Bit 3 (Temperature): Alwayszero
Bit 4 (Communication Error):
Always zero
Bit 5 (Device Profile Specific):
Always zeroBit 6 (Reserved): Always zeroBit 7 (Manufacture-Specific):
1 in case of an IIC grip
communication error, or acalibration error

1003h Error log: CodeSub-index

Name

Description

AccessMinimum

Maximum

Default

Unit/Scale0h

Log size

U8
The entry at sub-index 0
contains the number ofactual errors that arerecorded starting at subindex 1.
Writing a zero to sub-index 0
clears the error log.
Writing a value other thanzero to sub-index 0 will
result in an abort message.

Data type

rw

0

24

-

-

1h

Error 1 CodeEvery new error is stored at
sub-index 1, the older ones
move down the list.

U32

ro

0

232-1

-

-

2h

Error 2 Code

U32

ro

0

232-1

-

-

3h

Error 3 Code

U32

ro

0

232-1

-

-

4h

Error 4 Code

U32

ro

0

232-1

-

-

5h

Error 5 Code

U32

ro

0

232-1

-

-

© Danfoss | March 2024

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1003h Error log: Code (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

6h

Error 6 Code

U32

ro

0

232-1

-

-

7h

Error 7 Code

U32

ro

0

232-1

-

-

8h

Error 8 Code

U32

ro

0

232-1

-

-

9h

Error 9 Code

U32

ro

0

232-1

-

-

Ah

Error 10 Code

U32

ro

0

232-1

-

-

Bh

Error 11 Code

U32

ro

0

232-1

-

-

Ch

Error 12 Code

U32

ro

0

232-1

-

-

Dh

Error 13 Code

U32

ro

0

232-1

-

-

-

-

Eh

Error 14 Code

U32

ro

0

232-1

Fh

Error 15 Code

U32

ro

0

232-1

-

-

10h

Error 16 Code

U32

ro

0

232-1

-

-

11h

Error 17 Code

U32

ro

0

232-1

-

-

12h

Error 18 Code

U32

ro

0

232-1

-

-

13h

Error 19 Code

U32

ro

0

232-1

-

-

14h

Error 20 Code

U32

ro

0

232-1

-

-

15h

Error 21 Code

U32

ro

0

232-1

-

-

-

-

16h

Error 22 Code

U32

ro

0

232-1

17h

Error 23 Code

U32

ro

0

232-1

-

-

18h

Error 24 Code

U32

ro

0

232-1

-

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

STR

Const

-

-

-

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

Const

-

-

-

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

STR

Const

-

-

-

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

0

232-1

80h+ NodeID-

1008h Manufacturer device nameSub-index

Name

Description

0

Manufacturer JS1-H device family name.
Device Name Returns “JOYSTICK”

1009h Manufacturer hardware version
Sub-index

Name

Description

0

Manufacturer Hardware part number.
STR
Hardware
The part number will be
Versiondifferent for joystick models.

100Ah Manufacturer software version
Sub-index

Name

Description

0

Manufacturer Software part number andSoftwareversion.
Version1014h COB-ID EMCY message
Sub-index
0

Name

Description

COB-ID EMCY Defines the COB-ID of the
Message
EMCY object.

92 | © Danfoss | March 2024

U32

ro

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1017h Producer heartbeat time
Sub-index
0

Name
Producer

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

20-

Time in milliseconds on how U16
often the Joystick willtransmit a heartbeat.
A value of 0 will disable theheartbeat.
It requires a reboot for thevalue to take effect after
change.

rw

0

232-1

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

U8

const

-

-

4

-

U32

const

-

-

19h

-

1018h Identity object
Sub-index

Name0

Number of
entries1

Vendor Id

2

Product
Code

U32

const

-

-

1h

-

3

Revision
Number

U32

const

-

-

10001h-4

SerialNumber

U32

const

-

-

-

-

Returns the Vendor Id for
JS1-H = 19h.

Device serial number.

1200h Server SD01 parameters
Sub-index

Name

Data type

AccessMinimum

Maximum

Default

Unit/Scale0

Number of
entries

Description

U8

const

-

-

2

-

1

COB-ID usedby SDO 1 rx

U32

ro

0

232-1

600h+ Node
Id

-

2

COB-ID usedby SDO 1 tx

U32

ro

0

232-1

580h+ Node
Id-

1800h Transmit PD01 communication parameters
Sub-index

Name

Data type

AccessMinimum

Maximum

Default

Unit/Scale0

Number of
entries

U8

const

-

-

5

-

1

COB-ID usedby PDO1 Tx

U32

ro

0

232-1

180h+ NodeId + 230-

2

Transmission FEh: event drivenType(manufacturer specific)

U8

ro

0

255

FEh

-

3

Inhibit Time

U16

rw

0

216-1

0

ms/10

© Danfoss | March 2024

Description

The time is the minimum
interval for PDO
transmission.
The value is defined as
multiple of 100
microseconds.
The value of 0 shall disable
the inhibit time.

BC171886484518en-001501 | 93

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1800h Transmit PD01 communication parameters (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

4

Reserved

Not implemented; a read or
write access results in an
SDO abort with abort code
06090011h.

-

-

-

-

-

-

5

Event TimeThe time is the maximum
interval for PDO
transmission.
The value of 0 shall disable
the event timer, resulting in
the PDO not beingtransmitted.

U16

rw

0

216-1

20

ms

Data type

AccessMinimum

Maximum

Default

Unit/Scale-

1801h Transmit PDO2 communication parameters
Sub-index

Name

Description0

Number of
entries

U8

const

-

-

5

1

COB-ID usedby PDO2 Tx

U32

ro

0

232-1

280h + Node Id + 230

2

Transmission FEh: event drivenType(manufacturer specific)

U8

ro

0

255

FEh

-

3

Inhibit TimeThe time is the minimum
interval for PDO
transmission.
The value is defined as
multiple of 100
microseconds.
The value of 0 shall disable
the inhibit time.

U16

rw

0

216-1

0

ms/10

4

Reserved

Not implemented; a read or
write access results in an
SDO abort with abort code
06090011h.

-

-

-

-

-

-

5

Event Timer

The time is the maximum
interval for PDO
transmission.
The value of 0 shall disable
the event timer, resulting in
the PDO not beingtransmitted.

U16

rw

0

216-1

20

ms

1802h Transmit PDO3 communication parameters
Sub-index

Name

Data type

AccessMinimum

Maximum

Default

Unit/Scale0

Number of
entries

U8

const

-

-

5

-

1

COB-ID usedby PDO3 Tx

U32

ro

0

232-1

380h + Node Id + 230

2

Transmission FEh: event drivenType(manufacturer specific)

U8

ro

0

255

FEh

94 | © Danfoss | March 2024

Description-

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Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1802h Transmit PDO3 communication parameters (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

0

ms/10

3

Inhibit TimeThe time is the minimum
interval for PDO
transmission.
The value is defined as
multiple of 100
microseconds.
The value of 0 shall disable
the inhibit time.

U16

rw

0

216-1

4

Reserved

Not implemented; a read or
write access results in an
SDO abort with abort code
06090011h.

-

-

-

-

-

-

5

Event Timer

The time is the maximum
interval for PDO
transmission.
The value of 0 shall disable
the event timer, resulting in
the PDO not beingtransmitted.

U16

rw

0

216-1

20

ms

Data type

AccessMinimum

Maximum

Default

Unit/Scale

U8

ro

0

49

49

-

1A00h Transmit PD01 map parameters
Sub-index

Name0

Number of
MappedApplications
Objects in
PDO1Tx1

Mapping for
Proportional
MemoryFreeze Status

Example: 6000h:1
gives value=60000108h
where index=6000h
sub-index=01h
data type=08h (8bits)

U32

ro

0

232-1

60000108h-2

Mapping for
Button 1

Button status

U32

ro

0

232-1

60200101h-

3

Mapping for
Button 2

Button status

U32

ro

0

232-1

60200201h-

4

Mapping for
Button 3

Button status

U32

ro

0

232-1

60200301h-

5

Mapping for
Button 4

Button status

U32

ro

0

232-1

60200401h-

6

Mapping for
Button 5

Button status

U32

ro

0

232-1

60200401h-

7

Mapping for
Button 6

Button status

U32

ro

0

232-1

60200601h-

8

Mapping for
Button 7

Button status

U32

ro

0

232-1

60200701h-

9Mapping for
Button 8

Button status

U32

ro

0

232-1

60200801h-

10Mapping for
Button 9

Button status

U32

ro

0

2232-160200901h-

11Mapping for
Button 10

Button status

U32

ro

0

232-1

60200A01h-

12

Mapping for
Button 11

Button status

U32

ro

0

232-1

60200B01h-© Danfoss | March 2024

Description

BC171886484518en-001501 | 95

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A00h Transmit PD01 map parameters (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

60200C01h-

13

Mapping for
Button 12

Button status

U32

ro

0

232-1

14

Mapping for
Button 13

Button status

U32

ro

0

232-1

60200D01h-

15

Mapping for
Button 14

Button status

U32

ro

0

232-1

60200E01h-

16

Mapping for
Button 15

Button status

U32

ro

0

232-1

60200F01h-

17

Mapping for
Button 16

Button status

U32

ro

0

232-1

60201001h-18

Mapping for
Button 17

Button status

U32

ro

0

232-1

60201101h-

19

Mapping for
Button 18

Button status

U32

ro

0

232-1

60201201h-

20

Mapping for
Button 19

Button status

U32

ro

0

232-1

60201301h-21

Mapping for
Button 20

Button status

U32

ro

0

232-1

60201401h-

22

Mapping for
Button 21

Button status

U32

ro

0

232-1

60201501h-

23

Mapping for
Button 22

Button status

U32

ro

0

232-1

60201601h-

24

Mapping for
Button 23

Button status

U32

ro

0

232-1

60201701h-

25

Mapping for
Button 24

Button status

U32

ro

0

232-1

60201801h-

26

Reserved

Example: 6000h:2
gives value=60000208h
where index=6000h
sub-index=02h data
type=08h (8 bits)

U32

ro

0

232-1

60000208h-

27

Mapping for
Button 1

Button enabled

U32

ro

0

232-1

60201901h-

28

Mapping for
Button 2

Button enabled

U32

ro

0

232-1

60201A01h-

29

Mapping for
Button 3

Button enabled

U32

ro

0

232-1

60201B01h-

30

Mapping for
Button 4

Button enabled

U32

ro

0

232-1

60201C01h-

31

Mapping for
Button 5

Button enabled

U32

ro

0

232-1

60201D01h-

32

Mapping for
Button 6

Button enabled

U32

ro

0

232-1

60201E01h-

33

Mapping for
Button 7

Button enabled

U32

ro

0

232-1

60201F01h-

34

Mapping for
Button 8

Button enabled

U32

ro

0

232-1

60202001h-

35

Mapping for
Button 9

Button enabled

U32

ro

0

232-1

60202101h-

36

Mapping for
Button 10

Button enabled

U32

ro

0

232-1

60202201h-

37

Mapping for
Button 11

Button enabled

U32

ro

0

232-1

60202301h-

96 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A00h Transmit PD01 map parameters (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

60202401h-

38

Mapping for
Button 12

Button enabled

U32

ro

0

232-1

39

Mapping for
Button 13

Button enabled

U32

ro

0

232-1

60202501h-

40

Mapping for
Button 14

Button enabled

U32

ro

0

232-1

60202601h-

41

Mapping for
Button 15

Button enabled

U32

ro

0

232-1

60202701h-

42

Mapping for
Button 16

Button enabled

U32

ro

0

232-1

60202801h-

43

Mapping for
Button 17

Button enabled

U32

ro

0

232-1

60202901h-

44

Mapping for
Button 18

Button enabled

U32

ro

0

232-1

60202A01h-

45

Mapping for
Button 19

Button enabled

U32

ro

0

232-1

60202B01h-

46

Mapping for
Button 20

Button enabled

U32

ro

0

232-1

60202C01h-

47

Mapping for
Button 21

Button enabled

U32

ro

0

232-1

60202D01h-

48

Mapping for
Button 22

Button enabled

U32

ro

0

232-1

60202E01h-

49

Mapping for
Button 23

Button enabled

U32

ro

0

232-1

60202F01h-

50

Mapping for
Button 24

Button enabled

U32

ro

0

232-1

60203001h-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

U8

ro

0

6

6

-

U32

ro

0

232-1

64010110h

-

U32

ro

0

232-1

64010210h-

1A01h Transmit PD02 map parameters
Sub-index

Name0

Number of
MappedApplications
Objects in
PDO2Tx1

Mapping for
X-Axis
Proportional

2

Mapping for
Y-Axis
Proportional

3

Reserved

Example: 6405h:1
gives value=64050110h
where index=6405h
sub-index=01h
data type=10h (16 bits)

U32

ro

0

232-1

64050110h-

4

Mapping for Example: 6404h:1
X-Axisgives value=64040102h
Neutral State where index=6404h
sub-index=01h
data type=02h (2 bits)

U32

ro

0

232-1

64040102h-© Danfoss | March 2024

Description

Example: 6401h:1
gives value=64010110h
where index=6401h
sub-index=01h
data type=10h (16 bits)

BC171886484518en-001501 | 97

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A01h Transmit PD02 map parameters (continued)
Sub-index

Name

5

Mapping for
Y-AxisNeutral State

6

Reserved

Description

Example: 6406h:1
gives value=64060102h
where index=6406h
sub-index=01h
data type=02h (2 bits)

Data type

AccessMinimum

Maximum

Default

Unit/Scale

64040202h

-

U32

ro

0

232-1

U32

ro

0

232-1

64060102h-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

U8

ro

0

6

6

-

U32

ro

0

232-1

64010310h-

1A02h Transmit PD03 map parameters
Sub-index

Name0

Number of
MappedApplications
Objects in
PDO3Tx1

Mapping for
Grip 1
Proportional

2

Mapping for
Grip 2
Proportional

U32

ro

0

232-1

64010410h-

3

Mapping for
Grip 3
Proportional

U32

ro

0

232-1

64010510h-

4

Mapping for Example: 6404h:3
Grip 1 Axis
gives value=64040302h
Neutral State where index=6404h
sub-index=03h
data type=02h (2 bits)

U32

ro

0

232-1

64040302h-

5Mapping for
Grip 2 Axis
Neutral State

U32

ro

0

232-1

64040402h-

6

Mapping for
Grip 3 Axis
Neutral State

U32

ro

0

232-1

64040502h-

98 | © Danfoss | March 2024

Description

Example:6401h:1 gives
value=64010310h
whereindex=6401h
sub-index=03h data
type=10h (16 bits)

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6000h Read input 8-bit
Sub-index

Name0

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

Number of
Inputs 8-Bit

U8

ro

0

1

-

-

1

Proportional
MemoryFreezeU8*Not supported
Memory status for the
proportional outputs.
0: memory function off(release proportional values)
1: memory functions on(freeze proportional values)

ro

0

0

0

-

2

Proportional
MemoryFreezeU8*Not supported
Memory status for the
proportional outputs.
0: memory function off(release proportional values)
1: memory functions on(freeze proportional values)

ro

0

0

0

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

6020h Read input bit (buttons)
Sub-index

Name0

Number of
Inputs Bits

U8

ro

0

32

32

-

1

Freeze Bit 1

U8*Not supported
Memory status for the
proportional outputs.
0: memory function off(release proportional values)
1: memory functions on(freeze proportional values)

ro

0

0

0

-

2

Freeze Bit 2*Not supported

U8

ro

0

0

0

-

3

Freeze Bit 3*Not supported

U8

ro

0

0

0

-

4

Freeze Bit 4*Not supported

U8

ro

0

0

0

-

5

Freeze Bit 5*Not supported

U8

ro

0

0

0

-

6

Freeze Bit 6*Not supported

U8

ro

0

0

0

-

7

Freeze Bit 7*Not supported

U8

ro

0

0

0

-

8

Freeze Bit 8*Not supported

U8

ro

0

0

0

-

9

Button 1

0: Not Pressed
1: Pressed

U8

ro

0

1

0

-

10

Button 2

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

11

Button 3

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

12

Button 4

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

13

Button 5

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

14

Button 6

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

15

Button 7

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

16

Button 8

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

17

Button 9

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

18

Button 10

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

19

Button 11

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

20

Button 12

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

21

Button 13

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

© Danfoss | March 2024

Description

BC171886484518en-001501 | 99

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6020h Read input bit (buttons) (continued)
Sub-index

Name

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

22

Button 14

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

23

Button 15

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

24

Button 16

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

25

Button 17

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

26

Button 18

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

27

Button 19

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

28

Button 20

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

29

Button 21

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

30

Button 22

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

31

Button 23

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

32

Button 24

See Button 1 (Sub Index 9)

U8

ro

0

1

0

-

33

Button 1

0: Not Enabled
1: Enabled

U8

ro

0

1

0

-

34

Button 2

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

35

Button 3

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

36

Button 4

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

37

Button 5

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

38

Button 6

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

39

Button 7

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

40

Button 8

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

41

Button 9

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

42

Button 10

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

43

Button 11

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

44

Button 12

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

45

Button 13

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

46

Button 14

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

47

Button 15

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

48

Button 16

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

49

Button 17

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

50

Button 18

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

51

Button 19

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

52

Button 20

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

53

Button 21

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

54

Button 22

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

55

Button 23

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

56

Button 24

See Button 1 (Sub Index 33)

U8

ro

0

1

0

-

Data type

AccessMinimum

Maximum

Default

Unit/Scale

6401h Read analog inputs 16-Bit
Sub-index

Name

Description0

Number of
AnalogInputs 16-Bit

U8

ro

0

10

-

-

1

X-Axis
Proportional

S16

ro

-1000

1000

0

%*10

2

Y-Axis
Proportional

S16

ro

-1000

1000

0

%*10

100 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6401h Read analog inputs 16-Bit (continued)
Sub-index

Name

3

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

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

Axis 5

S16

ro

-1000

1000

0

%*10

7

Axis 6

S16

ro

-1000

1000

0

%*10

8

Axis 7

S16

ro

-1000

1000

0

%*10

9

Axis 8

S16

ro

-1000

1000

0

%*10

10

Axis 9

S16

ro

-1000

1000

0

%*10

Data type

AccessMinimum

Maximum

Default

Unit/Scale

6404h Manufacturer specific input 2-Bit
Sub-index

Name0

Number of
Mfg SpecificInputs 2-Bit

U8

ro

0

10

-

-

1

X-Axis
Proportional
Neutral State

U8

ro

0

3

0

00 – Neutral
01 – Out of
Neutral10 – Error
11 – Not
Available

2

Y-Axis
Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

3

Grip 1
Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

4

Grip 2
Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

5

Grip 3
Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

6

Axis 5
Neutral State

U8

ro

0

3

0

See Sub
Index 1

7

Axis 6
Neutral State

U8

ro

0

3

0

See Sub
Index 1

8

Axis 7
Neutral State

U8

ro

0

3

0

See Sub
Index 1

9

Axis 8
Neutral State

U8

ro

0

3

0

See Sub
Index 1

10

Axis 9Neutral State

U8

ro

0

3

0

See Sub
Index 1

© Danfoss | March 2024

Description

BC171886484518en-001501 | 101

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6405h Manufacturer specific reserved 16-Bit
Sub-index

Name

0

1

Description

Data type

AccessMinimum

Maximum

Default

Unit/Scale

Number of
Mfg SpecificReserved 16Bit

U16

ro

0

1

-

-

Reserved 1

U16

ro

0

216-1

0

Data type

AccessMinimum

Maximum

Default

Unit/Scale

ro

0

1

-

-

ro

0

3

0

6406h Manufacturer specific reserved 2-Bit
Sub-index

Name

Description0

Number of
Mfg SpecificReserved 2Bit

U8

1

Reserved 1

U8

102 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
Parameter/variable index - JS1-H CAN+
40h Device typeSub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

2-bit Proportional Axis (Neutral
State) data type.
0x00 = Neutral
0x01 = Out Of Neutral
0x02 = Error
0x03 = Not Available

U32

=

=

=

Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

001050191h: Joystick without digital
outputs

U32

=

=

=

Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

U8
Bit 0 (Generic): 1 in case of an
unknown error
Bit 1 (Current): Always zero Bit 2(Voltage): 1 in case of a voltage tohigh or low
Bit 3 (Temperature): Always zero
Bit 4 (Communication Error): Alwayszero
Bit 5 (Device Profile Specific): Alwayszero
Bit 6 (Reserved): Always zeroBit 7 (Manufacture-Specific): 1 incase of an IIC grip communication
error, or a calibration error

=

=

=

NEUTRAL_ST ATE

ro=1000h Device type
Device Type

const

See
description1001h Device register
Error Registerro=1003h Error log: CodeSub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0h

Log size

The entry at sub-index 0 contains
the number of actual errors that arerecorded starting at sub- index 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 abortmessage.

U8

rw

0

24

=

=

1h

Error 1 CodeEvery new error is stored at subindex 1, the older ones move down
the list.

U32

ro

0

232-1

=

=

2h

Error 1 Code

U32

ro

0

232-1

=

=

3h

Error 1 Code

U32

ro

0

232-1

=

=

4h

Error 1 Code

U32

ro

0

232-1

=

=

5h

Error 1 Code

U32

ro

0

232-1

=

=

6h

Error 1 Code

U32

ro

0

232-1

=

=

7h

Error 1 Code

U32

ro

0

232-1

=

=

© Danfoss | March 2024

BC171886484518en-001501 | 103

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1003h Error log: Code (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

8h

Error 1 Code

U32

ro

0

232-1

=

=

9h

Error 1 Code

U32

ro

0

232-1

=

=

Bh

Error 1 Code

U32

ro

0

232-1

=

=

Ch

Error 1 Code

U32

ro

0

232-1

=

=

Dh

Error 1 Code

U32

ro

0

232-1

=

=

Eh

Error 1 Code

U32

ro

0

232-1

=

=

Fh

Error 1 Code

U32

ro

0

232-1

=

=

10h

Error 1 Code

U32

ro

0

232-1

=

=
=

11h

Error 1 Code

U32

ro

0

232-1

=

12h

Error 1 Code

U32

ro

0

232-1

=

=

13h

Error 1 Code

U32

ro

0

232-1

=

=

14h

Error 1 Code

U32

ro

0

232-1

=

=

15h

Error 1 Code

U32

ro

0

232-1

=

=

16h

Error 1 Code

U32

ro

0

232-1

=

=

17h

Error 1 Code

U32

ro

0

232-1

=

=

18h

Error 1 Code

U32

ro

0

232-1

=

=

1008h Manufacturer device nameSub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

JS1-H device family name. Returns“JOYSTICK”

STR

=

=

=

Minimum

Maximum Default

Unit/Scale

=

=

=

Manufacturer Device
Name

Const

=

1009h Manufacturer hardware version
Sub-index Name
0

Description

Data type Access

Manufacturer Hardware Hardware part number.
STR
VersionThe part number will be different for
joystick models.

Const

=

100Ah Manufacturer software version
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

Software part number and version.

STR

=

=

=

Manufacturer Software
VersionConst=

1014h COB-ID EMCY message
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

Defines the COB-ID of the EMCY
object.

U32

0

232-1

=

COB-ID EMCY
Message104 | © Danfoss | March 2024

ro

80h+
Node ID

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1017h Producer heartbeat time
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

Time in milliseconds on how often
the Joystick will transmit aheartbeat.
A value of 0 will disable theheartbeat.
It requires a reboot for the value totake effect after change.

U16

0

232-1

=

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

Const

=

=

4

=

U32

Const

=

=

19h

=

Producerrw

201018h Identity object
Sub-index Name0

Number of entries

1

Vendor Id

2

Product Code

U32

Const

=

=

1h

=

3

Revision Number

U32

Const

=

=

10001h=4

Serial Number

Device serial number.

U32

Const

=

=

=

=

Description

Returns the Vendor Id for JS1-H =19h.

1200h Server SD01 parameters
Sub-index Name

Data type Access

Minimum

Maximum Default

Unit/Scale0

Number of entries

U8

Const

=

=

2

=

1

COB-ID used by SDO 1
rx

U32

ro

0

232-1

600h+
Node Id=

2

COB-ID used by SDO 1
tx

U32

ro

0

232-1

580h+
Node Id=

1800h Transmit PD01 communication parameters
Sub-index Name

Data type Access

Minimum

Maximum Default

Unit/Scale0

Number of entries

U8

Const

=

=

5

=

1

COB-ID used by PDO1
Tx

U32

ro

0

232-1

180h+
Node Id +
230

=

2

Transmission Type

FEh: event driven(manufacturer specific)

U8

ro

0

255

FEh

=

3

Inhibit TimeThe time is the minimum interval for U16
PDO transmission.
The value is defined as multiple of
100 microseconds.
The value of 0 shall disable theinhibit time.

rw

0

216-1

0

ms/10

4

Reserved

Not implemented; a read or write
access results in an SDO abort withabort code 06090011h.

=

=

=

=

=

=

5

Event TimeThe time is the maximum interval
for PDO transmission.
The value of 0 shall disable theevent timer, resulting in the PDO
not being transmitted.

U16

rw

0

216-1

20

ms

© Danfoss | March 2024

Description

BC171886484518en-001501 | 105

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1801h Transmit PDO2 communication parameters
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale0

Number of entries

U8

Const

=

=

5

=

1

COB-ID used by PDO2
Tx

U32

ro

0

232-1

280h+
Node Id +
230

=

2

Transmission Type

FEh: event driven(manufacturer specific)

U8

ro

0

255

FEh

=

3

Inhibit TimeThe time is the minimum interval for U16
PDO transmission.
The value is defined as multiple of
100 microseconds.
The value of 0 shall disable theinhibit time.

rw

0

216-1

0

ms/10

4

Reserved

Not implemented; a read or write
access results in an SDO abort withabort code 06090011h.

=

=

0

=

=

=

5

Event TimeThe time is the maximum interval
for PDO transmission.
The value of 0 shall disable theevent timer, resulting in the PDO
not being transmitted.

U16

rw

0

216-1

20

ms

Minimum

Maximum Default

1802h Transmit PDO3 communication parameters
Sub-index Name

Description

Data type Access

Unit/Scale0

Number of entries

U8

Const

=

=

5

=

1

COB-ID used by PDO3
Tx

U32

ro

0

232-1

380h+
Node Id +
230

=

2

Transmission Type

FEh: event driven(manufacturer specific)

U8

ro

0

255

FEh

=

3

Inhibit TimeThe time is the minimum interval for U16
PDO transmission.
The value is defined as multiple of
100 microseconds.
The value of 0 shall disable theinhibit time.

rw

0

216-1

0

ms/10

4

Reserved

Not implemented; a read or write
access results in an SDO abort withabort code 06090011h.

=

=

=

=

=

=

5

Event TimeThe time is the maximum interval
for PDO transmission.
The value of 0 shall disable theevent timer, resulting in the PDO
not being transmitted.

U16

rw

0

216-1

20

ms

1803h Transmit PDO4 communication parameters
Sub-index Name

Data type Access

Minimum

Maximum Default

Unit/Scale0

Number of entries

U8

Const

=

=

5

=

1

COB-ID used by PDO3
Tx

U32

ro

0

232-1

380h+
Node Id +
230

=

2

Transmission Type

U8

ro

0

255

FEh

=

106 | © Danfoss | March 2024

Description

FEh: event driven(manufacturer specific)

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1803h Transmit PDO4 communication parameters (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

3

Inhibit TimeThe time is the minimum interval for U16
PDO transmission.
The value is defined as multiple of
100 microseconds.
The value of 0 shall disable theinhibit time.

rw

0

216-1

0

ms/10

4

Reserved

Not implemented; a read or write
access results in an SDO abort withabort code 06090011h.

=

=

=

=

=

=

5

Event TimeThe time is the maximum interval
for PDO transmission.
The value of 0 shall disable theevent timer, resulting in the PDO
not being transmitted.

U16

rw

0

216-1

20

ms

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

39

39

=

1A00h Transmit PD01 map parameters
Sub-index Name

Description0

Number of Mapped
Applications Objects in
PDO1Tx1

Mapping for
Proportional Memory
Freeze Status

Example: 6000h:1
gives value=60000108h
where index=6000h
sub-index=01h
data type=08h (8bits)

U32

ro

0

0

60000108h=2

Mapping for Button 1

Button status

U32

ro

0

1

60200101h=3

Mapping for Button 2

Button status

U32

ro

0

1

60200201h=4

Mapping for Button 3

Button status

U32

ro

0

1

60200301h=5

Mapping for Button 4

Button status

U32

ro

0

1

60200401h=

6

Mapping for Button 5

Button status

U32

ro

0

1

60200401h=

7

Mapping for Button 6

Button status

U32

ro

0

1

60200401h=

8

Mapping for Button 7

Button status

U32

ro

0

1

60200701h=9

Mapping for Button 8

Button status

U32

ro

0

1

60200801h=

10Mapping for Button 9

Button status

U32

ro

0

1

60200901h=11

Mapping for Button 10

Button status

U32

ro

0

1

60200A01h=12

Mapping for Button 11

Button status

U32

ro

0

1

60200B01
h=13

Mapping for Button 12

Button status

U32

ro

0

1

60200C01h=

14

Reserved

Example: 6000h:2
gives value=60000204h
where index=6000h
sub-index=02h
data type=04h (4 bits)

U32

ro

0

0

60000204h=© Danfoss | March 2024

BC171886484518en-001501 | 107

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A00h Transmit PD01 map parameters (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

15

Mapping for Button 13

Button status

U32

ro

0

1

60200D01
h=16

Mapping for Button 14

Button status

U32

ro

0

1

60200E01h=17

Mapping for Button 15

Button status

U32

ro

0

1

60200F01h=18

Mapping for Button 16

Button status

U32

ro

0

1

60201001
h=19

Mapping for Button 17

Button status

U32

ro

0

1

60201101h=20

Mapping for Button 18

Button status

U32

ro

0

1

60201201
h=21

Mapping for Button 19

Button status

U32

ro

0

1

60201301
h=22

Mapping for Button 20

Button status

U32

ro

0

1

60201401h=

23

Mapping for Button 21

Button status

U32

ro

0

1

60201501h=24

Mapping for Button 22

Button status

U32

ro

0

1

60201601
h=

25

Mapping for Button 23

Button status

U32

ro

0

1

60201701
h=26

Mapping for Button

Button status

U32

ro

0

1

60201801h=27

Reserved

Example: 6000h:2
gives value=60000204h
where index=6000h
sub-index=02h
data type=04h (4 bits)

U32

ro

0

1

60000204h=

28

Mapping for Button 1

Button enabled

U32

ro

0

1

60201901h=29

Mapping for Button 2

Button enabled

U32

ro

0

1

60201A01h=30

Mapping for Button 3

Button enabled

U32

ro

0

1

60201B01
h=31

Mapping for Button 4

Button enabled

U32

ro

0

1

60201C01h=32

Mapping for Button 5

Button enabled

U32

ro

0

1

60201D01h=33

Mapping for Button 6

Button enabled

U32

ro

0

1

60201E01h=34

Mapping for Button 7

Button enabled

U32

ro

0

1

60201F01h=35

Mapping for Button 8

Button enabled

U32

ro

0

1

60202001
h=36

Mapping for Button 9

Button enabled

U32

ro

0

1

60202101h=

37

Mapping for Button 10

Button enabled

U32

ro

0

1

60202201h=

38

Mapping for Button 11

Button enabled

U32

ro

0

1

60202301
h=

39

Mapping for Button 12

Button enabled

U32

ro

0

1

60202401h=

108 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A01h Transmit PD02 map parameters
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

6

6

=

U32

ro

0

232-1

64010110
h

=

U32

ro

0

232-1

64010210h=0

Number of Mapped
Applications Objects in
PDO2Tx1

Mapping for X-Axis
Proportional

2

Mapping for Y-Axis
Proportional

3

Reserved

Example: 6405h:1
gives value=64050110h
where index=6405h
sub-index=01h
data type=10h (16 bits)

U32

ro

0

232-1

64050110h=4

Mapping for X-Axis
Neutral State

Example: 6404h:1
gives value=64040102h
where index=6404h
sub-index=01h
data type=02h (2 bits)

U32

ro

0

232-1

64040102h=5Mapping for Y-Axis
Neutral State

U32

ro

0

232-1

64040202h=6

Reserved

U32

ro

0

232-1

64060102h=Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

6

6

=

U32

ro

0

232-1

64010310
h=

Example: 6401h:1
gives value=64010110h
where index=6401h
sub-index=01h
data type=10h (16 bits)

Example: 6406h:1
gives value=64060102h
where index=6406h
sub-index=01h
data type=02h (2 bits)

1A02h Transmit PD03 map parameters
Sub-index Name

Description0

Number of Mapped
Applications Objects in
PDO3Tx1

Mapping for Grip 1
Proportional

2

Mapping for Grip 2
Proportional

U32

ro

0

232-1

64010410h=3

Mapping for Grip 3
Proportional

U32

ro

0

232-1

64010510h=4

Mapping for Grip 1 Axis Example: 6404h:3
Neutral State
gives value=64040302h
where index=6404h
sub-index=03h
data type=02h (2 bits)

U32

ro

0

232-1

64040302h=5Mapping for Grip 2 Axis
Neutral State

U32

ro

0

232-1

64040402h=6

Mapping for Grip 3 Axis
Neutral State

U32

ro

0

232-1

64040502h=© Danfoss | March 2024

Example: 6401h:1
gives value=64010310h
where index=6401h
sub-index=03h
data type=10h (16 bits)

BC171886484518en-001501 | 109

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
1A03h Transmit PD04 map parameters
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

4

4

=

U32

ro

0

232-1

64010610h=0

Number of Mapped
Applications Objects in
PDO4Tx1

Mapping for X100p11

2

Mapping for X100p12

U32

ro

0

232-1

64010710h=

3Mapping for X100p30

U32

ro

0

232-1

64010810h=

4

Mapping for X100p15

U32

ro

0

232-1

64010910h=

Example: 6401h:1
gives value=64010610h
where index=6401h
sub-index=06h
data type=10h (16 bits)

6000h Read input 8-bit
Sub-index Name0

Number of Inputs 8-Bit

1

Proportional Memory
Freeze2

Proportional Memory
FreezeDescription

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

1

=

=

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

6020h Read input bit (buttons)
Sub-index Name0

Number of Inputs Bits

1

Freeze Bit 1

2

Freeze Bit 2

110 | © Danfoss | March 2024

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

U8

ro

0

32

32

=

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6020h Read input bit (buttons) (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

3

Freeze Bit 3

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

4

Freeze Bit 4

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

5

Freeze Bit 5

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

6

Freeze Bit 6

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

7

Freeze Bit 7

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

8

Freeze Bit 8

Not supported
Memory status for the proportional
outputs.
0: memory function off (release
proportional values)
1: memory functions on (freeze
proportional values)

U8

ro

0

0

0

=

9

Button 1

0: Not Pressed
1: Pressed

U8

ro

0

1

0

=

10

Button 2

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

11

Button 3

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

12

Button 4

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

13

Button 5

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

14

Button 6

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

15

Button 7

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

16

Button 8

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

17

Button 9

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

18

Button 10

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

19

Button 11

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

© Danfoss | March 2024

BC171886484518en-001501 | 111

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6020h Read input bit (buttons) (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

20

Button 12

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

21

Button 13

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

22

Button 14

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

23

Button 15

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

24

Button 16

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

25

Button 17

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

26

Button 18

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

27

Button 19

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

28

Button 20

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

29

Button 21

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

30

Button 22

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

31

Button 23

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

32

Button 24

See Button 1 (Sub Index 9)

U8

ro

0

1

0

=

33

Button 1

0: Not Enabled
1: Enabled

U8

ro

0

1

0

=

34

Button 2

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

35

Button 3

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

36

Button 4

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

37

Button 5

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

38

Button 6

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

39

Button 7

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

40

Button 8

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

41

Button 9

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

42

Button 10

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

43

Button 11

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

44

Button 12

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

45

Button 13

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

46

Button 14

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

47

Button 15

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

48

Button 16

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

49

Button 17

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

50

Button 18

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

51

Button 19

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

52

Button 20

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

53

Button 21

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

54

Button 22

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

55

Button 23

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

56

Button 24

See Button 1 (Sub Index 33)

U8

ro

0

1

0

=

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

6401h Read analog inputs 16-Bit
Sub-index Name0

Number of Analog
Inputs 16-Bit

U8

ro

0

10

=

=

1

X-Axis Proportional

S16

ro

-1000

1000

0

%*10

2

Y-Axis Proportional

S16

ro

-1000

1000

0

%*10

112 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6401h Read analog inputs 16-Bit (continued)
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale

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

Axis 5

S16

ro

-1000

1000

0

%*10

7

Axis 6

S16

ro

-1000

1000

0

%*10

8

Axis 7

S16

ro

-1000

1000

0

%*10

9

Axis 8

S16

ro

-1000

1000

0

%*10

10

Axis 9

S16

ro

-1000

1000

0

%*10

Data type Access

Minimum

Maximum Default

Unit/Scale

6404h Manufacturer specific input 2-Bit
Sub-index Name

Description0

Number of Mfg SpecificInputs 2-Bit

U8

ro

0

10

=

=

1

X-Axis Proportional
Neutral State

U8

ro

0

3

0

00 –
Neutral01 – Out of
Neutral
12 – Error
13 – Not
Available

2

Y-Axis Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

3

Grip 1 Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

4

Grip 2 Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

5

Grip 3 Proportional
Neutral State

U8

ro

0

3

0

See Sub
Index 1

6

Axis 5 Neutral State

U8

ro

0

3

0

See Sub
Index 1

7

Axis 6 Neutral State

U8

ro

0

3

0

See Sub
Index 1

8

Axis 7 Neutral State

U8

ro

0

3

0

See Sub
Index 1

9

Axis 8 Neutral State

U8

ro

0

3

0

See Sub
Index 1

10

Axis 9 Neutral State

U8

ro

0

3

0

See Sub
Index 16405h Manufacturer specific reserved 16-Bit
Sub-index Name

Data type Access

Minimum

Maximum Default

Unit/Scale0

Number of Mfg SpecificReserved 16- Bit

U16

ro

0

1

=

=

1

Reserved 1

U16

ro

0

216-1

0

© Danfoss | March 2024

Description

BC171886484518en-001501 | 113

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
6406h Manufacturer specific reserved 2-Bit
Sub-index Name

Description

Data type Access

Minimum

Maximum Default

Unit/Scale=0

Number of Mfg SpecificReserved 2- Bit

U8

ro

0

1

=

1

Reserved 1

U8

ro

0

3

0

114 | © Danfoss | March 2024

BC171886484518en-001501

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
Error handling
GeneralWhen 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 the table 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.
Emergency message
Byte

0Content

Emergency error code

1

2

3

Error
register

Manufacturer specific

4

5

6

7

Emergency error codes
CANopen failure code
InputsVoltage highError code

Voltage low

Not calibrated

Manufacturer Error code
specific

Redundancy

Manufacturer Error code
specific

Manufacturer Error code
specific

Manufacturer
specificX

0x31100x80

0x31200x80

0xFF100x80

0xFF200x80

Y0x31100x81

0x31200x81

0xFF100x81

0xFF200x81

Grip X

0x31100x82

0x31200x82

0xFF100x82

0xFF200x82

Grip Y

0x31100x83

0x31200x83

0xFF100x83

0xFF200x83

Grip Theta

0x31100x84

0x31200x84

0xFF100x84

0xFF200x84

Manufacturer specific error codes
The manufacturer specific error codes are used to help identify which sensor has experienced failure.
Manufacturer specific definition
Byte 0 occurrence
counter

Byte 1 sensor identifier

Byte 2 not used

Byte 3 not 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

00

Error register
The error register can also be read at index 1001h:0.
Standard error resister (bit field) for the emergency message
Code© Danfoss | March 2024

Bit

Value

Generic00Current

10Voltage

20Temperature

30Communication

40

Device50Description

BC171886484518en-001501 | 115

Technical Information
JS1 Heavy Duty Joysticks
Appendix: CAN+ and CANopen protocol
Standard error resister (bit field) for the emergency message (continued)
Code

116 | © Danfoss | March 2024

Bit

Value

Reserved

60Manufacturer

70

Description

BC171886484518en-001501

Products we offer:

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Cartridge valves
DCV directional control
valvesElectric converters
Electric machines

Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic andelectric components. We specialize in providing state-of-the-art technology and solutions
that excel in the harsh operating conditions of the mobile off-highway market as well as themarine sector. Building on our extensive applications expertise, we work closely with you toensure exceptional performance for a broad range of applications. We help you and othercustomers around the world speed up system development, reduce costs and bring vehicles
and vessels to market faster.

Gear motors

Danfoss Power Solutions – your strongest partner in mobile hydraulics and mobile
electrification.

Gear pumps

Go to www.danfoss.com for further product information.

Hydraulic integrated
circuits (HICs)
Hydrostatic motors

We offer you expert worldwide support for ensuring the best possible solutions foroutstanding performance. And with an extensive network of Global Service Partners, we also
provide you with comprehensive global service for all of our components.

Electric motors

Hydrostatic pumps
Orbital motors
PLUS+1® controllers
PLUS+1® displays
PLUS+1® joysticks andpedals
PLUS+1® operator
interfaces
PLUS+1® sensors
PLUS+1® software
PLUS+1® software services,support and training
Position controls andsensors
PVG proportional valves
Steering components andsystems
Telematics

Local address:

Hydro-Gear
www.hydro-gear.com
Daikin-Sauer-Danfoss
www.daikin-sauer-danfoss.com

Danfoss
Power Solutions (US) Company
2800 East 13th Street
Ames, IA 50010, USA
Phone: +1 515 239 6000

Danfoss
Power Solutions GmbH & Co. OHG
Krokamp 35
D-24539 Neumünster, Germany
Phone: +49 4321 871 0

Danfoss
Power Solutions ApS
Nordborgvej 81
DK-6430 Nordborg, Denmark
Phone: +45 7488 2222

Danfoss
Power Solutions Trading(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
Jin Qiao, Pudong New District
Shanghai, China 201206
Phone: +86 21 2080 6201

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products
already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.

© Danfoss | March 2024

BC171886484518en-001501