© Danfoss | August 2018 AQ00000211 | 117
Elobau joystick message i.e. BJM/EJM contains ‘x-axis position status’, PVED-CLS performs validation on the x-axis
position status as shown in below table.
X-axis position status bits in Byte1 of BJM
X-axis Position
Status
Right position status Left position status Neutral position status
bit6 bit5 bit4 bit3 bit2 bit1
0 0 0 1 0 0 Left - Valid
0 0 0 0 0 1 Neutral - Valid
All Remaining combinations
Invalid, Trigger
Safe State
Table 51
PVED-CLS also checks if the Joystick position status and X-axis position are consistent with each other, if not PVED-
CLS triggers safe state.
11.12.2 Validation and Scaling of Elobau Joystick Position
Error check on the received x-axis position signal is performed in both main and safety controller i.e. if received x-axis
position is greater than 1000 then PVED-CLS will trigger safe state.
During Scaling, X-axis position received will be converted to PVED-CLS internal resolution i.e. from -1000 IR to
+1000 IR and is performed by considering following conditions
• If received ‘X-axis position status’ is ‘X-axis position Left’ (01) then
Scaled joystick position = X-axis position * (-1), hence obtained value will be between -1000 IR to -1 IR
• If received ‘X-axis position status’ is ‘X-axis position Right’ (01) then
Scaled joystick position = X-axis position, hence obtained value will be between 1 IR to 1000 IR
• If received ‘X-axis position status’ is ‘X-axis position Neutral’ (01) then
Scaled joystick position = 0 IR
Scaled X-axis position in IR is calculated in both main and safety controller and then exchanged with each other for
signal crosscheck. In case the difference between scaled values is greater than allowed tolerance specified by P3369
(Channel cross-check monitoring - Max AUX joystick position divergence) continuously for more than the time specified
by P3368 (Channel cross-check monitoring - max AUX joystick position divergence time) then safe state will be
triggered.
For information to set the above two parameters P3369 and P3368, please refer the ELOBAU document
“Operating/Safety Manual for J4F with 351JCM”.
11.12.3 Time guarding on Elobau Joystick Messages:
PVED-CLS also performs time guarding on BJM/EJM messages received from ELOBAU joystick. P3291 (CAN
message monitoring - AUX message monitoring - Max time difference between two messages) specifies the delta time
between two consecutive BJM/EJM messages. Safe state will be triggered if next message is not received within time
specified by P3291.
For information to set the above two parameters P3291, please refer the ELOBAU document “Operating/Safety Manual
for J4F with 351JCM”.
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