Danfoss PLUS+1 JS1-H Instruction Manual

User and Safety Manual
PLUS+1®
JS1-H Steer by Wire
www.danfoss.com

Revision history Table of revisions
Date Changed Rev
December 2022 First edition 0101
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
2 | ©Danfoss | December 2022 AX436683569858en-000101

Document references Errata information............................................................................................................................................................................5
Important user information..........................................................................................................................................................5
Introduction
Steer by Wire Joystick Steering system.................................................................................................................................................................................7
Joystick overview..............................................................................................................................................................................8
Steering angle.............................................................................................................................................................................. 8
Direction light indicators..........................................................................................................................................................8
High and low beam....................................................................................................................................................................8
Auto-guidance............................................................................................................................................................................. 8
Horn control..................................................................................................................................................................................9
Force feedback.............................................................................................................................................................................9
Operator notification.................................................................................................................................................................9
Mechanical characteristics............................................................................................................................................................9
Joystick grip...................................................................................................................................................................................9
Joystick buttons........................................................................................................................................................................ 10
Joystick base...............................................................................................................................................................................10
Environmental characteristics...................................................................................................................................................10
EMC................................................................................................................................................................................................10
Temperature...............................................................................................................................................................................10
Environmental influences......................................................................................................................................................10
Electrical characteristics...............................................................................................................................................................11
Power supply..............................................................................................................................................................................11
CAN interface...................................................................................................................................................................................11
CAN Protocol..............................................................................................................................................................................11
CAN messaging format: SAE J1939-21..............................................................................................................................11
Network management: SAE J1939-81...............................................................................................................................11
Functional safety communications protocol: SAE J1939-76.....................................................................................12
Vehicle application layer: SAE J1939-71...........................................................................................................................12
Operation modes...........................................................................................................................................................................13
Bootloader mode......................................................................................................................................................................14
Normal operation..................................................................................................................................................................... 14
Safe state......................................................................................................................................................................................14
Power on self test (POST)............................................................................................................................................................ 14
Out of range detection.................................................................................................................................................................14
Functional Safety Compatibility...................................................................................................................................................................................15
External restrictions.......................................................................................................................................................................15
Product limitations...................................................................................................................................................................15
Certification Z10 047358 0005.................................................................................................................................................. 15
System integrator responsibility.............................................................................................................................................. 16
Safety architecture.........................................................................................................................................................................16
Function safety specification.....................................................................................................................................................17
Identification of configurations...........................................................................................................................................17
Safety functions declaration.................................................................................................................................................17
Safety monitoring functions declaration.........................................................................................................................17
Safe states....................................................................................................................................................................................17
Safety function response time.............................................................................................................................................17
Safety monitoring function response time.....................................................................................................................17
Safe transmission of joystick angle position...................................................................................................................18
Safe finger function (Button auto-guidance)................................................................................................................. 18
Monitoring of force feedback direction........................................................................................................................... 18
Monitoring of operator notification.................................................................................................................................. 18
Joystick safety perameters....................................................................................................................................................18
Functional safety system integration..................................................................................................................................... 19
Environmental control measures.............................................................................................................................................19
Force feedback over-temperature shut-down.............................................................................................................. 19
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Contents
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DC power supply...................................................................................................................................................................... 19
System Set-up Installation........................................................................................................................................................................................20
JS1-H Steer by Wire Connector interface.........................................................................................................................20
JS1-H Steer by WireDimensions and mounting points...............................................................................................21
Calibration........................................................................................................................................................................................ 21
System integration and testing................................................................................................................................................ 22
Vehicle fault insertion and testing......................................................................................................................................22
Safety validation testing........................................................................................................................................................ 22
Service part handling and repair instruction.......................................................................................................................22
Safety validation steps after replacing JS1-SBW with a service part or SW update..........................................23
Service tool.......................................................................................................................................................................................23
Appendix Troubleshooting - Typical faults...............................................................................................................................................24
Terms and abbreviations.............................................................................................................................................................24
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Contents
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Document Revision
JS1-H Steer by Wire Data Sheet 0101
JS1-H Steer by Wire release note 0214
JS1-H Steer by Wire User and Safety Manual 0101
Errata information
The latest errata information is always available on the Danfoss homepage: www.danfoss.com
The website contains errata information for the following:
•JS1-H Steer by Wire software
•Documentation
•PLUS+1®Service Tool
•Other topics related to the Steer-by-Wire Joystick
If further information to any errata is required, please contact your nearest Danfoss representative.
Important user information
Danfoss is neither responsible nor liable for indirect or consequential damages resulting from the use or
application of this equipment.
The examples and diagrams in this manual are included for illustration purposes. Due to the many
variables and requirements associated with any particular installation, Danfoss cannot assume
responsibility or liability for the actual use, based on the examples and diagrams.
Reproduction of whole or part of the contents of this user and safety manual is prohibited.
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Document references
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This User and Safety Manual explains details on the JS1-H Steer by Wire joystick as part of the EHD
system. The joystick is a fail-operational input device to the steering system and functionally safe up to
the following:
•SIL2 - IEC 61508:2010
•PL d, Cat 3 - ISO 13849:2014/2015 (Cat 2 for Monitoring Force Feedback)
•AgPL d , Cat 3 - ISO 25119:2018/2019 (Cat 2 for Monitoring Force Feedback)
This document covers safety functions, requirements, safety-related parameters, and application
verification. Additionally, it provides information on installing, configuring, and troubleshooting JS1-H
Steer by Wire.
Use this manual if you are responsible for designing, installing, configuring, or troubleshooting the JS1-H
Steer by Wire joystick in steer-by-wire applications.
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Introduction
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Steering system
The joystick JS1-H Steer by Wire is designed as steering input device for operator-controlled vehicles
running an EHD steering system. The following figure shows the entire steering system in which the
joystick JS1-H Steer by Wire is installed.
EHD System Overview
The EHD system is designed to prioritize joystick inputs over the GPS Auto-Guidance Controller. The
machine operator can therefore override the steering information applied while GPS is active.
The joystick grip is moved to the desired direction. The grip movement is captured by analog sensors
processing operator input as electrical signals. This applies to the steering as well as button inputs. JS1-H
Steer by Wire communicates redundant sensor and button data via CAN to the EHD.
For the haptic of steering, JS1-H Steer by Wire implements an active force feedback. Therefore, the
joystick receives information on the vehicle's instant ground speed via CAN. It accordingly drives a
stepper motor in the opposite direction the operator moves the grip and the applied force feedback
emulates the mechanical resistance to a conventional steering system.
The operator is notified on an error in the EHD system by vibration in the joystick grip.
Additionally, an acoustic alarm tone is generated by a buzzer inside the joystick. Operator notification is
not limited to errors in the joystick, but all components in the steering system.
W
Warning
The operator must select and engage the GPS auto-guidance controller as steering control device solely
for field operations and not for public road driving usage.
The EHD steering system includes a vast level of redundancy in order to secure the operability in any case
of component break-down or malfunction.
Since communication in the EHD system is solely wire-based, the installation position of steering system
components is not limited to a single location on the machine. Taking the cable length limitations and
environmental requirements into account, the installation positions are up to the system integrator.
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Steer by Wire Joystick
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Joystick overview
The JS1-SBW Joystick comes with features for technically replacing conventional steering wheels.
As an input device in a steer-by-wire system, the joystick’s main characteristics can be summarized as
follows:
JS1-H Steer by Wire
Steering angle
JS1-H Steer by Wire provides redundant information on the steering angle via two independent CAN
ports. Each CAN port likewise transmits redundant steering data. Hence, the level of redundancy is 4.
The joystick does not perform any evaluation or comparison on this data, but simply broadcasts it.
Direction light indicators
One of the joystick’s finger functions is to give the machine operator control over the vehicle’s direction
lights. Two buttons allow activating or deactivating the corresponding direction lights.
High and low beam
Switching between high and low beam is another finger function of JS1-H Steer by Wire. It allows the
operator to choose between high or low beam by a single button on the joystick.
Auto-guidance
In applications where the machine allows auto-guided driving, this button can be used for disabling an
active drive mode. This finger function is considered safety-relevant, because the operator needs to be
able to reliably disable auto-steering.
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Steer by Wire Joystick
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Horn control
The joystick provides a button for activating the vehicle’s horn. The button drives an external relay by
switching a provided voltage. This design allows using the horn even when the joystick itself is not
powered.
Force feedback
Active Force Feedback is an essential comfort function in JS1-H Steer by Wire. The Force Feedback
components enable emulating the physical haptics of steering a vehicle, even though there is no
mechanical connecting between the wheels and the joystick.
Monitor direction of the Force Feedback function is considered safety-relevant to prevent the motor shaft
from moving more than a defined amount in an unintended direction.
Operator notification
The operator notification consists of a buzzer tone and a vibration feedback. This is part of the
redundancy concept since the joystick is designed to reliably inform the operator about errors in the
steering system.
Vibration- and buzzer patterns are not configurable, as the following diagram shows.
OPN-Pattern-Buzzer
OPN-Pattern-Vibrate
Vibration Feedback Buzzer Signal
Pattern Period 1000ms 400ms
Pattern on Time 500ms 200ms
OPN Period 5000ms 1000ms
OPN On Time 2000ms 2000ms
Mechanical characteristics
Joystick grip
Maximum sideways load 900 N (100mm above the rotation point)
Maximum horizontal load 750 N (100mm above the rotation point)
Maximum vertical load 1000 N (applied straight down on the grip)
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Steer by Wire Joystick
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Joystick buttons
Buttons activation force 5 N ±10%
Buttons overload force 100 N for 1000 activations
Joystick base
Lever deflection angle ±30°, tolerance: ±3°
Return to center tolerance ±1°
Environmental characteristics
The system integrator must ensure an appropriate installation position.
JS1-H Steer by Wire must not be installed in environments where the ambient temperature exceeds 85°C.
In case of uncertainty, contact a Danfoss representative for further information.
EMC
Radiated EMI CISPR 25:2008, DIN EN 55025, class 3 (except GPS L1 & GLONASS L2 are
no compliance)
Conducted EMI CISPR 25:2008, DIN EN 55025, class 4 (exception FM band: class 3)
Radiated EMS ISO 11452-2:2004, 100 V/m
Conducted EMS ISO 11452-4:2011, 200 mA
Automotive transient pulses 1, 2a, 2b, 3a &
3b ISO 7637-2:2012
Automotive starting profile ISO 16750-2:2012 (Note: Us6=5.5V)
Automotive load dump protection ISO 16750-2:2012 (12V system) (Only Force Feedback & Ext. Relay)
ESD Contact 8 kV, Air 15 kV ISO 61000-4-2:2009 & ISO 10605:1994
Temperature
Operating Temperature w/o force feedback function -20°C to +70°C
Operating Temperature with force feedback function -20°C to +60°C
Storage temperature -40°C to +85°C
Environmental influences
Pressure Not applicable
Chemical Resistance ISO 16750-5:2010
Vibration Sinus Random ISO 16750-3:2012, 10 - 2000 Hz/21.3m/s^2 RMS
Vibration Shock IEC 60068-2-27:2008, 30g/11ms
Humidity IP54
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Steer by Wire Joystick
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Electrical characteristics
Power supply
The supply voltage scheme in JS1-H Steer by Wire is characterized by three different parts.
1. Each joystick channel A and B is equipped with independent internal power supplies. This is part of
the safety concept and fulfills fail-operational reliability regarding:
•SIL2 - IEC 61508:2010
•PL d, Cat 3 - ISO 13849:2014/2015 (Cat 2 for Monitoring Force Feedback)
•AgPL d, Cat 3 - ISO 25119:2018/2019 (Cat 2 for Monitoring Force Feedback)
2. The joystick’s Force Feedback is powered separately. The joystick implements load-dump protection
for it.
3. The machines' horns can be activated through an external relay. Supply voltage of the horn is
intentionally not provided by the joystick so the horn remains functional even when the joystick is
not powered.
Supply Voltage Max current consumption
Joystick +5.5V…+16V DC 0.5 A per channel
Force Feedback +11V…+16V DC 1.5 A
External Relay +9V…+16V DC 250 mA
For additional information please see DC power supply on page 19.
CAN interface
In the EHD steering system, JS1-H Steer by Wire integrates dual-channel CAN functionality.
Both CAN interfaces run simultaneously and provide steering, control, and status data to the connected
EHD.
All CAN interfaces run at a Baud rate of 250k.
JS1-H Steer by Wire has two redundant processing units per CAN channel:
•Channel A: 2 nodes
•Channel B: 2 nodes
JS1-H Steer by Wire will only work correctly if both CAN interfaces are connected.
It is the responsibility of the OEM system integrator to establish an appropriate CAN bus wiring between
JS1-H Steer by Wire and EHD. Regular CAN wiring requirements apply.
For more information please contact a Danfoss Power Solutions representative.
CAN Protocol
For securing data transmissions, JS1-H Steer by Wire implements the SAE-J1939 CAN Protocol with Safety
Extensions.
CAN messaging format: SAE J1939-21
•PDU1 format if PDU format byte is less than 240
•PDU2 format if PDU format byte is greater than 239
Network management: SAE J1939-81
CAN node ID addresses:
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•MCU A1: 51
•MCU A2: 52
•MCU B1: 53
•MCU B2: 54
Functional safety communications protocol: SAE J1939-76
Safety header for SAE J1939-71 is used with the following format:
Start
position Length Name
1.1 1 bit Inverted SDM data page (always 1)
1.2 1 bit Inverted SDM extended data page (always 1)
1.3 1 bit Reserved (set to 1)
1.4 5 bits SDG sequence number
2 1 byte Inverted joystick address
3 1 byte Inverted PDU specific value of joystick message
4 1 byte Inverted SDM PDU format value of joystick message
5-8 4 bytes Data CRC of all 8 byte of joystick message (polynomial 0x6398392D)
Vehicle application layer: SAE J1939-71
BJM1 messages is used to transmit on CAN bus using the following message ID data:
•Data length: 8 bytes
•Extended data page: 0
•Data page: 0
•PDU format: 253
•PSU specific: 214 PGN supporting information:
‒Default priority: 3
‒Parameter group number: 64982 (0x00FDD6)
BJM1 SPN data format:
Start
position Length Name SPN
1.1 2 bits Joystick X-Axis Neutral Position Status
0x00: Not in Neutral Position
0x01: In neutral Position
0x02: Error Indicator
0x03: Not Available
2675
1.3 2 bits Joystick X-Axis Lever Left Negative Position Status
0x00: Not on negative side of Neutral
0x01: On negative side of Neutral
0x02: Error Indicator
0x03: Not Available
2670
1.5 2 bits Joystick X-Axis Right Positive Position Status
0x00: Not on positive side of Neutral
0x01: On positive side of Neutral
0x02: Error Indicator
0x03: Not Available
2665
1.7-2 10 bits Joystick X-Axis Position
0-1000: Joystick position in 0.1%
1022: Error Indicator
2660
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Start
position Length Name SPN
5.1 2 bits Force feedback error status
0x00: No error
0x01: POST Error
0x02: Online Error
0x03: Missing incoming EHD Communication
(FF disabled)
NA
5.3 2 bits OPN error status
0x00: NO Error
0x01: POST Error
0x02: Online Error
0x03: Missing incoming EHD communication (OPN active)
NA
5.5 2 bits Joystick Y-Axis Detent Position Status
(Used for Force Feedback status)
0x00: Active
0x01: Not Active
0x02: Error Indicator (refer to bits 5.1..2 for reason)
0x03: Not Available
2681
5.7 2 bits Joystick X-Axis Detent Position Status
(Used for OPN status)
0x00: Active
0x01: Not Active
0x02: Error Indicator (refer to bits 5.3..4 for reason)
0x03: Not Available
2680
6.1 2 bits Joystick 1 Button 4 Pressed Status (Auto-Guidance)
0x00: Not pressed
0x01: Pressed
0x02: Error Indicator
0x03: Not Available
2688
6.3 2 bits Joystick 1 Button 3 Pressed Status (Indicator Right)
0x00: Not pressed
0x01: Pressed
0x02: Error Indicator
0x03: Not Available
2687
6.5 2 bits Joystick 1 Button 2 Pressed Status (Indicator Left)
0x00: Not pressed
0x01: Pressed
0x02: Error Indicator
0x03: Not Available
2686
6.7 2 bits Joystick 1 Button 1 Pressed Status (H/L beam)
0x00: Not pressed
0x01: Pressed
0x02: Error Indicator
0x03: Not Available
2685
The joystick will transmit SAE-J1939 messages every 50 ms per CAN channel.
Operation modes
JS1-H Steer by Wire implements different operating modes in software:
1. Bootloader Mode
2. Normal Operation
3. Safe State
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Steer by Wire Joystick
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Bootloader mode
On power-up, JS1-H Steer by Wire will automatically enter the Bootloader Mode. Each MCU scans its
memory for installed application software. If detected, the bootloader will start the software and the
joystick will run in Normal Operation.
If no software is installed, the affected MCU will remain in Bootloader Mode. This can be verified by
checking the Danfoss PLUS+1®Service Tool.
Normal operation
In Normal Operation, the joystick performs all its operations as described in Joystick overview on page 8,
taking inputs and converting them to corresponding CAN messages.
Before starting the regular processing, the software performs a self-test. If at least one of the test steps
fails, the joystick will enter the Safe State.
Safe state
JS1-H Steer by Wire enters a Safe State whenever it detects an error. The software reacts to those errors
by taking specified actions in accordance to the error classification.
By design, JS1-H Steer by Wire offers only limited performance in Safe State. Critical or affected modules
are disabled, but the joystick stays operational.
A Safe State can only be reset through a power-cycle. This means, the one-time occurrence of a single
error leads to entering the Safe State. Recovering the error does not bring the joystick back to Normal
Operation.
Power on self test (POST)
In order to perform POST during start up the joystick is dependent on stable supply voltage, POST is
triggered by the EHD. When EHD exits “Safety Check” the joystick performs POST on Force Feedback and
Operator Notification.
When the internal logic power supply is stable the joystick will output a valid steering angle independent
of the POST status.
Out of range detection
The “Out of range detection” is comparing the Axis sensor input voltage to the max value.
If the input voltage is above the respective max value the joystick reports an error on Channel A.
Channel B will continue to transmit valid steering angle, making it possible to run the system at a
degraded level.
If the input voltage returns to valid range, Channel A will clear the error and report valid steering angle.
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Steer by Wire Joystick
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Compatibility
The safety mechanisms described in this document are based on the following software versions:
•Bootloader V7.20
•EOS AppLayer Software V1.00 with Modular Safety Kernel V1.70
•Application Software V2.14
The following hardware restrictions apply:
•PCB version ED92000108-B01
•Assembly BOM version A11
External restrictions
The steering controller EHD produced by Danfoss provides load-dump protected supply voltage from
two independent power sources to the joystick. Make sure that only these power sources are used for
supplying JS1-H Steer by Wire.
For more information, please refer to Installation on page 20.
JS1-H Steer by Wire must be installed together with EHD version 1.31 or newer.
•A hazard and risk analysis must be conducted before using safety functions.
•The system integrator shall evaluate if the provided safety functions are suitable for reducing
potential risks.
•The system integrator shall configure and validate the safety function in the final installation.
Product limitations
JS1-H Steer by Wire relies on a load-dump protected power supply by the EHD controller. Those power
supplies are completely independent and must not be interlinked.
The joystick internally connects both ground lines. This enables JS1-H Steer by Wire to stay operational if
one of the ground connections is interrupted.
C
Caution
It is strongly recommended to use only properly insulated power lines to prevent any short circuits. In
case of an electrical short on one joystick channel, the equipment will still work on the other channel with
reduced performance on system level.
Certification Z10 047358 0005
The JS1-H Steer by Wire steering joystick is certified for use in on- and off-road safety applications with an
on-road usage of less than 10% according to the following:
•SIL2 - IEC 61508:2010
•PL d, Cat 3 - ISO 13849:2014/2015 (Cat 2 for Monitoring Force Feedback)
•AgPL d, Cat 3 - ISO 25119:2018/2019 (Cat 2 for Monitoring Force Feedback)
The certificate explicitly does NOT cover safe on-road systems as per SIL 3, PL e, and AgPL ein its entirety
as it requires external circuitry, which is not in scope of the assessment.
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Functional Safety
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The certification is not a guarantee for that the realized functional safety is sufficient for any machine. The
OEM system integrator is responsible for analyzing the hazard and risks for a particular machine and
evaluate if the risks are sufficiently reduced by the provided safety functions.
System integrator responsibility
The OEM integrator is responsible for the following:
•Maintaining an organization responsible for functional safety of the system
•Ensuring that only authorized and trained personnel perform functional safety related work
•Choosing reliable components
•Completing a System Hazard & Risk Analysis and establishing the required risk reduction targets
•Reassessing the hazard & risk every time the system is changed
•Ensuring that the derived risks are properly reduced by the safety functions provided by the JS1-H
Steer by Wire steering joystick
•Approving certification and homologation of the entire system to the desired risk reduction level
•Installation, set-up, safety assessment, and validation of the interfacing sensor sub-systems
•Validating that the safety functions reduce the risks as expected
•Any related non-safety standards that should be fulfilled for the application and its components
•Verifying the environmental robustness suitability of the JS1-H Steer by Wire steering joystick to
installation in the final system in its surrounding environment
•Periodically inspecting for errata information updates
Safety architecture
The following illustration shows the abstract safety architecture of JS1-H Steer by Wire. Due to the
applicable safety requirements, the joystick implements different levels of redundancy for securing
safety-related functions.
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Functional Safety
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An extensive FMEA process led to the available safety architecture. Three key mechanisms are part of the
resulting safety concept: redundancy, diagnostic functions, monitoring functions.
Function safety specification
Identification of configurations
JS1-H Steer by Wire does not support different configurations. All functions are as specified and
described within this document and the data sheet. No configuration necessary.
Safety functions declaration
1. Safe Transmission of Joystick Angle Position
2. Safe Finger Function (Button Auto-Guidance)
Safety monitoring functions declaration
1. Monitoring of Force Feedback Direction
2. Monitoring of Operator Notification
Safe states
The following Safe States exist for each of the four processing units within JS1-H Steer by Wire:
1. Signal Safety Error
•The joystick notifies the connected EHD controller about an internal error via CAN messages.
Affected functions may be abandoned. Unaffected functions remain operable, basic joystick
functionality (steering, button input) is still given.
2. Communication Stop
•The affected processor interrupts the communication to the EHD controller. No messages are sent
to the CAN bus from the corresponding CAN Node. Due to the second CAN channel, the joystick
functionality is still given.
3. Force Feedback Safe Stop
•The Force Feedback comfort function is disabled. Other functions remain operable, joystick
functionality is still given.
Upon entering one of the Safe States, JS1-H Steer by Wire can only be reset by performing a power
down/up.
Safety function response time
The safety response time is defined as the period of time between a failure is first observed by the
diagnostics and the time by which the corresponding safe state is entered.
Safety Function Fault Reaction / Risk Mitigation Safety Response Time
1. Safe Transmission of Joystick Angle Position 1. Signal Safety Error
3. Force Feedback Safe Stop
80 ms
2. Provide a Safe Finger Function (ButtonAuto-Guidance) 1. Signal Safety Error 80 ms
Safety monitoring function response time
The monitoring function response time is defined as the period of time between a failure is first observed
by the monitoring and the time by which the corresponding safe state is entered.
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Functional Safety
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Monitoring Function Fault reaction/risk mitigation Safety Response Time
1. Monitor Direction of Force Feedback 1. Signal Safety Error
3. Force Feedback Safe Stop
370 ms
2. Monitor Operator Notification 1. Signal Safety Error 170 ms + OPN pattern period (8s)
Safe transmission of joystick angle position
The joystick’s single axis angular position in range of -30° to +30° is transmitted periodically via CAN (see
CAN Protocol on page 11).
Safe finger function (Button auto-guidance)
The state of the Safe Finger Function is transmitted periodically via CAN (see CAN Protocol on page 11).
Monitoring of force feedback direction
A monitoring function that monitors force and direction of the grip torque.
Note: This function prevents the motor shaft from moving more than a defined amount in the
unintended direction. (IEC 61800-5-2:2016, sec. 4.2.4.11)
Monitoring of operator notification
A monitoring function that monitors the operator notification to ensure that the machine operator is
correctly notified, in case of a failures only.
Joystick safety perameters
Safety parameter Specification Description
SIL 2
IEC 61508:2010
PFH 4,2 ∙ 10-8 [1/h]
Component type B
SFF 98 %
DC 98 %
Architecture /category 1oo2D
Architecture /category
Monitoring of Force Feedback
1oo1
Proof test interval/mission time 8 Hours
Reliability handbook Siemens SN29500 Calculations are performed at an average temperature
equal to 80 °C
B10d Joystick 17.000.000
[cycles] Mechanical Joystick
B10d Safe Finger Function (Button
Auto-Guidance) 1.000.000 [cycles] Mechanical Joystick Safe Finger Function (Button Auto- Guidance)
AgPL/PL d Maximum achievable performance level
MTTFd 513 years ISO 13849:2014/2015
ISO 25119:2018/2019
DCavg 98 % ISO 13849:2014/2015
Category 3 ISO 13849:2014/2015
ISO 25119:2018/2019
Category for
Monitoring of Force Feedback
2ISO 13849:2014/2015
ISO 25119:2018/2019
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Functional Safety
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Safety parameter Specification Description
CCF analysis 75 ISO 13849:2014/2015
ISO 25119:2018/2019
Software Requirement Level SIL2 / SRL3 IEC 61508:2010
ISO 13849:2014/2015
ISO 25119:2018/2019
Source: JS1-SBW Component FMEDA and Lifetime Test.
Functional safety system integration
As shown in the steering system overview, JS1-H Steer by Wire requires an EHD as steering controller to
be present on both available CAN busses. The entireness of Functional Safety can only be obtained by
following the given system architecture.
It is strongly recommended that the system integrator performs a System-Level Failure Mode Effects
Analysis (FMEA) for installation of the steering-by-wire system to the vehicle.
Environmental control measures
Generally, JS1-H Steer by Wire does not monitor its temperature. Therefore, exceeding the allowed
ambient temperature could cause permanent damage of the joystick.
Force feedback over-temperature shut-down
The joystick JS1-H Steer by Wire implements over-temperature security mechanisms for its Force
Feedback components. In the unlikely occurrence of exceeding the allowed temperature threshold inside
the joystick housing, Force Feedback will immediately be disabled. This will also send the joystick into
safe state and send out Force feedback error, meaning it will remain operable at limited performance
until the next power-down.
DC power supply
JS1-H Steer by Wire is designed to reliably operate at battery voltages between 5.5V and 16V. Internal
protection circuitry ensure that the joystick’s electronics can withstand absolute maximum voltage peaks
of 26V for 5 minutes. Polarity protection withstands voltages down to -16V.
During engine cranking, the joystick will remain functional, even though the supply voltage may reach
excessively low levels, especially in cold conditions.
If the general power supply goes below 5.5V, JS1-H Steer by Wire will shut down without sending any
warning.
Force Feedback is supplied separately. The allowed operating range is 11V to 16V; additional load dump
protection is in place and reverse polarity protection secures the joystick down to -16V. However, Force
Feedback will not be functional during engine cranking!
If the Force Feedback’s supply voltage dips below 11V, Force Feedback can not be expected to be
functional. Between 10V and 11V it will not be comfortable and the noise level increases. Below 10V there
will be no Force Feedback.
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
Functional Safety
©Danfoss | December 2022 AX436683569858en-000101 | 19

Installation
JS1-H Steer by Wire Connector interface
The JS1-H Steer by Wire comes with a single connector interface option. As introduced by the joystick’s
safety concept, both channels run independently. This is also reflected by the connector interface; there
is one physical connector for each of the two channels.
C1 pin Function Diagram
1 Ground (common)
2 Power supply A
3 Steering Bus A-H
4 Steering Bus A-L
5 CAN Shield A
6 FF Power
7 Horn Signal
8 Horn Power
C1 pin Function Diagram
1 Ground (common)
2 Power supply B
3 Steering Bus B-H
4 Steering Bus B-L
5 CAN Shield B
6 NC
Please refer to the JS1-H Steer by Wire data sheet for further inforation on technical details.
for further
User and Safety Manual
PLUS+1® JS1-H Steer by Wire
System Set-up
20 | ©Danfoss | December 2022 AX436683569858en-000101