Electronic remote control RE 29896/04.

09
Replaces: 04.07
1/28

for mobile application

Type EJ

Series 1X

Type 8EJ H 1)

Table of contents Features

Content Page – Specially designed for mobile machines forklift truck or
Functional description, cross-section 2 tractor type.
Unit dimensions 3 – Types available: PWM Signal or CAN.
Ordering details and BODAS configurations 4 – Up to 4 proportional axis integrated.
Mechanical technical data 5 – Large selection of ergonomic grips with various E-contacts
on / off rockers or proportional control.
Software parameters guidelines 5
– The design ensures an excellent protection of electronics.
PWM signal characteristics
– Hall effect contactless sensors.
• Electrical 6, 7
• Software 8 to 12
CAN bus characteristics
• Electrical 13 to 15
• Software 16 to 23
Safety features and guidelines of the EJ 24
Installation guidelines 24
Programming tool for PWM signal
and CAN joysticks 25
Pin assignment 26

1) Noncontractual picture
2/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Functional description, section

Design With deflection of the handle (1), plunger (5) pushes against
Remote controls type EJ are mainly composed of a han- return spring (8). The magnet (7) mechanically linked to the
dle (1), a fixation body or plate (2) and a cover (3) containing lever (9) of the handle (1) moves upward or downward while
the contactless sensors and electronic cards. following the operating element actuation direction. The com-
mand value generated by the sensor (4) is proportional to the
General deflection of the lever.
The main differences between types of EJ are the integrated A rubber boot (6) protects the mechanical components of the
electronic functions and the type of output signals. housing from external contamination.
The remote controls PWM Signal and CAN integrate a power
Application
supply regulation and can therefore be supplied by the vehi-
cle battery directly. Remote controls type EJ is for armrest installation and for the
remote control of mobile machines equipment (forklift truck,
The remote control CAN periodically generates a frame on
tractor). The electronics integrated in the joystick enables the
CAN bus which allows the communication with other systems.
remote control of up to 4 proportional axis if it is connected to
The remote controls PWM Signal and CAN only generate low the proportional sensors inside the grip.
power signals. The actuation of an electrohydraulic axis re-
In the PWM version, additional functionality dedicated to agri-
quires a further external electronic power interface.
cultural application, such as floating function, can be config-
Remote controls fitted with microcontrollers communicate with ured. Please consult us for more details.
the PC through ISOK interfaces.
Standard joystick BODAS EJ
Function principle
Pre-configured EJ standard configurations fitting to the
When not actuated the operating element is held in neutral Rexroth BODAS Mobile Electronics System can also be or-
position by the return springs (8). dered directly from Mobile Electronics. See ordering details
page 4 for more details.

EJ section

5
6
8 7

4
2
3
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 3/28

Unit dimensions (in mm)

Joystick EJ

2+

102 x 102
1- 1+

2-
Ø113 to Ø116

202 189
20 20 20
20
3 (rotation axis)

235
X
2+ Maxi 2– Mini 1– Mini 1+ Maxi
100 min

102
35
300 min

70 136 53
70
78
129

2-

1- 1+

2+

Unit dimension in function of the grip type

Type of grip X (with straight lever)
EC2000 188
EC2000+ 197
EC4000 233
4/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Ordering details

EJ 1X 03 *

Number of axis Further details in clear text

2 axis =4 Plug
3 axis 1) =6 5 = Deutsch sealed plugs IP67 for
4 axis 2) =8 the wiring of the grip and solenoid
Type of output no code = no plug
Signal PWM = SW Grip orientation / Machine
CAN =C 03 = Lever straight and grip towards 1–
Type of controller no code = Without grip
Grip EC2000 3) =E Grip type
Grip EC4000 =H TT, ST, VT, YT, YU = Grip type E
Grip EC2000+ =I Grip type H, I, G see datasheet:
Grip EC3000+ =G RE 64547
Without lever =Z no code = Other grip
Other grip = no code

Standard BODAS EJ Configurations

(default software parameters)
4 EJ C E -1X / TT 03 5: 2 axes, CAN interface, handle
EC2000 without push buttons
4 EJ C E -1X / VT 03 5: 2 axes, CAN interface, handle
EC2000 with 2 push buttons
4 EJ C E -1X / YU 03 5: 2 axes, CAN interface, handle
EC2000 with 4 push buttons

These part numbers are to be ordered from Rexroth Mobile

Electronics Elchingen.

Note:
Standard BODAS EJ equipped with VT or YU handles feature
an inverted connector on the handle that allows to directly
plug the handle connector into one of the joystick base
connectors.

1) 6EJ with grip EC2000+ or EC4000 or EC3000+

2) 8EJ with grip EC4000
3) 4EJ only
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 5/28

Mechanical technical data (for applications outside these parameters, please consult us)

Lifetime 3 millions actuation cycles 1)

Temperature range
Storage, ambient °C –40 to +80
Operation °C –20 to +60
Resistance to vibrations and shocks According to CDC 381002. Consult us
Electronic protection degree IP 67
Actuation Torque Nm
Stroke start 0.6
Full stroke position 1.5
Maximum permissible at the operating 100
element with an exceptional, one-time
loading
Actuation angle in degree
On all axis 20°
Weight Kg 0.9

Software Guidelines

Parameters properties

For PWM signal, print and fill pages 11 to 12.

For CAN signal, print and fill pages 21 to 23.
You will have to fill the parameters values following these rules:
Parameter Value Available Range Default

(give the names (enter your choice here) (give information (give the default value if
of parameter list) about possible values) no choice has been done)
[X-Y]
This means that you can
select a value between
X and Y, the resolution
is done with the unit.
[X;Y]
This means that you can
select only X or Y.

PARAMETER_NAME – Function 1 Default Value and Unit

– Function 2
…
This means that you can
select only 1 Function in the
function list 1,2…
YES / NO
Select YES to have the
function active or NO to have
the function inactive

1) Life test realized with the operating torques (i.e. at full stroke position).
6/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Electrical technical data PWM Signal (for applications outside these parameters, please consult us)

Power supply V 9 to 32 VDC

Maximum current consumption mA 300
Proportional Signal
Proportional signal duty cycle %
Full stroke towards 1+ or 2+ 90 % ±2.5 % 1)
Neutral 50 % ±2.5 % 1)
Full stroke towards 1– or 2– 10 % ±2.5 % 1) (i.e. 7.5 % to 12.5 %)
PWM Signal frequency Hz 196
High voltage signal V 4 to 5
Low voltage signal V 0 to 1
Maximum sourcing current mA 20
Digital Input / Output (DIG_IN_OUT)
Characteristic Adjustable by programming
Input function connected to a switch To ensure a minimum current when switching off the
connected switch, each inlet is fitted with an internal
V bat
pull up resistance of 8.2 KΩ.
The switch must be fitted to a 5 mA current.

Output function When the ouput is inactive, take into account the pull
up 8.2 KΩ resistance to set the output voltage
Output function connected with a relay The relay must have a minimal current of activation of 10 mA

Output function connected with a LED The LED must have a 500 Ω resistance in parallel to reduce
its alimentation voltage under 2 V when output is idle

Output function connected to a logical input The logical input must have a 500 Ω resistance in parallel to
reduce its alimentation voltage under 2 V when output is idle

Maximum sourcing current mA 200 (with resistive load)

Protections
Protection against polarity reversal Outputs protected between 0 and 32 V
Protection against short circuits Yes
Fuse A 2
Electromagnetic compatibility (EMC)
Magnetic field according to ISO 11452 part 2 V/m 100
Current injection according to ISO 11452 part 4 mA 200
Direct electrostatic discharge kV ±6
Electrostatic discharge in the air kV ±8
Further data Consult us

1) The tolerance is function of the full scale range and takes into account thermal drift and lifetime.
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 7/28

Electrical technical data PWM Signal (for applications outside these parameters, please consult us)

Wiring: block diagram

S A
0 I
II M
VBAT (Pin 1) III D
FUSE EMERGENCY OFF
GND (Pin 2)
+12 VDC / +24 VDC

PWM_OUT_1 (Pin 11)

ECM
PWM_OUT_2 (Pin 12)

DIG_IN_OUT_1 (Pin 7) Low side Programmable

Input Output used as
DIG_IN_OUT_2 (Pin 8)
INPUT (GND)
DIG_IN_OUT_3 (Pin 9)

High side Programma-

ble Input Output used
as OUTPUT (VBAT)

EJSW

Programming tool: see page 25

Pin assignment: see page 26

Output characteristic
The proportional signal (%) is the ratio between
the time at high side and the time at low side

Proportional Signal 90 %
Proportional Signal
V Tperiod (% of duty cycle)
4-5 90 %

50 %

0 S
Proportional Signal 50 %
4-5
10 %
–98 % –8 % +8 % 98 % Angle
–100 % 100 %

Directional Signal
0 S
Proportional Signal 10 %
4-5
Direction – Direction +

–100 % –8 % +8 % 100 % Angle

0 S
8/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

PWM Signal Software parameters

PWM Signal Outputs

PWM Duty cycle (%)

DUTY_CYCLE_MAX

50 %

100-DUTY_CYCLE_MAX
Travel angle (%)

–100 98 100
NEUTRAL_DEAD_BAND

Please refer to board #1 1)

Digital Input / Output Port

SIGNAL PWM integrate 4 Digital Configurable Input Output ports and 3 Digital Not Configurable Input ports. Inputs are active
when they are connected to ground by external circuitry and inactive when disconnected from ground, pull up is done internally.
Consider the internal pull up 8.2 kOhm resistors when Output is inactive for external load and voltage level calculation:

V BAT V BAT

Output Port Output Port

Inactive Active

Please refer to board #2 1)

1) boards are at the end of this section.

RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 9/28

PWM Signal Software parameters

Functions parameters
1. Direction and Out of Neutral Outputs
This function works using an Output Port.
The activation switches the Output Port to battery voltage (200 mA max).
Consider the internal pull up 8.2 kOhm resistors when Output is inactive for external load and voltage level calculation.
Direction is active when the sensor’s position leaves the neutral dead band defined in percent of the full travel range
(NEUTRAL_DEAD_BAND).

There are 6 modes:

– Direction Plus on Axis 1 (D1P): The Output Port is activated when the axis 1 goes in direction 1 Plus
– Direction Minus on Axis 1 (D1M): The Output Port is activated when the axis 1 goes in direction 1 Minus
– Direction Plus on Axis 2 (D2P): The Output Port is activated when the axis 1 goes in direction 2 Plus
– Direction Minus on Axis 2 (D2M): The Output Port is activated when the axis 1 goes in direction 2 Minus
– Out Of Neutral Axis 1 (OU1): The Output Port is activated in both directions Plus and Minus on Axis 1
– Out Of Neutral Axis 2 (OU2): The Output Port is activated in both directions Plus and Minus on Axis 2

2. Status Indicator Output

This function works using an Output Port.
The activation switches the Output Port to battery voltage (200 mA max).
Connect a LED to the relevant output considering the internal pull up 8.2 kOhm resistors when Output is inactive.

There are 2 modes:

– Error Status Indicator (FLT): This mode will lead LED indicator to light on in case of fault.
– Ready to Work Indicator (RTW): This mode will light on the LED if there is no fault detected.

Please refer to board #3 1)

3. Dead Man Input

This function works using an Input port.
This function is activated when port is connected to ground.
Dead Man function allows freezing the joystick signals in neutral if the assigned input is not activated and whatever the position
sensors are. Transition will be done without ramp time.

There are 2 modes to enable the outputs signals:

– Permanent: The output signals are enabled while the input stays connected to the ground.
– WatchDog: The output signals are enabled while the input changes periodically from connected to disconnected.

Please refer to board #4 1)

1) boards are at the end of this section.

10/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

PWM Signal Software parameters

4. Floating

PWM Duty cycle (%)

FLOAT_OUTPUT
DUTY_CYCLE_MAX

50 %

100-DUTY_CYCLE_MAX
Travel angle (%)

–100 98 100
NEUTRAL_DEAD_BAND
FLOAT_TRIGGER

Floating allows shifting the assigned spool in fourth position. The floating function works using an Input port and is activated
when port is connected to ground (the input doesn’t need to stay active after) and if the output activation is in the range
[80 %-90 %]. The float will then stay active until the axis goes out of neutral in the direction where the float has been assigned.

PWM duty cycle for the Floating Instruction, PWM duty cycle for triggering, axi(s) and direction(s) assigned to the float can be
selected in the following board.

Please refer to board #5 1)

1) boards are at the end of this section.

RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 11/28

PWM Signal Boards

Board #1:

Parameter Value Available Range (Unit) Default

PWM_FREQUENCY [120;124;…;500] (Hz) 196

DUTY_CYCLE_MAX [80;90] (%) 90

NEUTRAL_DEAD_BAND_AXIS_1 [8-15] (%) 10

NEUTRAL_DEAD_BAND_AXIS_2 [8-15] (%) 10

PWM_VOLTAGE_OUTPUT [5 V;VBAT] 5 V

Note 1: PWM Dduty cycle is always 50 % in neutral.

Note 2: Maxi Duty Cycle is reached at 98 % of the stroke (exemple: 19.6° for a 20° joystick), this value is not adjustable.
Note 3: PWM Voltage Output is either 5 V or VBAT for high level, 0 VDC for low level.

Board #2:

Parameter Value Available Range Default

INPUT FUNCTIONS
FUNCTION_DIO_1 NOF
– No Function (NOF)
– Floating (FLO)
– DeadMan (DMA)
FUNCTION_DIO_2 NOF
OUTPUT FUNCTIONS
– Axis 1+ Direction (D1P)
– Axis 1– Direction (D1M)
FUNCTION_DIO_3 – Axis 1 Out of Neutral (OU1) NOF
– Axis 2+ Direction (D2P)
– Axis 2– Direction (D2M)
– Axis 2 Out of Neutral (OU2)
FUNCTION_DIO_4 NOF
– Status Indicator (STA)

FUNCTION_DI_5 NOF

INPUT FUNCTIONS
– No Function (NOF)
FUNCTION_DI_6 NOF
– Floating (FLO)
– DeadMan (DMA)

FUNCTION_DI_7 NOF

Note 1: Floating, DeadMan and Status Indicator functions require additionnals parameters, refer to section
"Functions parameters" for furthers details.
Note 2: Floating and DeadMan functions can be assigned to one input maximum.
12/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

PWM Signal Boards

Board #3:

Parameter Value Available Range Default

– Fault Indicator (FLT)

STATUS_MODE FLT
– Ready to work Indicator (RTW)

Board #4:

Parameter Value Available Range Default

– Permanent (PER)
DEAD_MAN_MODE PER
– WatchDog (WDG)
DEAD_MAN_ TEMPO
[0-60] (s) 60
(if WatchDog mode selected)

Board #5:

Parameter Value Available Range Default

FLOAT_TRIGGER [80-90] (%) 80

FLOAT_OUTPUT [95;95.5…;98] (%) 96.5

FLOAT_AXIS_1_PLUS YES / NO NO

FLOAT_AXIS_1_MINUS YES / NO NO

FLOAT_AXIS_2_PLUS YES / NO NO

FLOAT_AXIS_2_MINUS YES / NO NO
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 13/28

Electrical technical data CAN Signal (for applications outside these parameters, please consult us)

Power supply V 9 to 32 VDC

Maximum current consumption mA 300
Output Signal
% of ±250 (1 byte encoding)
Neutral 0 %
Full stroke ±100 %
Bus frequency kHz 100, 125, 250, 500
Protocol (see page 15) 2.0 A or 2.0 B
Protections
Protection against polarity reversal Outputs protected between 0 and 32 V
Protection against short circuits Yes
Fuse A 2
Electromagnetic compatibility (EMC)
Magnetic field according to ISO 11452 part 2 V/m 100
Current injection according to ISO 11452 part 4 mA 200
Direct electrostatic discharge kV ±6
Electrostatic discharge in the air kV ±8
Further data Consult us

1) We recommend a dead band of ±8 %. The dead band can be set at the transmitter (CAN joystick) or at the receiver.
By default, there is no dead band on the transmitter.
14/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Electrical characteristics CAN Bus (for applications outside these parameters, please consult us !)

Input / Output Electrical characteristics

Digital Input (DIG_IN)

V bat Characteristic Adjustable by programming
Input function To ensure a minimum current when switching off the
connected switch, each inlet is fitted with an internal
pull up resistance

Digital Input / Output (DIG_IN_OUT)

Characteristic Adjustable by programming

V bat Input function connected to a switch To ensure a minimum current when switching off the
connected switch, each inlet is fitted with an internal
pull up resistance of 8.2 KΩ.
The switch must be fitted to a 5 mA current.
Output function When the ouput is inactive, take into account the pull up
8.2 KΩ resistance to set the output voltage

Output function connected with a relay The relay must have a minimal current of activation of
10 mA

Output function connected with a LED The LED must have a 500 Ω resistance in parallel
to reduce its alimentation voltage under 2 V
when output is idle

Output function connected to a logical input The logical input must have a 500 Ω resistance
in parallel to reduce its alimentation voltage under 2 V
when output is idle

Maximum sourcing current mA 200 (with resistive load)

Analog Inputs for axis 3 and 4

VCC_OUT_1 maximum
VCC_OUT_1 sourcing current mA 75
ANA_IN_3 (4)

Pull down resistor

on ANA_IN_3 (4) kOhms 10
GND_CPU
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 15/28

Electrical technical data CAN Signal (for applications outside these parameters, please consult us)

Wiring: block diagram � �

� �
�� �
VBAT (Pin 1 DT4) ��� �
FUSE EMERGENCY OFF
GND (Pin 2 DT4)
�����������������

CAN–H (Pin 5 DT4)

ECM
CAN–L (Pin 6 DT4)
RC controller
ANA_IN_3 (Pin 6) Roller 2

VCC_OUT_1 (Pin 1)

ANA_IN_4 (Pin 7) Roller 3

GND (Pin 5)

DIG_IN_OUT_1 (Pin 2)
DIG_IN_OUT_2 (Pin 3)
DIG_IN_OUT_3 (Pin 4)
DIG_IN_OUT_4 (Pin 9) Low side Programmable Input
DIG_IN_5 (Pin 10) Output used as INPUT (GND)
DIG_IN_6 (Pin 11)
DIG_IN_7 (Pin 12) High side Programmable Input
Output used as OUTPUT (VBAT)
���

Programming tool: see page 25

Pin assignment: see page 26
Output characteristics

Proportional Signal

250 Directional Signal

Direction – Direction +

–98 % –8 % +8 % 98 % Angle –100 % –8 % +8 % 100 % Angle

–100 % 100 %

Standard Protocol
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Bit 0: Axis1– Bit 0: DIG_IN_OUT_1 Bit 0: 0
Bit 1: Axis1+ Bit 1: DIG_IN_OUT_2 Bit 1: 0
Bit 2: Axis2+ Bit 2: DIG_IN_OUT_3 Bit 2: 0
Position Position Position Position Bit 3: Axis2– Bit 3: DIG_IN_OUT_4 Bit 3: 0
zero or
Axis 1 Axis 2 Axis 3 Axis 4
Bit 4: Axis3+ Bit 4: DIG_IN_5 default code
0->250 0->250 0->250 0->250
Bit 5: Axis3– Bit 5: DIG_IN_6 Bit 4-7:
counter
Bit 6: Axis4+ Bit 6: DIG_IN_7 0->16
Bit 7: Axis4– Bit 7: 0
16/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

CAN Signal Software parameters

CAN Signal Outputs

Output (%)
100

–100
Travel angle (%)

–100 98 100
NEUTRAL_DEAD_BAND

Please refer to board #14 1)

Protocol
Please refer to board #15 1)

1) boards are at the end of this section.

RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 17/28

CAN Signal Software parameters

TxPDO BRM

System Joystick

Axis 1 Axis 2 Axis 3 Axis 4 Axis Error Incre-

Setpoint Setpoint Setpoint Setpoint Direction
Di Value
Code mental TxPDO

Please refer to board #16 1)

Message content:

Byte bit Parameter Name

1 1-8 Joystick Axis 1 Position

2 1-8 Joystick Axis 2 Position

3 1-8 HandGrip Axis 3 Position

4 1-8 HandGrip Axis 4 Position

5 1 Axis 1 Direction – [ Forward ]

2 Axis 1 Direction + [ Backward ]
3 Axis 2 Direction + [ Left ]
4 Axis 2 Direction – [ Right ]
5 Axis 3 Direction + [ Up ]
6 Axis 3 Direction – [ Down ]
7 Axis 4 Direction + [ Up ]
8 Axis 4 Direction – [ Down ]

6 1 DIO_1 (1 = connected to ground)

2 DIO_2
3 DI_3
4 DI_4
5 DI_5
6 DI_6
7 DI_7

7 1-8 ZERO ( Error Code )

8 1-4 ZERO
5-8 Incremental counter
1) boards are at the end of this section.
18/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

CAN Signal Software parameters

TxPDO J1939

System Type 1, 2 & 3 JOYSTICK

Position Position Position Position Detent Detent Digital

1 Status 1 2 Status 2 Status 1 Status 2 Input
BJM

Position Position Position Position Detent Detent EJM

Dumy
3 Status 3 4 Status 4 Status 3 Status 4

Please refer to board #17 1)

BJM Message content:

Byte bit Parameter Name

1 1-2 Joystick Axis 2 NEUTRAL Direction Status

3-4 Joystick Axis 2 Direction + status
5-6 Joystick Axis 2 Direction – status
7-8 Joystick Axis 2 Position

2 1 Joystick Axis 2 Position

3 1-2 Joystick Axis 1 NEUTRAL Direction Status

3-4 Joystick Axis 1 Direction + status
5-6 Joystick Axis 1 Direction – status
7-8 Joystick Axis 1 Position

4 1 Joystick Axis 1 Position

5 1-4 Not defined

5-6 Joystick 1-Axis Detent Position Status
7-8 Joystick 2-Axis Detent Position Status

6 1-2 Joystick Button 4 pressed status

3-4 Joystick Button 3 pressed status
5-6 Joystick Button 2 pressed status
7-8 Joystick Button 1 pressed status

7 1-2 Joystick Button 8 pressed status

3-4 Joystick Button 7 pressed status
5-6 Joystick Button 6 pressed status
7-8 Joystick Button 5 pressed status
1) boards are at the end of this section.
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 19/28

CAN Signal Software parameters

EJM Message content:

Byte bit Parameter Name

1 1-2 Joystick Axis 3 NEUTRAL Direction Status

3-4 Joystick Axis 3 Direction + status
5-6 Joystick Axis 3 Direction – status
7-8 Joystick Axis 3 Position

2 1 Joystick Axis 3 Position

3 1-2 Joystick Axis 4 NEUTRAL Direction Status

3-4 Joystick Axis 4 Direction + status
5-6 Joystick Axis 4 Direction – status
7-8 Joystick Axis 4 Position

4 1 Joystick Axis 4 Position

5 1-8 Not defined

Not defined
Not defined
Not defined

6 1-8 Not defined

7 1-2 Not defined

3-4 Not defined
5-6 Not defined
7-8 Not defined

6 1-8 Not defined

20/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

CAN Signal Software parameters

Digital Input / Output Port

CAN BUS EJ integrates 2 Digital Configurable Input Output ports and 3 Digital Not Configurable Input ports. Inputs are active
when they are connected to ground by external circuitry and inactive when disconnected from ground, pull up is done internally.
Consider the internal pull up 8.2 kOhm resistors when Output is inactive for external load and voltage level calculation:

V BAT V BAT

Output Port Output Port

Inactive Active

Please refer to board #18 1)

Functions parameters
1. Direction and Out of Neutral Outputs
This function works using an Output Port. The activation switches the Output Port to battery voltage (200 mA max). Consider
the internal pull up 8.2 kOhm resistors when Output is inactive for external load and voltage level calculation. Direction is active
when the sensor’s position leaves the neutral dead band defined in percent of the full travel range (NEUTRAL_DEAD_BAND).

There are 6 modes:

– Direction Plus on Axis 1 (D1P): The Output Port is activated when the axis 1 goes in direction 1 Plus
– Direction Minus on Axis 1 (D1M): The Output Port is activated when the axis 1 goes in direction 1 Minus
– Direction Plus on Axis 2 (D2P): The Output Port is activated when the axis 1 goes in direction 2 Plus
– Direction Minus on Axis 2 (D2M): The Output Port is activated when the axis 1 goes in direction 2 Minus
– Out Of Neutral Axis 1 (OU1): The Output Port is activated in both directions Plus and Minus on Axis 1
– Out Of Neutral Axis 2 (OU2): The Output Port is activated in both directions Plus and Minus on Axis 2

2. Status Indicator Output

This function works using an Output Port. The activation switches the Output Port to battery voltage (200 mA max). Connect a
LED to the relevant output considering the internal pull up 8.2 kOhm resistors when Output is inactive.

There are 2 modes:

– Error Status Indicator (FLT): This mode will lead LED indicator to light on in case of fault.
– Ready to Work Indicator (RTW): This mode will light on the LED if there is no fault detected.

Please refer to board #19 1)

3. Dead Man Input

This function works using an Input port. This function is activated when port is connected to ground. Dead Man function allows
freezing the joystick signals in neutral if the assigned input is not activated and whatever the position sensors are. Transition
will be done without ramp time.

There are 2 modes to enable the outputs signals:

– Permanent: The output signals are enabled while the input stays connected to the ground.
– WatchDog: The output signals are enabled while the input changes periodically from connected to disconnected.

Please refer to board #20 1)

1) boards are at the end of this document.
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 21/28

CAN Signal Boards

Board #14:

Parameter Value Available Range (Unit) Default

NEUTRAL_DEAD_BAND_AXIS_1 [8-15] (%) 10

NEUTRAL_DEAD_BAND_AXIS_2 [8-15] (%) 10

NEUTRAL_DEAD_BAND_AXIS_3 [8-15] (%) 14

NEUTRAL_DEAD_BAND_AXIS_4 [8-15] (%) 14

Note 1: Maxi Output % is reached at 98 % of the stroke (exemple: 19,6° for a 20° joystick), this value is not adjustable.

Board #15:

Parameter Value Available Range (Unit) Default

PROTOCOL [BRM;J1939] BRM

BUS FREQUENCY [125;250;500] (kHz) 250

EMISSION PERIOD [20-50] (ms) 20

EMISSION PERIOD IN NEUTRAL [20-50] (ms) 50

BRM protocol is an eleven bit identifier protocol (2.0A)

J1939 protocol is a 29 bits identifier protocol (2.0B), remote control integrates 4 identifiers:

©BJM1 Basic Joystick Message 1 for axis 1 & 2

©BJM1R Basic Joystick Message 1 redundant
©EJM1 Extended Joystick Message 1 for axis 3 & 4 if any
©EJM1R Extended Joystick Message 1 redundant
22/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

CAN Signal Boards

Board #16:

Parameter Value Available Range (Unit) Default

BJM1_PRIORITY
[0x2;0x3] 0x2
(3 MSB ID 11 bits)

0xFE
PDU_SA (Right)
[0x00-0xFF]
(8 LSB ID 11 bits) 0xFF
(Left)

Note 1: With Default values, identifier is 0x2FE.

Note 2: BRM protocol use same parameters name that J1939 protocol (BJM1, PDU_SA)

Board #17:

Parameter Value Available Range Default

– Type 1
– Type 2
– Type 3
STD_PGN_ID Type 1 Type 2 Type 3 1
BJM 0xFDD6 0xFDD8 0xFDDA
EJM 0xFDD7 0xFDD9 0xFDDB

SPE_BJM_PGN_ID
(For non standard)

SPE_EJM_PGN_ID
(For non standard)
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 23/28

CAN Signal Boards

Board #18:

Parameter Value Available Range Default

INPUT FUNCTIONS
– No Function (NOF)
FUNCTION_DIO_1 – DeadMan (DMA) NOF

OUTPUT FUNCTIONS
– Axis 1+ Direction (D1P)
– Axis 1– Direction (D1M)
– Axis 1 Out of Neutral (OU1)
– Axis 2+ Direction (D2P)
FUNCTION_DIO_2 – Axis 2– Direction (D2M) NOF
– Axis 2 Out of Neutral (OU2)
– Status Indicator (STA)

FUNCTION_DI_3 NOF

FUNCTION_DI_4 NOF

INPUT FUNCTIONS
FUNCTION_DI_5 – No Function (NOF) NOF
– DeadMan (DMA)

FUNCTION_DI_6 NOF

FUNCTION_DI_7 NOF

Note 1: DeadMan function require additionnals settings, refer to section "Functions parameters" for furthers details.
Note 2: DIO and DI status will be transmitted on the bus in all conditions and even if no function is selected.
Note 3: Floating and DeadMan functions can be assigned to one input maximum.

Board #19:

Parameter Value Available Range Default

– Fault Indicator (FLT)

STATUS_MODE FLT
– Ready to work Indicator (RTW)

Board #20:

Parameter Value Available Range Default

– Permanent (PER)
DEAD_MAN_MODE PER
– WatchDog (WDG)

DEAD_MAN_ TEMPO
[0-60] (s) 60
(if WatchDog mode selected)
24/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Safety features and guidelines of the EJ

Safety features of the EJ Warning

PWM Signal and CAN joysticks – An emergency stop switch is to be provided to discon-
These remote controls usually integrate one sensor per axis nect the power supply to the electronics. This switch must
(main sensor). A second sensor may be added to provide be easily accessible to the operator. Safe braking must be
redundancy. provided for in case of emergency stop (case of translation
drives).
– Shield the electric cables connected to position sensors
The internal 5 VDC power supply is controlled to avoid
(regulated power supply and proportional output). A low
any signal drift.
impedance line should connect the screen with the
vehicle's ground.
Optional on CAN joysticks – Signal cables and power cables must be rooted separately
A hardware version can integrate the CAN joystick and away from each other.
into SIL 2 level customer systems 1) (IEC 61508). – In case of electric welding operations on the machine,
unplug the power supply battery as well as all plugs
Safety guidelines for the application of the EJ connecting the electronics.
– Place the electronics away from possible radio equipments,
to limit the magnetic field effect on remote control.
PWM Signal and CAN joysticks
– Hall sensors are sensitive to external magnetic fields.
The system using the signals delivered by the remote
controls must check the consistency of the signals – Do not use the remote controls close to a magnetic field
(Amplitude, Frequency) and implement the relevant source of frequency lower than 50 Hz and of amplitude
corrective actions in case of failure. greater than 2 mT.
– Do not use in hazardous environment.
– Do not direct the jet of a pressure washing unit directly at
the unit.
– Solenoids must be fitted with free-wheeling diode to avoid
disturbances.
– Remote controls must be switched off when starting the en-
gine of a mobile machine or vehicle.

Installation guidelines

– Mounting flange area: Flatness = 0.5 mm

– Screw head dimensions = Ø 10 mm
– Tightening torque for the flange fixing screws = Max. 10 Nm

Installation hole
D 45
4 x Ø6

R5
71 mini

43

Passage for handle cable

71 mini

– Nominal diameter / fixing via 4 screws

D = Ø113 to Ø116 mm

1) Certification pending
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 25/28

Programming tool for PWM Signal and CAN joysticks

Display and adjustment possibilities

All adjustment processes and display of functions, faults and
system-specific values are performed by means of a PC with
software EMToolBox 1) via the serial control panel
(DSI part number: 08250400 or 08250401).

Control panel connection

The control panel is equipped with a connector Lumberg type RST 4.07.02M.
The machine must be equipped with one of the following connector Lumberg:

– Connector Lumberg type RKT 4.07.2M with prolongation

cable; DSI part number: 07213052.

– Connector Lumberg to fix on a dashboard;

DSI part number: 07213053.

Bush terminal RKF 4.07.0,2M Nut RSKF9 Protective cap ZVF

Example of equipment to order

Diagnostic and adjustment of a joystick equipped with a Deutsch plug 12 pins:
– EMToolBox software and serial control panel: DSI part number: 08250400 (1)
– Connector Lumberg type RKT 4.07.2M with prolongation cable; DSI part number: 07213052 (2)
– Machine plug: DT06–12SA–CE01; DSI part number: 08250513 (3)

EM ToolBox
1 2
12 V

rs232/isoK

1) EMToolBox software and updates are freeware.

26/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Pin assignment – PWM Signal

Output connection on Deutsch plug 12 pins

Remote control plug designation: DT04–12PA–CE01: 12 pins.
Machine plug designation: DT06–12SA–CE01; DSI part number: 08250513.

Customer plug
Type Pin Name
1 VBAT 1 12
2 11
2 GND 3 10
3 ISOK 4 9
4 DIG_IN_5 5 8
6 7
5 DIG_IN_6
DEUTSCH DT04 6 DIG_IN_7
12PA-CE01 7 DIG_IN_OUT_1
Symbol:
8 DIG_IN_OUT_2
VBAT = +V batterie
9 DIG_IN_OUT_3
GND = Ground
10 DIG_IN_OUT_4
DIG_IN = Digital Input
11 PWM_OUT_1
DIG_IN_OUT = Digital Input / Output
12 PWM_OUT_2
PWM_OUT = PWM Output

Pin assignment – CAN

Output connection on Deutsch plugs 12 pins and 6 pins.

Remote control plug designation: DT04–12PA–CE01: 12 pins.
DT04–06PA–CE01: 6 pins.
Machine plug designation: DT06–12SA–CE01; DSI part number: 08250513
DT06–06SA–CE01; DSI part number: 08250598.

Customer plug
Type Pin Name
1 VCC_OUT_1
2 DIG_IN_OUT_1
3 DIG_IN_OUT_2
1 12
4 DIG_IN_OUT_3 2 11
5 GND 3 10
4 9
DEUTSCH DT04 6 ANA_IN_3
5 8
12PA-CE01 7 ANA_IN_4 6 7
8
9 DIG_IN_OUT_4
10 DIG_IN_5
11 DIG_IN_6 Symbol:
12 DIG_IN_7 VBAT = +V battery
1 VBAT GND = Ground
2 GND DIG_IN = Digital Input
DEUTSCH DT04 3 ISOK DIG_IN_OUT = Digital Input / Output
06PA-CE01 4 VCC_OUT = 5VDC Power supply regulated
for external sensors (grip)
5 CAN_H
ANA_IN = Voltage Input for
6 CAN_L external sensor (grip)
RE 29896/04.09 EJ Hydraulics Bosch Rexroth AG 27/28

Notes
28/28 Bosch Rexroth AG Hydraulics EJ RE 29896/04.09

Notes

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