JCS Interface

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JCS Network Configuration

structure.yaml Configuration

type	dev_joint_controller
Supports processes	yes
Supports device rate	no

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Signals - From Device

Signal name	Type	Required	Description
op_state	uint8	automatic	Device operational state bit field
an_0	float32	optional	Analog input 0 - Signal may be renamed
an_1	float32	optional	Analog input 1 - Signal may be renamed
an_2	float32	optional	Analog input 2 - Signal may be renamed
an_3	float32	optional	Analog input 3 - Signal may be renamed
th_m_0	float32	optional	Encoder 0 mechanical position (Rad) - May have zero offset applied - May have bias compensation applied - May have been passed through an estimator - Normalised to \([-\pi, \pi]\)
w_m_0	float32	optional	Encoder 0 mechanical speed (Rad/s)
th_m_counts_0	uint32	optional	Encoder 0 mechanical position in counts
th_m_encoder_0	float32	optional	Encoder 0 mechanical position (Rad) (Derived from raw encoder) - Normalised to \([0, 2\pi]\)
th_m_unwrapped_0	float32	optional	Encoder 0 unwrapped mechanical position (Rad) (Derived from raw encoder) - May have zero offset applied - May have bias compensation applied
th_m_turn_count_0	float32	optional	Encoder 0 mechanical turns count
encoder_error_rate_0	float32	optional	Encoder 0 error rate filter output Directly proportional to the health of the encoder
th_m_1	float32	optional	Encoder 1 mechanical position (Rad) - May have zero offset applied - May have bias compensation applied - May have been passed through an estimator - Normalised to \([-\pi, \pi]\)
w_m_1	float32	optional	Encoder 1 mechanical speed (Rad/s)
th_m_counts_1	uint32	optional	Encoder 1 mechanical position in counts
th_m_encoder_1	float32	optional	Encoder 1 mechanical position (Rad) (Derived from raw encoder) - Normalised to \([0, 2\pi]\)
th_m_unwrapped_1	float32	optional	Encoder 1 unwrapped mechanical position (Rad) (Derived from raw encoder) - May have zero offset applied - May have bias compensation applied
th_m_turn_count_1	float32	optional	Encoder 1 mechanical turns count
encoder_error_rate_1	float32	optional	Encoder 1 error rate filter output Directly proportional to the health of the encoder

Note: JCS Host automatically maps op_state as a full rate signal.

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Bitfields

Signal: op_state

Bit	Description
0 - 2	Reserved for JCS
3	Analog warning flag. Set when any analog channel exceeds it's warning limit. Unset when all channels are below their warning limits.
4	Encoder warning flag. Set when any encoder is in a warning state.
5	Unused
6	Unused
7	Unused

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Signals - To Device

Joint controller device does not receive any signals

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