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JCS Interface


JCS Network Configuration

structure.yaml Configuration

type dev_joint_controller
Supports processes yes
Supports device rate no

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 \([0, 2\pi]\)
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 \([0, 2\pi]\)
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.


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

Signals - To Device

Joint controller device does not receive any signals