On-Axis JCS Network Absolute Encoder
JCS Network Configuration
structure.yaml Configuration
| type | dev_encoder_absolute_a |
| Supports processes | no |
| Supports device rate | no |
Signals - From Device
| Signal name | Type | Required | Description |
|---|---|---|---|
| op_state | uint8 | automatic | Device operational state bit field |
| th | float32 | optional | Rotational position (Rad) - May have zero offset applied - May have linearisation compensation applied - May have been passed through an estimator - Normalised to \([-\pi, \pi]\) |
| w | float32 | optional | Rotational speed (Rad/S) |
| an_0 | float32 | optional | Analog input 0 - Signal may be renamed |
| an_1 | float32 | optional | Analog input 1 - Signal may be renamed |
| th_counts | uint16 | optional | Rotational position in encoder counts |
| th_encoder | float32 | optional | Rotational position (Rad) (Derived from raw encoder) - Normalised to \([0, 2\pi]\) |
| encoder_error_rate | float32 | optional | Output of encoder error rate filter 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 | Zero flag. Set if the device has been zeroed, by either programmed offset or zero command. |
| 4 | Velocity warning flag. Latched when maximum velocity is exceeded. |
| 5 | Analog warning flag. Set when any analog channel exceeds it's warning limit. Unset when all channels are below their warning limits. |
| 6 | Encoder warning flag. Set when the encoder sensor is in a warning state. |
| 7 | Unused. |
Signals - To Device
On-axis network encoder device does not receive any signals