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Off-Axis JCS Network Relative Encoder


JCS Network Configuration

structure.yaml Configuration

type dev_encoder_relative
Supports processes no
Supports device rate no

Signals - From Device

Signal name Type Required Description
op_state uint8 automatic Device operational state bit field
x float32 optional Estimator position output. Depending on estimator configuration, may be linear (mm) or rotational (Rad)
- May have been passed through an estimator
- If estimator is rotational then normalised to \([-\pi, \pi]\)
v float32 optional Estimator speed output. Depending on estimator configuration, may be linear (mm/S) or rotational (Rad/S)
an_0 float32 optional Analog input 0
- Signal may be renamed
x_counts float32 optional Encoder position in counts
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.
Set when maximum velocity is exceeded.
5 Encoder warning flag.
Set when AS5311 sensor returns an error.
6 Position maybe invalid flag.
Latched on velocity warning or other encoder error.
7 Analog warning flag.
Set when any analog channel exceeds it's warning limit.
Unset when all channels are below their warning limits.

Signals - To Device

Off-axis network encoder device does not receive any signals