Off-Axis JCS Network Relative Encoder
JCS Network Configuration
structure.yaml Configuration
| type | dev_encoder_relative_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 |
| 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