INENC - Input encoder

The INENC block handles the encoder input signals

Fields

Name	Type	Description
CLK	bit_mux	Clock output to slave encoder
PROTOCOL	param enum	Type of absolute/incremental protocol 0 Quadrature 1 SSI 2 BISS 3 enDat
ENCODING	param enum	Position encoding (for absolute encoders) 0 Unsigned Binary 1 Unsigned Gray 2 Signed Binary 3 Signed Gray
CLK_SRC	param enum	Bypass/Pass Through encoder signals 0 Internally Generated 1 From CLK
CLK_PERIOD	param time	Clock rate
FRAME_PERIOD	param time	Frame rate
BITS	param uint 63	Number of bits
LSB_DISCARD	param uint 31	Number of LSB bits to discard
MSB_DISCARD	param uint 31	Number of MSB bits to discard
SETP	write int	Set point
RST_ON_Z	param bit	Zero position on Z rising edge
A	bit_out	Quadrature A if in incremental mode
B	bit_out	Quadrature B if in incremental mode
Z	bit_out	Z index channel if in incremental mode
DATA	bit_out	Data input from slave encoder
CONN	bit_out	Signal detected
HOMED	read bit	Quadrature homed status
HEALTH	read enum	Table status 0 OK 1 Linkup error (=not CONN) 2 Timeout error (for BISS, monitor SSI) 3 CRC error (for BISS) 4 Error bit active (for BISS) 5 ENDAT not implemented 6 Protocol readback error
VAL	pos_out	Current position
DCARD_TYPE	read enum	Daughter card jumper mode 0 DCARD id 0 1 Encoder Control 2 DCARD id 2 3 Encoder Monitor 4 DCARD id 3 5 DCARD id 4 6 DCARD id 5 7 Unplugged