OUTENC - Output encoder

The OUTENC block handles the encoder output signals

Fields

Name	Type	Description
ENABLE	bit_mux	Halt of falling edge, reset and enable on rising
GENERATOR_ERROR	param enum	generate error on output 0 No 1 BISS frame error bit
A	bit_mux	Input for A (only straight through)
B	bit_mux	Input for B (only straight through)
Z	bit_mux	Input for Z (only straight through)
DATA	bit_mux	Data output to master encoder
PROTOCOL	param enum	Type of absolute/incremental protocol 0 Quadrature 1 SSI 2 BISS 3 enDat 4 ABZ Passthrough 5 DATA Passthrough
ENCODING	param enum	Position encoding (for absolute encoders) 0 Unsigned Binary 1 Unsigned Gray 2 Signed Binary 3 Signed Gray
BITS	param uint 32	Number of bits
QPERIOD	param time	Quadrature prescaler
CLK	bit_out	Clock input from master encoder
VAL	pos_mux	Input for position (all other protocols)
HEALTH	read enum	Table status 0 OK 1 Biss timeout error (did not received right number of sck for biss frame) 2 ENDAT not implemented
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
QSTATE	read enum	Quadrature state 0 Disabled 1 At position 2 Slewing