The FrabaOCDIOServer component provides access to the FRABA OCD Absolute Encoder. It connects to the encoder through a TCP connection to:

• Set time mode to polled
• Set counting direction
• Set output mode to Position, Velocity, Timestamp
• Set output mode to binary

The TCP connection is then closed, and a UDP connection is established with the device to send/receive data at the specified component frequency.

The following information is retrieved from the encoder:

• Position
• Speed
• Timestamp

Information abstracted from above:

• Internal fraction of turn, masked from Position
• Number of turns, masked from Position
• radians per second
• degrees per second
• speed of device
• position calculated
• position relative
• filtered speed of device
• Rotation (degrees)

Installation