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Adding absolute position feedback using TLE5012 encoder

TLE5012 module

The installation diagram indicates where to install magnet and TLE5012 module.

Do you think this dimension fit into current AR2 hardware design? The thickness should be less than 5mm. My kit is arriving. I am quite excited to make the AR2 better, with ROS!

12 comments

12 Comments

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john topf

May 11, 2020

Just curious as to how youre making out with this? Any updates?

ruizvial

Mar 17, 2019

Sorry my english,

maybe it would be better to install encoders on the axes direct to the movement and not to the motor shaft or to the axle of the gearboxes, at least in all cnc machines, where very high accuracies are sought, the closed loop is thus made.

WK L

Mar 22, 2019

Replying to

purchased 6 of them and they arrived yesterday. The magnets are quite fit. Inserted into the back of stepper motors.

They talk through TTL RS485. I configured them with address 0x00 to 0x05. The angle reading are very nice.

The aluminium arm kit arrived too. i hope I could hook them up in this week.

ruizvial

Mar 22, 2019

Replying to

@WK L I do not understand much, you bought the elements for make the mini board or the mini board with the encoder is made, if so, where did you buy that card?

I wish you could experience the repeatability in the J0 engine (which is the engine that suffers most inertia with fast movements) and you could show your results. I am with many doubts in that specific movement, maybe additional control systems are required ..

WK L

Mar 22, 2019

Replying to

@ruizvial I bought the module (PCB including the encoder chip). But I haven’t built my AR2. I ordered all necessary components two weeks ago.

I believe I will have difficulties on assembling the arm.. so wait for my updates!

Chris Annin

Mar 16, 2019

I think the only motor that might have clearance issue would be the J6 motor. Looking forward to seeing your progress.

WK L

Mar 16, 2019

mechaduino

Similar to mechaduino, my plan is to attach the TLE5012 to the back of the motor.

ANNIN ROBOTICS

Adding absolute position feedback using TLE5012 encoder