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!
Similar to mechaduino, my plan is to attach the TLE5012 to the back of the motor.
I think the only motor that might have clearance issue would be the J6 motor. Looking forward to seeing your progress.
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.
I think there are pros and cons to both ways of doing it. Incremental encoders are low-cost but there may not be enough resolution for a good accuracy with the encoder directly on the joint and it creates quite a few issues mechanically to add and coders to the joint rather than the motor. The ability to calibrate I would definitely be easier if it was on the joint. If you had the money to buy absolute and coders that would be ideal but overly expensive.
@Chris Annin Excuse my English, Chris
although I read you well, my writing is not so good.
At some point in your designs you will have to stop making optimizations and you must decide between improving the accuracy of what is marginally to maintain costs (remember Bjarne Strostrup: premature optimization is the root of all evils) and/or re -start the design of the arm with larger stepper motors and closed loops in a different robot category with a goal that may now be a balance between accuracy-repeatability and cost.
To me it is easier to install the encoder along with the stepper motor. BTW the absolute angle value of TLE5012 is up to 32768 (15-bit). And it costs ~USD30! Other choices are AS5048A (14-bit ~USD15) and AS5600 (12-bit ~USD8). I will evaluate them later.