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- incremental loose there start positions while absolute loose there start position
- accuracy: 180 > ppr > 360 approx (ppr: pulses per revolution)
- find encoders on digikey
- Magnetic:
- the magnet is attached to the axle
- https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6600-t16
email team
Working with Incremental Encoder
Solution 1:
Just sending change in position (rotation angle to be precise) to the actual arm's stepper motor
Solution 2:
Working with the actual position of each joint on the controller.
2a)
Have the control arm configured such that each joint is in the zero position (or any fixed position) when the control arm is turned on. This way the control knows its exact location without any additional work.
- Advantage: No complicated work involving using the index pulse or something else to get the initial location of the control arm
- Disadvantage: Requires that the control arm be in a specific orientation every time it is turned on.
2b)
Use the index pulse in some way to get the initial position of the control arm.