Question 1: list all the limit switch and encoder combination
incremental encoder/hall effect sensor (routed to odrive) + global encoder (not decided)
sensor? | which axis it is on? | protocol? |
|---|---|---|
2 X magnetic switches | A1 | |
Hall effect | A1 | |
SPI encoder(ABS pos) | A1 | SPI |
SSI encoder(ABS pos) | A2 | SSI |
Hall effect | A2 | |
2 X magnetic switches | A2 | |
SSI encoder(ABS) | A3 | SSI |
Hall effector | A3 | |
2 X magnetic switches | A3 | |
Hall effector | A4 | |
magnetic switches | A4 | |
SPI encoder | A4 | SPI |
2 X hall effect | A5/A6 | |
2 X SSI encoder | A5/A6 | SSI |
2 X magnetic switches | A5/A6 | |
TBD : one sensor at least for differential (share the SSI with A5/A6) | ||
Incremental encoder | end effector | |
Hall effect | end effector |
Question 2: TOO MANY WIRES HOW TO MANAGE IT!!!!
Yuchen Lin’s proposal:
three chunk wire → 1. 3 phase wire group (21wire NO GND)
hub (microcontroller) -? simple protocol back to a can bus and deliver power to all sensors
3 hub at least for 1 for a1/a2 one for a3/a4/a5/a6 and last one for end effector
SSI/SPI encoder cable back to the (S1 for a2 and a3) the rest to jetson and a common ground
if a lot of wire back to ebox, color encoding does not work → debug is a pain
SYSTEM LEVEL ISSUE NO ELECTRICAL INVOLVED NO NEW BOARD Saheed Quadri Saheed Quadri