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Due Date:

Contributor Log

Name

Contribution

Shahzeb Ali .

Yu-Ming He

Skills

  • Mechanical Design

  • Electrical component selection

Task Description

Swap out the absolute encoders on A2/A3/A5/A6 from the broad come encoders to the new magnetic encoders https://p3america.com/erck-05spi-360/

Design new mounting systems for the encoders on the respective axis.

Reason for this task is due to the broadcom encoders not following the same SPI bus protocol which makes it difficult to handle the outputs.

Task Breakdown

  • Look at the datasheet of the encoder to evaluate how it works and should be used
  • Come up with proposal of replacing the current encoders with the new ones on the respective axis. Start with axis 5/6 and do PDR before doing A2/A3
  • Redesign the mounting for each axis
  • Consider possible weight reductions that could be done on each mount

Prerequisites

N/A

Progress Journal

  • Saheed Quadri (date and name)

    • brief update on whats done and what are the next steps, photos and images and videos are preferred

  • Etc.

  • Shahzeb Ali .

    • New encoders may be attached at axis 5/6 by modifying part MR24-A56-P013 to MR25-A56-P013 (Shahzeb) (under sandbox > Shahzeb). This will allow the magnet to be securely attached to the shaft.

    • The encoder itself will be attached to the plate (MR24-A56-P011). Since the plate is to be redesigned, minor changes have been made to it, found under sandbox > Shahzeb Ali > MR24-A56-P011. With a spacer installed between the plate and the encoder, the magnet will be positioned correctly, relative to the encoder.

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