Magnetic encoder

[destcali]

Could you provide example of part number of magnetic encoder for wheels which fits the cover?

[akhil9555]

Hi destcali,
I'm also working on the same project and using the AS5600 Magnetic Encoder. I'm halfway through designing the encoder cover and should be able to share it with you on Monday once it's finished.

[BotshareAI]

The current 3D model contains the case model for AS5040 - https://www.aliexpress.com/item/1005002328750796.html. But soon we will also provide the case for AS5600.
AS5040ASSU.pdf

[Rachana-DGAMR]

The current 3D model contains the case model for AS5040 - https://www.aliexpress.com/item/1005002328750796.html. But soon we will also provide the case for AS5600. AS5040ASSU.pdf

Can we use AS5147 instead of AS5040? What is the output taken from magnetic encoder from wheels and where it is used? Is it taken by the motor controller?

[BotshareAI]

Yes, you can replace AS5040 with AS5147 if you use its A/B quadrature outputs.
Linorobot2 reads encoders as digital quadrature signals, not SPI.
The encoder signals go to the MCU, not to the motor controller.
The MCU uses them for wheel velocity and odometry.
https://github.com/linorobot/linorobot2_hardware/blob/galactic/config/lino_base_config.h#L65-L68
and general description here - https://github.com/linorobot/linorobot2_hardware?tab=readme-ov-file

[akhil9555]

I am attaching STL files for AS5600 encoder and magnetic holder.
Encoder 3D files.zip

[BotshareAI]

@destcali Thank you for your questions.
We currently have this robot and several sets of its components available in Germany. Please don’t hesitate to let us know if you need any assistance.
Interesting to know about your progress, any posts or photo-video about that are very welcome!

[akhil9555]

@destcali , Here are some images showing how the AS5600 is fixed inside the encoder cup.

[destcali]

thank you!