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  • Getting Started with Hardware
    • Materials and Parts (BOM)
    • Preparing the Tools
    • 3D Printing Instructions
    • Building the Actuator
    • Flashing the Motor Controllers
    • Building the Robot
  • Getting Started with Software
    • Software Development Environment Overview
    • Training Environment
    • Sim2sim Validation
    • The On-board Computer
    • Motion Capture System
  • lerobot Integration
  • In-depth Contents
    • Field Oriented Control (FOC) Operation
    • Motor Controller Firmware Execution Timing Information
    • Motor Characterization
    • Actuator Characterization
    • CAN Communication
    • Joint ID Mapping
    • Exporting Robot Description Files from Onshape
    • Domain Randomizations for Training Locomotion
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On this page
  • Preparing the magnetic encoder
  • Assembling the actuator
  • Soldering
  1. Getting Started with Hardware

Building the Actuator

Previous3D Printing InstructionsNextFlashing the Motor Controllers

Last updated 4 days ago

Now that we have gathered all the necessary tools and parts, we are ready to begin the assembly process.

Preparing the magnetic encoder

We need to change the configuration of the AS5600 magnetic encoder by swapping out a few resistors on the board. Please follow to perform the modification.

After moving the resistors, also solder the VCC, GND, SDA, and SCL wires on the corresponding pads.

Assembling the actuator

Please follow this video tutorial to assemble the actuator.

Soldering

Connect the encoder, motor, and the motor controller together according to the following wiring diagram.

Warning

The CAN port solder pads on the ECS are very fragile and very susceptible to breaking off the FR4 base layer. Please be extra cautious when soldering and handling it. Do not apply excessive force on the cables and the pads.

this tutorial
https://youtu.be/CHPVXL-SsSoyoutu.be