Building the Actuator
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 this tutorial 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.
Hint
The solder pads of the encoder and CAN are tricky to work with. It requires some degrees of familarity of soldering. Our suggestion is that adding more flux makes it easier to have a more solid solder joint.
Cable selection
For power cables, we are using 14 AWG (14 Gauge) stranded silicone wire. The color coding convension is white/red for positive, and black for ground.
For CAN cables, we are using 30 AWG (30 Gauge) stranded silicone wire. The color coding convension is yellow for CAN-H and SDA, green for CAN-L and SCL.
Results
Here are some photos of the finished motor controller for your reference:
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