angle sensors in the robolink joints

Martin Raak | 6. February 2014

We have noticed, that for some people it is not clear how our angle encoders work and how to make use of it. Here are some facts about them:

1) we use incremental encoders from AMS (AS5304A), absolute encoders are not possible in the current design,

2) in order to define the ZERO position for each DOF, we use a hall sensor, beeing placed in the middle of each angular freedom,

3) that means: each robolink system has to be “initialized”, whenever the power is switched on,

4) the resolution of the encoders are:

29 (polepairs) x 160 (signals) = 4.640 signals per 360° = 0,078° for all rotationg motions of the size RL-50,

31 (polepairs) x 160 (signals) = 4.960 signals per 360° = 0,073° for all pivoting motions of the size RL-50,

62 (polepairs) x 160 (signals) = 9.920 signals per 360° = 0,036° for all motions (rot AND piv.) of the size RL-90 (Base joint),

you can find more information in our current catalogue on page 18 or in our documentation on pages 10-12 (=> pdf download in the support&service area of the robolink homepage).

 The FAQ list will be updated soon (it does currently not contain our new products).

Martin