CAN Hex Bore Absolute Encoder (am-5200_CAN)
Overview
The AndyMark CAN Hex Bore Encoder is a compact, absolute position sensor designed for direct integration with hex-shaft-driven mechanisms. It provides absolute angle measurement over CAN bus, PWM, and analog voltage, making it flexible across modern FRC control systems and custom electronics.
It’s ideal for arms, wrists, elevators, swerve modules, and any mechanism where knowing absolute position at boot is critical. Use this page to understand what the encoder is best suited for and how to get started. Detailed electrical limits, pinout, CAN IDs, and mechanical drawings live on Specifications. Programming examples and CAN configuration details live on Examples.
When to use this encoder
Measuring absolute shaft position for arms, wrists, or joints (no homing required).
Swerve steering angle sensing with instant startup alignment.
Mechanisms that need redundant or flexible interfaces (CAN, PWM, or analog).
Systems that must recover position after power loss or brownout.
What this encoder is not
It’s not a relative-only encoder; if you only need incremental counts, a quadrature encoder may be simpler.
It’s not a high-speed motor commutation sensor; it’s optimized for mechanism position feedback, not motor phase control.
Highlights (at a glance)
Absolute position output over CAN bus, PWM, and analog voltage.
CAN interface integrates directly with common FRC motor controllers and libraries.
Hex bore design allows direct shaft mounting-no couplers required.
Absolute position available immediately at power-up (no zeroing routine).
Designed for 3.3 V / 5 V compatible robot control systems (see Specifications).
Typical integrations
Mount directly on an arm or wrist shaft to track angle through power cycles.
Use CAN output for primary control, with PWM or analog as a fallback or for logging.
Integrate with swerve modules to maintain steering angle after disable/enable.
Feed analog output into a custom controller or data acquisition system.
Best-practice tips
Set your zero mechanically or in software before competition and lock it in.
Use CAN when possible for the most robust data and diagnostics; reserve PWM/analog for compatibility or redundancy.
Secure the encoder body to prevent rotation-shaft slip will corrupt absolute readings.
Filter noisy signals when using analog output, especially near motors or high-current wiring.
Verify startup angle during bring-up to ensure the encoder orientation matches your mechanism’s reference frame.
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