> For the complete documentation index, see [llms.txt](https://docs.andymark.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.andymark.com/frc-electronics/can-sensors/can-hex-bore-absolute-encoder-am-5200_can.md).

# CAN Hex Bore Absolute Encoder (am-5200\_can)

![AndyMark CAN Hex Bore Absolute Encoder (am-5200\_can)](https://2060440806-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcQgnvayQud3Xf5sZi0wz%2Fuploads%2FfTCu1MaDKnUbICw0sAJY%2Fcan-hex-bore-encoder-am-5200-can-product.jpg?alt=media)

The **AndyMark CAN Hex Bore Absolute Encoder** provides absolute shaft position immediately after power-up. The CAN model combines a 1/2 in hex bore, an included 3/8 in hex insert, a locking connector, and CAN, absolute PWM, and absolute analog outputs.

See Specifications for signal and mechanical details, Examples for code, and Device API for the complete library interface.

***

## At a glance

| Parameter                    | Value                                  |
| ---------------------------- | -------------------------------------- |
| AndyMark part number         | am-5200\_can                           |
| Sensing IC                   | AS5047P                                |
| Measurement                  | Absolute position and velocity         |
| Outputs                      | CAN, absolute PWM, and absolute analog |
| Internal absolute resolution | 14-bit                                 |
| Absolute PWM resolution      | 12-bit                                 |
| Bore                         | 1/2 in hex; 3/8 in hex insert included |
| Supply voltage               | 3.3 V–16 V                             |

## When to use this encoder

* Read an arm, wrist, turret, or swerve angle immediately after power-up.
* Track a mechanism through disable/enable or brownout events.
* Mount directly around a supported hex shaft without an external shaft coupler.
* Use CAN as the primary interface while retaining PWM or analog options.

## Before installation

* Support the shaft independently; the encoder should measure rotation, not carry mechanism load.
* Secure the encoder body so it cannot rotate with the shaft.
* Confirm that the selected bore or insert fits the shaft without binding.
* Protect the board and connector from impacts, conductive debris, and cable loads.
* Plan access to the onboard zero button if it will be used.
* Assign a unique CAN ID before placing multiple default-ID devices on the same bus.

## Initial checks

1. With actuator power disabled, rotate the mechanism by hand through its safe travel.
2. Confirm that the reported angle changes smoothly and in the expected direction.
3. Verify the absolute position after a power cycle.
4. Set and record the zero reference only after the mechanical reference is established.
5. Check for wraparound behavior before using the value in a control loop.
6. Do not enable closed-loop motion until the measured position and mechanism position agree.

## Resources

* [Hex Bore Encoder product page](https://andymark.com/products/hex-bore-encoder?variant=45166126137516)
* Examples
* Device API