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#AR3

Starting a build with AR3 parts

Hello,

I bought all the parts I needed for an AR3 build during the lockdown, but most of the parts were shipped after de lockdown was over. I never found the time to really build the AR3, but now I want to pick up the project again.

I see the new AR4 is now released and in the manual:
https://anninrobotics.com/wp-content/uploads/2025/07/Upgrade-AR3-to-AR4.pdf

I found this text:
If you have not yet built your robot and you would like to build the AR4 robot using the AR3 motors and the CUI encoders follow the AR4 manual for majority of the build process but then add the CUI encoders to the motors as shown in the AR3 manual, and wire the encoders to the continuous flex Cat6 cable as shown in this photo.

Do I understand correctly that I can just build my robot using the AR4 manual and use the AR3 motors and encoders?

What new hardware do I need? I have bought everything I needed to build the AR3 back in the days.

I understand I will need at least the teensy 4.1 board but what else has changed, is there a list?

Also are the aluminium components still the same or do I need to upgrade them too?

Many thanks!

Igor

  • 2 comments

Chris Annin

Hello, if you already have all the AR3 parts including the CUI encoders and the Stepperonline motors package for the AR3 I would recommend mostly following the latest AR4-MK3 build manual with the exception of refereeing to the AR3 manual for the installation and wiring of the CUI encoders. The latest software includes a feature to upload the AR3 default values to your board so you can run an AR3 from the latest software. You should also be able to use the teensy 3.5 board or the 4.1 - I tried to keep all the pin assignments identical and I've tried to keep as many components the same as possible. Please let me know if you run into any issues or have any questions. You can also email me anytime at info@anninrobotics.com and I will be happy to help.

Igor Gaasbeek

Thank you very much Chris for your fast response. One more question. I saw you just posted an announcement for software version 6.1. Will this also work on the AR3 if I build it this way?