# \#as5147

**URL:** https://community.simplefoc.com/tag/as5147/186.md

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## [Encoder Selection for Mini Robotic Arm](https://community.simplefoc.com/t/encoder-selection-for-mini-robotic-arm/6735)

<div class="topic-metadata">

**Author:** [@Isa.gmz](https://community.simplefoc.com/u/Isa.gmz)\
**Replies:** 2\
**Last updated:** [February 12, 2025, 5:37pm UTC](https://community.simplefoc.com/t/encoder-selection-for-mini-robotic-arm/6735 "2025-02-12T17:37:50Z")

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Hello, My team is working on making a small 6 DOF robotic arm and hoping to implement SimpleFOC for control. We will be using a hollow shaft BLDC outrunner with a harmonic drive with the goal of running wires throughout…