This is the final post (hah! for now at least) in my series about implementing support for off-axis encoders in moteus (see previous iterations here: 1, 2, 3, 4, 5). In this one, I’ll share the recipe for how to set up an off-axis MA600 encoder using a ring magnet as the only encoder source.

Hardware

Parts list:

• moteus-n1 - https://mjbots.com/products/moteus-c1
• MA600 breakout - https://mjbots.com/products/ma600-breakout
• Diametric ring maget - https://mjbots.com/products/diametric-ring-magnet
• Hollow shaft motor

Magnet mounting: The ring magnet needs to be rigidly affixed to the rotor of the motor being driven. It may be necessary to construct a bracket to mount the magnet, or a fixture to position the magnet before using an adhesive.

This post is part of series examining how low-cost off-axis encoders can be incorporated into a moteus controlled motor system. For the history, see the previous entries: part 1, part 2, part 3, and part 4. We left off after having tuned the bias current trimming of the MA600 in order provide output from the encoder itself. When compared against a reference AksIM-2, that left an error profile that looks like: