Implied by my previous writeup on pin selection for external connectors, we’ve got a new variant of the moteus controller to announce today in beta form, the moteus-n1!

This variant is intended to be more feature-full, higher performance (and higher cost). Here are some bullet points of the biggest differentiators with r4.11:

	moteus n1	moteus r4.11
Price	$159 USD @ qty 1	$104 USD @ qty 1
Size	As small as 46mmx46mmx8mm with optional back connectors omitted. 58% of the volume, 87% of the top down footprint size of r4.11	53x46x12mm
External Peripherals	Each of the auxiliary connectors supports SPI, UART, ADC, SW & HW Quadrature, Hall sensors, and I2C. 5V and 3.3V is provided on each connector to power peripherals (100mA for each voltage available combined between both connectors). I2C pullups are configurable on each connector. All 4 pins on AUX2 are 5VT, the two non-SPI pins on AUX1 are 5VT.	ENC (AUX1) supports SPI, Hall and ADC. ABS (AUX2) supports UART and I2C and are both 5VT.
RS422	Built in RS422 transceiver for communicating with RS422 / BiSS-C encoders (BiSS-C / SSI not yet supported in software).	None
Voltage	8-54V, 48V nominal	8-44V
Peak Output	100A output phase current, 1200W	100A output phase current, 500W
Continuous Output	9A output phase current ambient, 18A w/ thermal management	11A output phase current ambient, 22A w/ thermal management
CAN fault tolerance	58V bus fault tolerance	12V bus fault tolerance
Power Connectors	Solder pads for DC bus input, one always present XT30, one optional XT30	2x XT30

The short form is that the n1 does not really expand the set of motors that can be usefully driven, but does enable operation in 48V systems, is more compact and electrically robust and provides significantly improved external peripheral support.