moteus Brushless Servo Documentation

Welcome to the documentation site for the moteus brushless motor controller.

What is moteus?

moteus controllers are high-performance modular brushless motor controllers with integrated on-axis magnetic encoders, designed for robotics applications. They feature:

• Field Oriented Control (FOC) for 3-phase brushless motors
• Integrated magnetic encoder for precise position sensing
• High-speed CAN-FD communication at 5Mbps
• Multiple control modes: Position, velocity, and torque control with acceleration and velocity limited trajectories
• Fast control loops running at 15-30kHz

Hardware Variants

Name	Voltage Input	Peak Power	Mass	Dimensions
r4.11	10-44V	900W @ 30V	14.2g	46x53mm
c1	10-51V	250W @ 28V	8.9g	38x38x9mm
n1	10-54V	2kW @ 36V	14.6g	46x46x8mm
x1	10-54V	1.3kW @ 36V	23.8g	56x56x10mm

Assembled and tested boards can be purchased at mjbots.com

Documentation

• Quick Start
• Using Moteus
• Integration
• Troubleshooting
• Reference

Community & Support

• Discord Community
• GitHub Repository
• Purchase Hardware

License

All files in this repository are available under the Apache 2.0 License.

Trademark Notice

mjbots Robotic Systems LLC owns and protects the "mjbots" and "moteus" trademarks. Please read the Trademark Policy if you want to use these names in your project.