Mechanical Setup

To use the onboard on-axis encoder integrated with moteus, the controller must be mounted with care to ensure proper alignment and ongoing registration.

Mechanical Mounting

If using the default onboard encoder, the following steps must be taken:

1. A diametrically magnetized sense magnet should be attached to the rotor. The fastening must be rigid, allowing no slip. Adhesive is generally required, cyanoacrylate or epoxy can be used.
2. The moteus controller must be mounted so that the encoder is (a) centered laterally on the sense magnet and (b) has an air-gap of approximately 2mm. This mount must be rigid and allow no slip.

moteus-r4 mounting

Unlike other moteus controllers, the moteus-r4 encoder is not centered under the bolt pattern, check the 2D CAD for details.

3D printed mounts

If using 3D printed mounts, care should be taken to ensure the mount does not warp. PLA and other low temperature filaments will warp under load at room temperature, and will do so even more when exposed to thermal heating like from a motor controller. It is recommended to use PETG, PC, or a filament designed to not warp at the operating temperature you intend.

Additional Considerations

There are additional considerations when mounting, some mostly common sense, and some unique to moteus.

Protection from debris and stray conductors

It is advisable to mechanically shield moteus controllers from the environment during operation to prevent contact with stray conductors, dirt, or debris. Contact with any of these things while the system is energized can result in failure.

Similarly, manipulating or working on the system while it is energized should be avoided.

moteus-n1 light sensitivity

moteus-n1 has a voltage regulator which is light sensitive and will fail when exposed to sunlight. The enclosure used to house the system should be opaque. If for some reason an enclosure can not be used, opaque expoxy can be placed over the voltage regulator IC.

moteus-c1, moteus-r4 and moteus-x1 have no light sensitivity considerations to take into account.

Next Steps

Once mechanical mounting is complete, proceed to Electrical Setup to connect the motor phase wires and power.