Viktor Petrenko

Isn’t this brilliant?
Instead of adding a separate sensor board to measure the output flange angle (post-reduction), this servo axially aligns the input and output shafts — one as a hollow tube — and places two incremental magnetic encoder rings, rotating in the same plane.

This allows a single board to read both angles without extra wiring, simplifying assembly, improving reliability, and reducing cost.

It also makes it easier to iterate on a compact, all-in-one board with two angle sensors, BLDC driver, and a CAN-connected controller.