Cypher Max
A Simple Through Bore Encoder​
A through bore encoder mounts over a shaft rather than on the end of one. The hollow center bore lets the shaft pass straight through, making it straightforward to add sensing to an existing mechanism without modifying the shaft or redesigning the joint.
The Cypher Max has two output types:
- Absolute — a 12-bit PWM signal giving a continuous 0°–360° angle reading that persists across power cycles. The factory calibrates the zero point.
- Quadrature — a standard ABI signal giving a relative count of 2048 pulses per revolution that resets on power-up.
On the AMR platform the Cypher Max connects to the Titan motor controller via the absolute cable. The Titan reads one output at a time and forwards position data to the VMX over CAN, making it the primary input for closed-loop motor position control.
Zero Position Markers​
The Cypher Max has four physical alignment features that mark the factory zero position. The diagram below uses colour to identify each one for reference — none appear on the physical unit.
| Marker (diagram colour) | Location | Description |
|---|---|---|
| Red | Outer body (fixed casing) | Zero reference on the stationary housing |
| Yellow | Bearing housing (rotating ring) | Zero reference on the inner rotating assembly |
| Green | Shaft insert | Zero reference on the interchangeable bore adapter |
| Pink | Outer body | Machined slots providing an additional zero indicator |
Using the Markers​
The shaft insert marker rotates with the shaft. During installation, rotate the mechanism to its intended zero position, then orient the shaft insert so its marker aligns with the body marker and the machined slots. When all markers align the encoder reads 0° in that position.
If your mechanism cannot physically reach the alignment position, note the absolute angle it reads at a known reference point and offset in code instead.