[Frank Herrmann] had an interesting idea to turn a geared DC motor into a servo motor assembly, but with a stepper motor-like interface. By stacking some small PCBs behind the motor body ...

It only escalates from here! Both of these disks go inside the motor. That is, you have to pry the servo’s DC motor apart, take its base with brushes out, then insert the encoder disks.

ST’s EVLSERVO1, a turnkey reference platform for servo motor control, enables sensorless or sensored field-oriented control (FOC) with one, two, or three shunts. It drives three-phase brushless motors ...