Based on hybrid step motor, 42 x 42 x 70 mm iMOT172S XM-CAN reaches peak torque of 500 mNm at 1,000 rpm without gearbox. One PCB integrates magnetic encoder and iPOS motion controller that utilizes Technosoft MotionChip™ technology and provides 7 I/Os. Configuration, tuning, and local programming of iPOS drive can be done using EasyMotion Studio platform, and absolute single-turn position sensor provides 4,096 counts/revolution for speed and position control accurate down to 5 arc min.