Abstract: The disclosure herein relates to device, for example a gear pump, for pumping fluid. The gear pump comprises a motor for driving a rotatable drive shaft; a drive gear configured to be driven by the drive shaft; an idler gear which meshes with the drive gear; an annular magnet disposed coaxially with the drive shaft and configured to rotate therewith; and a sensor for sensing rotation of the annular magnet and generating an output signal corresponding to a rotational position of the drive shaft.