Abstract: A modular current sensing system for a servo control system that includes a magnetic core with an open center portion and a connection plate that includes at least three wire connectors, wherein the wire connectors are capable of connecting at least two wires electrically in series. The system also includes a plurality of wires, including a first wire with a first end and a second end, wherein the first end of the first wire is electrically connected to a first power source, and the second end of the first wire is connected to the connection plate at the first wire connector and wherein the first wire passes through the open portion defined by the magnetic core at least once. A first motor current flowing through the first wire induces a core current to flow in the magnetic core, causing the magnetic core to emit a magnetic field. A Hall effect sensor detects the magnetic field, produces an output current, and delivers the output current to a control device within a servo control system.