Abstract: An encoder for detecting angular position of a rotor in a motor includes a modular hub, configured to be connected to the rotor, and sensing electronics mounted within an end bell of the motor. The modular hub provides a universal mounting configuration for connecting different configurations of the encoder to the motor. The modular hub includes a mounting portion and sensor face on which different elements for sensing may be mounted. The elements may include polarizing tape to reflect polarized light, magnets generating a magnetic field, or ferrous teeth configured to interact with a magnetic field. The sensing electronics include sensing devices corresponding to the elements mounted on the sensor face. The sensing devices may be a paired light emitter/receiver, magnetic sensors, or a paired magnetic field generator/sensor. The sensing electronics convert the sensed signals to uniform feedback data for the motor controller regardless of the encoder configuration.