Incremental magnetic encoder

An incremental magnetic encoder defining an encoder axis and comprising a fixed body and a body movable relative to the fixed body in at least a first encoding direction and a second encoding direction perpendicular to the first encoding direction, wherein one of the bodies, referred to as the first body, comprises a first ring extending along a first longitudinal direction coincident with the encoder axis and a first circumferential direction perpendicular to the first longitudinal direction, one of the first directions corresponding to the first encoding direction, the first ring defining at least two different magnetic alternations, each magnetic alternation extending along the first encoding direction, and the other body, referred to as the second body, comprises:

• at least one first notching tooth comprising ferromagnetic or magnetic material capable of being arranged opposite each magnetic alternation of said first ring to create, during a movement of the movable body in the first encoding direction, a notch with at least two different notch steps depending on the position of the second body relative to said first body in the second encoding direction;
• and
• a first pair of magnetic detectors arranged opposite said first ring and configured to quantify each movement of the movable body in the first encoding direction.