[samualt]

I take it the Gecko G320 is limited to only 20A: "0 to 20A current limit adjust range".
I'm guessing that means I can never reach my theoretical maximum of 1500 oz-in with the following drives:

Reliance Electric DC Brushed Servo Motors, Model E712
37.51 Oz-In/A
25.0-30.5 V/KRpm
Motor Terminal Resistance .75-1.02 Ohms @ 4A.
Maximum Terminal Voltage 60V
Maximum Continuous Speed 2100 RPM (No Load)
Maximum Peak Torque 1500 Oz-In.
Maximum Peak Current 44.5A
Maximum Continuous Stall Torque At Max Motor Temp 300 Oz-In.
Maximum Continuous Current 8.9A

Is there any way around that? Or, should I just not worry about that at all?
Also, does anyone here have any experience with these motors? Will the encoder that comes with them work with the Gecko?