Following up on the last post, I might add that the Rutex R990H can handle encoder pulses in excess of 1,000,000 pulses per second. This means that an encoder could have as many as 8000 lines per revolution, giving 32,000 discrete positions for each rotation of the motor, and if that motor is rotating at 2000 rpm, the drive should be able to keep up with it. I would not want to try to pay for an 8000 line incrimental encoder however. I don't know who would make one. Around 2000 lines is the practical limit that I have found. A 2000 line encoder attached to a motor that drove a ball screw directly (not the best configuration) and a ball screw that turned 5 turns per inch would give you a resolution of a quarter of a thousandths of an inch. Thats all for now.
Tom
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