I think you should think twice about abandoning a functional industrial control sytem for Mach. Most industrial control systems use a feedback system that makes use of a resolver and an encoder for the control loops. Drives run in velocity mode on one feedback loop and get wrapped with a position loop to the control system.
The strategy has advantages because the velocity is monitored independently of position. It works well when it comes to low speed linearity as well as using scales for feedback. (if you have them) You can/could put something like this together with EMC and possibly Mach but it would take more effort than learning the Anilam either way.
Find someone in your part of the woods that uses the Anilam and see if you can get a lesson on it. I think you'll save yourself alot of time in the long run. |