The 1100M came both ways with glass scales (earlier model) then with 
encoder feedback. Mine is the encoder variety of 1100M.

John

On 8/17/2011 7:28 AM, andy pugh wrote:
> On 17 August 2011 04:15, Scott Hasse<scott.ha...@gmail.com>  wrote:
>
>> To the point, though, I am having one not-so-minor problem.  When I enable
>> the servos, they are not completely stable, and I'll get following error
>> almost immediately after enabling them.  They don't run away, but the
>> encoders show them moving ever so slightly, and physically the motors
>> actually are moving.
> Are you retaining the velocity feedback to the amps, so that they run
> an internal velocity loop, and then you use velocity commands to close
> your position loop based on the encoders?
>
> The previous Anilam system I chatted to someone about had velocity
> tachs on the motors and linear scales, no rotary encoders.
>
> So, in Anilam control is the feedback from linear scales, and encoders
> in EMC2 mode?
>

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