Looking at the description of "M19" it states that it requires a differential 
encoder with index to function.

I believe it should be (any) quadrature encoder with index. (differential being 
great for noise immunity but not an actual requirement.)

Not trying to be picky, but the docs are how people learn, best to provide the 
most accurate info possible.

And to those who maintain said Docs, Thanks for doing an endless job.

Greg

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