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http://www.warp9td.com/index.php?option=com_fireboard&Itemid=33&func=view&id=930&catid=7Hood
i'm using the smoothstepper with viper servo drives.the vipers already have optoisolation..i have drives are connected with no bob.have 500cpr usdigital e6d encoders to 5 tpi ballscrew. separate soundlogic board for inputs and relay outputs.large sajo vertical mill 7" gettysfanuc motors directly coupled to the axis screws. i have never encountered cogging.it can take heavy feeds with 6 inch facemill .the vipers are a little difficult to tune. the latest version of firmware protects the drives from blowing. one thing about the vipers is that you can set encoder count following error and output to mach estop.