Thanks hood, the motion control and encoder both came from machmotion, so I assumed they would play nice together. But I have thought that this may be a problem..my biggest concern at this point is to get this thing threading properly. It cuts beautiful threads, but the pitch is larger than commanded. In a threading cycle, the true s dro will jump to 600 if it is command is 500, the higher the speed, the greater the jump..Im stumped on this one..thanks for the link jeep, i will be adding balls screws, just need to get the thing running right first...