Heres what it says in the siemens 810 manual the signal is a +-A,+-b,+-indexer, pulse.This is quadrature I believe?But this is 1989 equipment so It may be different than current standards.Correct me if i'm wrong I don't want to go to far down the wrong road.I do intend to close the loop with galil and use the coml for misc. i/o thanks AL