text: <s>[INST] Use Independent encoder for position Summary: Encoder input to motion controlMy machine has a servo to control vertical motion, but the vertical load is on a belt that winds up on a wheel. The position of the vertical part is not very precise using the drive servo due to belt stretch pending the amount of load. The machine manufacture added an sick string encoder to help with position. I thought about using a MAPC, but the belt stretch from weight and distance spooled out is too much varibility. My question - how do I use this independent encoder to control position? I would like to send the servo to a setpoint and the servo slow down and stop at said setpoint, I assume, using one of the Studio motion functions. The encoder input is a 4-20mA analog input. Programming in Studio V32 Thanks. [/INST] Is there any chance of getting the machine manufacturer to change the string encoder from 4-20 analog output to an actual encoder output? I know Sick makes an SSI string encoder. What is the servo you are using? If it is one that has an auxiliary encoder input, this problem becomes very easy. \\n </s>