>While it would seem nice not to have the encoder be "off" by a count on
dir-
>ectional changes the effect is non-cumulative and in fact may in some cases
>be a GOOD thing depending upon how the encoder is located relative to the
>object in question and its driving force.  If your encoder is on a motor
which
>is moving the telescope, the backlash of the encoder's hysteresis will work
>to counteract mechanical backlash in the system.

I thought of this and decided to mount my encoders separately from the
motors on their own lightweight backlashless (or as close as possible)
toothed belts.

I am over sampling by a factor of 10 anyway so as long as the errors are not
cumulative, I'm not too worried!

Phil