Dear All, I want to share a project of mine with piclist member. Circuit diagram of Motor Driver/Inverter for Controlling Cold Storage Warehouse Door System can be downloaded from the link below. http://www.stargate-tr.com/?p=3D79 It's based on dsPIC33FJ12MC202 Microchip Motor Controller. Absolute encoder was used for position. Absolute encoder and controller are communicate over RS485. Please leave comment for more information about full source code includes schematics and firmware. Do not hesitate to ask me for problem about that schematics. Best Regards, ierturk --=20 http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist .