+/-10V or closed loop step/dir?

[Voicecoil]

Now with Step n Dir then I'm not quite sure how Full Closed-loop back to the controller is done because never used Step n Dir Controller that is a Fully closed loop but I would imagine the principle is very similar but except instead of outputting a Voltage it sends out pulses to try and correct position error.

I would guess that the loop moves the motor to within at the minimum +/-1 increment of the encoder resolution (e.g. on the usual closed loop steppers +/-1/1000 revolution). There will have to be a bit of hysteresis (i.e. a window of accuracy) otherwise if you tried to take it to a certain position it would tend to hunt back and forth 1 encoder step.