for anyone who has fanuc red cap servos in their triac- buy allen bradley drives cheap on ebay- they run step/direction perfect.
also have homing to marker pulse which makes perfect homing every time a doddle!
re homing back to exact encoder position is a feature too.- works as absolute encoder.
accuracy so far- momentary position error at max acceleration less than 8/10000 of a revolution!
auto commutating so no need for weird fanuc comutation signals too :-)
if anyone is stuck- i keep plenty in stock and can set them up here before dispatch (took a few days of head scratching to work everything out)