I searched the internet more today for anything that will help me , I did find a site where the guy was saying he did use the encoder wired to the differential driver on the dg4s so I guess I'm kind of going in the correct direction. I tried it today but nothing moved. There is a green and red led that stay lit on the driver, so I went ahead and emailed the company and see what they can tell me. Whats the trick to unlocking that brake on the spindle? I know you said it needed to be energized to release but to what voltage? I tried 5v and 24v but neither did anything. The Spindle is still hard to turn.