I cant find the specs for the original Brushed DC motors nor do I have all the elements required to create an accurate motion profile. I have come across second hand info that states the motors are 3000 oz/in (21 Nm) which I would assume is peak output and 3000 rpm. Can someone please offer continuous/peak torque requirements and rpm or a known motor spec or part number of an AC brushless version for this application? Also what is the actual resolution of the original system or later models? I see the encoders are 2000 cpr but with a 6 mm lead screw this equates to .000118". The control dial allows .0001" increments so it must be better than the .000118". Do the A/B channels mean 2000 lines are actually 4000 signals for 1 rotation? Thanks