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Originally Posted by Greg Needel
i personally am a big fan of encoders. if you put an encoder on the motor driving the arm, or any other rotating shaft in the system; you can figure out the set number of rotations from start to your limit.
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The thing is, encoders only tell you where the system is supposed to be, not where it is. A limit switch (or the like) will tell you when the system is at its limit and should stop. If you only have an encoder you know that you're supposed to be somewhere, but if you have a loose cable or chain, you'll actually be somewhere else.