Grayhill 63r encoder for (discontinued) Spark Motor Controlers

Hello, This is the first time our team is going to incorporate encoders for our robot, and we wanted to use a Grayhill 63r encoder to read the values. I wanted to ask where these encoders would have to be to read the motor’s rotation. For example, our team is using a
AM14U5 Andymark chassis, so would that mean the encoder must be inserted in the robot’s gearbox? If there are any examples, reference photos, or any additional information on this topic, I would greatly appreciate it. Thank You!

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