The feedback sensor used is an optical encoder shown in Figure 11 .

The encoder consists of a

light source, a photodetector, and a disk containing a series of slots. The encoder is connected to
the leadscrew . As the screw turns, the slots cause the light to be seen by the photodetector as a
series of flashs which are converted into an equivalent series of electrical pulses which are then
used to characterize the position and the speed.