<p style="text-align: center;"><img src="/ueditor/php/upload/image/20250417/1744856018716177.png" title="1744856018716177.png" alt="2.png"/></p><p style="text-align: justify;"><span style="font-family: arial, helvetica, sans-serif; font-size: 12px;">Many SMLAs can be outfitted to provide feedback by adding a rotary encoder. Rotary encoders, also known as shaft encoders, convert the&nbsp;angular&nbsp;position of a shaft to&nbsp;analog&nbsp;or&nbsp;digital&nbsp;output signals. Optical rotary encoders are the most common option for adding feedback functionality to SMLA assemblies. Figure 4 illustrates how adding an encoder to an SMLA can provide feedback to the controller and share important motion data such as position, speed or direction.</span></p>