Hello, I would like to add to this last topic about height control and the use of a QDC module or ENC software for the EC500 and EC300 boards, which, as I mentioned previously, the optocouplers that have the inputs on these boards do not allow the use of an encoder directly because they are too slow and lose pulses and the QDC module loses counting, so the hardware would have to be modified. I have made a design for a board to connect up to 4 encoders. I leave you the schematic and a 3D image of the encoder. of the board, obviously we would have to have the ENC_BOARD manufactured and that has an added cost, it would be great to find optocouplers fast enough that share the same footprint as the L246 used in the EC500/EC300 boards, I have not found them but if anyone has Anyone in mind to report, I have used RJ45 connectors thinking about crimping the same cable that the encoders of my motors have, however feel free to give ideas in this regard, the spaces located within the 4 DIPs are two 24->5V regulators/ 24->3V3 that I had before and will be assembled later, later I will see how I can share the project through EasyEDA or the *.json files on Github greetings