Advantage of closing the position loop in LinuxCNC

tommylight wrote:

Personally the main thing that makes my life much easier is the ability to disable motors and move the machine by hand and still have the position correct, enable motors and continue working!

Please explain how you do this?
Thanks

-encoder feedback must be wired and used by LinuxCNC
-enable output must be wired to drive enable inputs

And how is the hal configuration?
net     joint.0.motor-pos-fb    Encoder.0.position ?