Yes I have :-) I Used a CUI AMT10E encoder with 4*5120 = 20480 pulses per revolution in quadrature mode. Sure not as precise as if you directly mount it to the motor, but I was pretty happy with ...

Promoted as a true black-box solution, the ServoStep motion control system integrates a high-torque, 50-pole stepping motor, motion controller, drive-amplifier, and an encoder in a NEMA 34 frame ...

The actuator combines a high precision harmonic drive gear component with a pancake brushless servo motor. A single-turn 14 bit (16384 cpr) gear output encoder has been integrated along with a single ...