Hi Arrati (Al)
first off, thanks for the quick comments.

Well, i happen to have an idea for something that will have to move a given predefined distance in a pattern, not unlike out CNC friends, but my motions will be fixed from a given starting point, for example:

Move (by rotating a acme lead screw) a table to the right (x-axis) 100mm, then forward vie a different stepper/encoder (y-axis) 25mm, stay there for 5 seconds, reverse the y-axis direction 25mm, go further right (x-axis) 50mm, repeat the y-axis movement as before, do this a few more steps (further x and y movements) then return to home, wait until something happens elsewhere (mechanical trigger from other event) and repeat entire process over and over.

I plan on introducing sensors to actually trigger when the y-axis movements stop (they won't be 25mm always, they may be a function of a sensor (contact) being triggered, but the x axis movements will be constant.

This has to be an independent system, no "PC" interface allowed. In essence, it has to be a self contained unit that contains MCU, motors and the ability to know if a step was missed to keep going to "predefined" location. I will also have to introduce contacts so the movement can stop when the appropriate y-axis movement has taken place. The encoder has 400cpr.

thanks again!!!

Also, thanks for the kind welcome!!