@NickMaddock Hi Nick,
sorry that i do not have a direct answer to your question. I have a question about the Roller Unit and did not get any response from the M5 Team yet. But it should be easy to answer for your: Is the Position resolution in Position mode restricked to the encoders incremental resolution or interpolated to a finer level? I'm interested in the product but would like to use is for some kind of gimbal application (mirror steering). Therefore the resolution of the encoder might be too coarse. The datasheet of the sensor states 12bit for incremental output but 15 bit using the serial interface. Unfortunately the videos from the roller unit seem to show 12bit resolution.

The question is: what is the minimal achievable setting resolution in position mode?