Gday Mark
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Andrew the EQ6 is a Chinese copy of the EM200 so I imagine fitting encoders to that mount would not be too difficult. The encoders on the EM200 are outside of the case directly attached to the worms (see pic below).
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I assume the EM200 has extended shafts on the worm itself????
My EQ6 has no free section of worm axle to easily hook anything onto, and as the new unit would have to provide feedback via guide commands, i would still need to make a software black box to drive it.
With the Meades, its simpler to hack into the standard processing loops of the firmware, ie semi seamlessly replace the current encoder with the new one, but it still leaves a problem of how to deal with backlash in an "elegant manner". Ive been looking at how that works in the Meades for several years, and it is not a trivial exercise.
I guess if it was simple, it would have been done by now.
I still like the precision of a direct drive motor with an absolute encoder on the output axle as being pretty close to optimum.
Just hope the prices come down with time and scale of manufacture,
and all this conjecture will become moot.
Andrew