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The Rexroth (Indramat) DKR family was designed for high power, high stiffness applications utilizing either the 2AD series motors or the 1MB frameless motors. Development of the drive was accomplished by putting a digital front-end on an upgraded RAC drive and power section. The drives can handle motor resolutions of up to 1/4,000,000 of a rev and have internal positioning loop control available, either by the motor feedback, or by external feedback (with several different interfaces available). The DKR controllers are still available new, and 24hr turn emergency repairs are available.