With programmable IXARC encoders, key performance characteristics such as resolution, communications interfaces and measurement ranges can be set up through firmware updates, with no need for mechanical changes. The UBIFAST programming tool provides a wireless interface for making software updates. For incremental encoders, the resolution, direction and communications interface driver can be defined through software parameters. In the case of absolute encoders with analog interfaces, their outputs—current or voltage—can be scaled so that a predetermined range of mechanical motion can be set to span the full electrical output range. Accessories include measurement wheels and draw-wire mechanisms.