AX500/AX1500: encoder vs. analog inputs

We are looking to use one of the AX500 or AX1500 to control a DC mote and gearbox we have in closed loop position mode. We shall be controlling the system using a 0-5v analog input produced through our PLC control system. We also have a analogue voltage produced from the feedback pot (a Vishay 351HE hall effect sensor) we have within the system to allow use to link through to obtain CL positioning. Having looked through the specs and talked to the UK supplier we are still not totally sure that the board can do this. (p91 of the manual says that to do this I'll need to use encoder based systems whereas the feedback I've had from the uk supplier indicated that there are 4 analog inputs that could be used). Can you help?

The AX500 and the AX1500 both accept a linear zero to +5 volt analog voltage as feedback. You do not have to use digital encoder (although you could if you needed using our AX3500).
So our board can be used with four analog 0-5 Volt analog signals, two being input and two being feedback. The instruction manuals explains the connection.
The 0-5volt signal is what is called a "wigwag" signal, meaning 2.5 volt is rest position, 0 volt is extreme one side (example all left position) and 5 Volt is extreme other did (example all right position).