I want to replace a stepper motor in something I'm working on with an equivalent motor in terms of general specifications, but with an integrated rotary encoder so that I can track my position. An integrated driver would be great too, since that would simplify things a bit. I'm willing to drop a couple hundred bucks on one of these if necessary.
The mounting holes look like they're 70mm apart, the diameter of the motor is 3.3" (NEMA 34? Looks like NEMA34 mounting holes are 69.6 +/- .3 mm so that should fit?) and the shaft is 9.5mm. Here's an image of the motor I currently have. No datasheet is available - it's from the 1980s and I can't find anything online.
Any suggestions on a motor that's similar in size (maybe a bit more torque), with integrated driver and rotary encoder? I'm open to new or used ones, just overwhelmed with the options searching online.
Thanks!
-perry