A linear motor which includes a bobbin with an interior lengthwise axial opening with a permanent magnet assembly within the opening and electricity carrying coils wound on an exterior of the bobbin which creates a force when electricity runs through the wound coils as a result of interaction between the magnetic field created by the magnet assembly, and the current passing through the coil wires, that enables the magnet assembly to move in an axial direction within the bobbin. The bobbin includes an encoder within an interior wall and an encoder scale strip affixed to the magnet assembly so that the encoder can detect the position of the magnet assembly.