A reflective optical encoder (40) assembly includes a motor and brake assembly at least partially in a motor and brake housing (42). An encoder housing is at least partially received in a cavity (34) of the motor and brake housing. The reflective optical encoder includes an encoder disk (50) and an encoder shaft (44) that rotate with a shaft of the motor. The assembly includes holes (54, 56, 58) in the encoder disk. A seal (80) at an interface between the encoder housing and the encoder shaft to prevent contaminants from the cavity from entering the encoder housing and a packing inside the encoder housing. A packing (84) is situated to prevent any dust or debris associated with the encoder shaft rotating relative to the seal from getting on the encoder disk.