====== Hardware Abstraction Layer ======
The HAL is the same as [[:hal|]] with an additional motor and encoder for the TCP.




==== Encoders on the Tool Center Point Motor ====
The TCP motor are equipped with a gear with the ratio of //120:1// and with an encoder //hem3-256w//, which provides //256 lines per revolution//. The quadrature decoder function, which counts the encoder ticks, delivers 4 counts per line. \\ 

{{ :delta:ntb:software:hal-hem3.jpg?500 |HAL config for HEM3 encoder}}

The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π.