Hardware Abstraction Layer

The HAL is the same as Hardware Abstraction Layer 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.

HAL config for HEM3 encoder

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