Differences

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--- hal [2019/11/30 21:15] – [Configure the Encoder Inputs] graf
+++ hal [2019/11/30 21:15] – [Encoders on the Tool Center Point Motor] graf
@@ Line 15: / Line 15: @@
 The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π.
-==== 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:software:hal-hem3.jpg?500 |HAL config for HEM3 encoder}}
-The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π.