The HAL is the same as Hardware Abstraction Layer with an additional motor and encoder for the TCP.

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.

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