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

The axis motors are equipped with a gear with the ratio of 76:1 and with an encoder ieh2-4096, which provides 4096 lines per revolution. The quadrature decoder function, which counts the encoder ticks, delivers 4 counts per line.
To account for this in the configuration file of the HAL, we add three blocks. These blocks mirror the physical behavior of the decoder, encoder, and gear.

The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π.

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.