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Readme.md

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+Parker stage
+------------
+- encoder is incremental encoder
+
+
+Mecapion rot stage
+------------------
+```
+http://www.lsmecapion.com/eng/
+http://www.lsmecapion.com/eng/contents/sub01/sub02_03.php
+http://www.a2v.fr/program/mdm-dc06d.htm
+http://www.parkem.ch/medien/produkte/direktantriebstechnik/pdf/MDM_Rundtisch_katalog.pdf
+http://www.goto.si/wp-content/uploads/2016/kat/L7%20Series%20catalog.pdf
+http://farasys.ir/wp-content/uploads/2015/Direct%20Drive%20Rotary%20Motors.pdf
+http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
+```
+
+- encoder is biss 20 bit
+- Rated Current 1.46 Arms
+- Max Current 4.38 Arms
+
+Test servo motor
+----------------
+```
+Hall sensors are setup to be used as encoder:
+encctrl=7 # x4 quadrature decode CCW
+encctrl=3 # x4 quadrature decode CW
+encctrl=11# x6 Hall-format decode CW
+encctrl=15# x6 Hall-format decode CCW
+
+Gate3[$gate].Chan[$chan].EncCtrl = $encctrl
+//================ encoder table ==========================
+EncTable[$tbl].type = 1
+EncTable[$tbl].pEnc = Gate3[$gate].Chan[$chan].ServoCapt.a
+EncTable[$tbl].pEnc1 = Sys.pushm
+EncTable[$tbl].index1 = 0
+EncTable[$tbl].index2 = 0
+EncTable[$tbl].index3 = 0
+EncTable[$tbl].index4 = 0
+EncTable[$tbl].index5 = 0
+EncTable[$tbl].ScaleFactor = 1/256
+```
+
+
+
+