// Here we use 'real encoder with direct PWM'. Further the axis are scaled
// in this configuration, the PID gives 'torque' to iqCmd.
// the phasePos is received from tne encoder on the motor shaft.
// The idCmd is set to 0
// the PID regulates the position by setting torque, if the motor is not at the desired position
// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured:
// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0)
// look also at PwmSf,PhaseMode,PhaseCtrl,

// -> PhasePosSf is calculated as follows:  (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step

// e.g.   Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a
//        1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
//        PhasePosSf 8*4/2000=0.016


// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep

//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H    32 poles = 1 rev = 16*2048=32768 phase_step
//Enc 1: Rotation stage LS Mecapion                  1 rev = 1048576 enc_steps

//Mot 2: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)

//Mot 3: Stage Y Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)

//Mot 4: Test Servo: Trinamic QBL 4208 motor                   8 poles 1 rev = 4*2048=8192 phase_step
//Enc 4: Test Servo: Incremental encoder mounted with motor 1  1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor             1 rev = 24 enc count (hall sensor encoder)

//Mot 6: Test Stepper: Vextra PK244M                          200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc                                1 rev = 1600 enc_step

//Mot 7: Test Stepper: Vextra PK244M                           200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn                       1 rev = 4096 enc_step

$$$***
!common()
!torqueCtrl()

!sh sleep 1
#1,2,3,4,6j/