Various motor documents
-----------------------
- /home/zamofing_t/Documents/doc-ext/SwissFEL/ESB-MX-Stage

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
----------------
```
QBL 4208-41-04-006
No. of Pole 8
No. of Phase 3
Rated Voltage 24V
Rated Phase Current 1.79A
Rated Speed 4000RPM



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
```