Double rotating module and built-in electronics.

This module is intended as an extension to the Fischertechnik building blocks. This is a compact unit with double rotation. Each stage has a built-in quadrature decoder and home point detection. Hall detectors are used for this. The big advantage of this hall AH3144E is that it works on a voltage from 4.5V to 24V and is therefore compatible with most hardware. The output is an open collector type. Each stage is powered by an XS motor 9V.
The upper axis has a pivoting block with 20 teeth. The gear profile is adapted to work with the worm gear of FT without much backlash. On the contours of this rotating block are small holes provided to apply a neodymium magnet D2x3mm. This magnet serves as a home point for calibration. On the worm shaft is a small disk encoder with 5 magnets. Through quadrature detection you get 20 pulses per revolution. The angle adjustment accuracy of the pivot block is therefore 1/400 or 0.9 degrees. The total angular rotation is slightly more than 180 degrees. The