Direct Drive Wheel built around the MiGE 130ST-M15015 (large MiGE) with a 10,000 ppr /40,000 cpr (40K) incremental encoder or 2048 line /.2,097,152 (2M) cpr sincos encoder. The motor controller is housed in a quiet fan-cooled aluminium enclosure and consists of a Granite Devices IONI Pro HC and SimuCUBE driven by a Mea