PhidgetDCMotorMBS.Acceleration as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The rate at which the controller can change the motor's Velocity.

The acceleration is bounded by MinAccleration and MaxAcceleration.

Unit: duty cycle per second (duty cycle/s)
(Read and Write property)

PhidgetDCMotorMBS.BackEMF as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The most recent BackEMF value that the controller has reported.

(Read only property)

PhidgetDCMotorMBS.BackEMFSensingState as Integer

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

When BackEMFSensingState is enabled, the controller will measure and report the BackEMF.

The motor will coast (freewheel) 5% of the time while the back EMF is being measured (800μs every 16ms). Therefore, at a DutyCycle of 100%, the motor will only be driven for 95% of the time.
(Read and Write property)

PhidgetDCMotorMBS.BrakingStrength as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The most recent braking strength value that the controller has reported.

See TargetBrakingStrength for details.
(Read only property)

PhidgetDCMotorMBS.CurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The controller will limit the current through the motor to the CurrentLimit value.

Unit: amperes (A)
(Read and Write property)

PhidgetDCMotorMBS.CurrentRegulatorGain as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The current regulator gain.

Depending on power supply voltage and motor coil inductance, current through the motor can change relatively slowly or extremely rapidly. A physically larger DC Motor will typically have a lower inductance, requiring a higher current regulator gain. A higher power supply voltage will result in motor current changing more rapidly, requiring a higher current regulator gain. If the current regulator gain is too small, spikes in current will occur, causing large variations in torque, and possibly damaging the motor controller. If the current regulator gain is too high, the current will jitter, causing the motor to sound 'rough', especially when changing directions.

As a rule of thumb, we recommend setting this value as follows:
(Read and Write property)

PhidgetDCMotorMBS.DataInterval as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The DataInterval is the time that must elapse before the controller will fire another VelocityUpdate/BrakingStrengthChange event.

The data interval is bounded by MinDataInterval and MaxDataInterval.
Note: BrakingStrengthChange events will only fire if a change in braking has occurred.

Unit: milliseconds (ms)
(Read and Write property)

PhidgetDCMotorMBS.MaxAcceleration as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that Acceleration can be set to.

Unit: duty cycle per second (duty cycle/s)
(Read only property)

PhidgetDCMotorMBS.MaxBrakingStrength as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that TargetBrakingStrength can be set to.

See TargetBrakingStrength for details.
(Read only property)

PhidgetDCMotorMBS.MaxCurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that CurrentLimit can be set to.

Unit: amperes (A)
(Read only property)

PhidgetDCMotorMBS.MaxCurrentRegulatorGain as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that CurrentRegulatorGain can be set to.

(Read only property)

PhidgetDCMotorMBS.MaxDataInterval as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that DataInterval can be set to.

Unit: milliseconds (ms)
(Read only property)

PhidgetDCMotorMBS.MaxFailsafeTime as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that failsafeTime can be set to when calling EnableFailsafe.

in milliseconds.
(Read only property)

PhidgetDCMotorMBS.MaxVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The maximum value that TargetVelocity can be set to.

TargetVelocity is bounded by -1×MaxVelocity and MaxVelocity, where a sign change (±) is indicitave of a direction change.

Unit: duty cycle (duty cycle)
(Read only property)

PhidgetDCMotorMBS.MinAcceleration as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that Acceleration can be set to.

Unit: duty cycle per second (duty cycle/s)
(Read only property)

PhidgetDCMotorMBS.MinBrakingStrength as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that TargetBrakingStrength can be set to.

See TargetBrakingStrength for details.
(Read only property)

PhidgetDCMotorMBS.MinCurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that CurrentLimit can be set to.

Unit: amperes (A)
(Read only property)

PhidgetDCMotorMBS.MinCurrentRegulatorGain as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that CurrentRegulatorGain can be set to.

(Read only property)

PhidgetDCMotorMBS.MinDataInterval as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that DataInterval can be set to.

Unit: milliseconds (ms)
(Read only property)

PhidgetDCMotorMBS.MinFailsafeTime as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that failsafeTime can be set to when calling EnableFailsafe.

in milliseconds.
(Read only property)

PhidgetDCMotorMBS.MinVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The minimum value that TargetVelocity can be set to

Set the TargetVelocity to MinVelocity to stop the motor. See TargetBrakingStrength for more information on stopping the motor.
TargetVelocity is bounded by -1×MaxVelocity and MaxVelocity, where a sign change (±) is indicitave of a direction change.

Unit: duty cycle (duty cycle)
(Read only property)

PhidgetDCMotorMBS.TargetBrakingStrength as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

This setting allows you to choose how hard the motor will resist being turned when it is not being driven forward or reverse (Velocity = 0).

The TargetBrakingStrength sets the relative amount of electrical braking to be applied to the DC motor, with MinBrakingStrength corresponding to no braking (free-wheeling), and MaxBrakingStrength indicating full braking.

A low TargetBrakingStrength value corresponds to free-wheeling. This means:
The motor will continue to rotate after the controller is no longer driving the motor (Velocity = 0), due to its momentum.
The motor shaft will provide little resistance to being turned when it is stopped.
As TargetBrakingStrength increases, this will engage electrical braking of the DC motor. This means:
The motor will stop more quickly if it is in motion when braking is requested.
The motor shaft will resist rotation by oustide forces.
Braking will be added gradually, according to the Acceleration setting, once the motor controller's Velocity reaches 0.0
Braking will be immediately stopped when a new (non-zero) TargetVelocity is set, and the motor will accelerate to the requested velocity.
Braking mode is enabled by setting the Velocity to 0.0
(Read and Write property)

PhidgetDCMotorMBS.TargetVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The target velocity.

The average voltage across the motor is based on the TargetVelocity value.
At a constant load, increasing the target velocity will increase the speed of the motor.
TargetVelocity is bounded by -1×MaxVelocity and MaxVelocity, where a sign change (±) is indicitave of a direction change.
Setting TargetVelocity to MinVelocity will stop the motor. See TargetBrakingStrength for more information on stopping the motor.
The units of TargetVelocity and Acceleration refer to 'duty cycle'. This is because the controller controls velocity by rapidly switching the power on/off (i.e. changing the duty cycle) in order to manipulate the voltage across the motor.
(Read and Write property)

PhidgetDCMotorMBS.Velocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	22.1	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The most recent velocity value that the controller has reported.

Unit: duty cycle (duty cycle)
(Read only property)