PhidgetMotorPositionControllerMBS.RescaleFactor 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

Change the units of your parameters so that your application is more intuitive.

Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor. The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
(Read and Write property)

PhidgetMotorPositionControllerMBS.StallVelocity 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

Before reading this description, it is important to note the difference between the units of StallVelocity and Velocity.

Velocity is a number between -1 and 1 with units of 'duty cycle'. It simply represents the average voltage across the motor.
StallVelocity represents a real velocity (e.g. m/s, RPM, etc.) and the units are determined by the RescaleFactor. With a RescaleFactor of 1, the default units would be in commutations per second.

If the load on your motor is large, your motor may begin rotating more slowly, or even fully stall. Depending on the voltage across your motor, this may result in a large amount of current through both the controller and the motor. In order to prevent damage in these situations, you can use the StallVelocity property.

The StallVelocity should be set to the lowest velocity you would expect from your motor. The controller will then monitor the motor's velocity, as well as the Velocity, and prevent a 'dangerous stall' from occuring. If the controller detects a dangerous stall, it will immediately disengage the motor (i.e. Engaged will be set to false) and an error will be reported to your program.

A 'dangerous stall' will occur faster when the Velocity is higher (i.e. when the average voltage across the motor is higher)
A 'dangerous stall' will occur faster as (StallVelocity - motor velocity) becomes larger.

Setting StallVelocity to 0 will turn off stall protection functionality.
(Read and Write property)

PhidgetMotorPositionControllerMBS.TargetPosition 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

If the controller is configured and the TargetPosition is set, the motor will try to reach the TargetPostiion.

If the DeadBand is non-zero, the final position of the motor may not match the TargetPosition
Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor. The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
(Read and Write property)

PhidgetMotorPositionControllerMBS.VelocityLimit 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

When moving, the motor velocity will be limited by this value.

VelocityLimit is bounded by MinVelocityLimit and MaxVelocityLimit.
Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor. The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
(Read and Write property)