PhidgetMotorVelocityControllerMBS.Acceleration as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

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

Use the RescaleFactor to convert the units of this property to more intuitive units, such as rotations or degrees.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.ActiveCurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The current limit that the controller is actively following.

The SurgeCurrentLimit, CurrentLimit, and temperature will impact this value.
(Read only property)

PhidgetMotorVelocityControllerMBS.CurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

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

View ActiveCurrentLimit for information about what current limit the controller is actively following.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.DataInterval as UInt32

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The DataInterval is the time that must elapse before the channel will fire another VelocityChange / DutyCycleUpdate event.

The data interval is bounded by MinDataInterval and MaxDataInterval.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.DeadBand as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

This parameter specifies a minimum Velocity below which your system will relax if the TargetVelocity is set to 0, to prevent unwanted jitter.

Use the RescaleFactor to convert the units of this property to more intuitive units, such as rotations or degrees.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.DutyCycle as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The most recent DutyCycle value that the controller has reported.

This value will be between -1 and 1 where a sign change (±) is indicitave of a direction change.

DutyCycle is an indication of the average voltage across the motor. At a constant load, an increase in DutyCycle indicates an increase in motor speed.
(Read only property)

PhidgetMotorVelocityControllerMBS.EnableExpectedVelocity as Boolean

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

When enabled, the ExpectedVelocity will be sent back from the controller.

(Read and Write property)

PhidgetMotorVelocityControllerMBS.Engaged as Boolean

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

When engaged, the controller has the ability to be controlled.

When disengaged, the controller will stop powering to your motor, it will instead be in a freewheel state.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.ExpectedVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

This controller uses trapezoidal motion profiling combined with a PID loop to accurately track velocity.

The ExpectedVelocity represents the current velocity the controller is tracking along the trapezoidal motion curve. The error of your PID loop is calculated by taking the difference of Velocity and ExpectedVelocity. You can use this value to verify your controller is working as expected.

• Set EnableExpectedVelocity to TRUE to enable the change event for this property.
• Use the RescaleFactor to convert the units of this property to more intuitive units, such as rotations or degrees.

(Read only property)

PhidgetMotorVelocityControllerMBS.FailsafeBrakingEnabled as Boolean

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

This setting allows you to choose whether motor will forcibly stop once it enters a FAILSAFE state.

• A setting of FALSE will simply stop applying power to the motor, allowing it to spin down naturally.
• A setting of TRUE will apply braking up to the FailsafeCurrentLimit, actively stopping the motor

(Read and Write property)

PhidgetMotorVelocityControllerMBS.FailsafeCurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

When the controller enters a FAILSAFE state, the controller will limit the current through the motor to the FailsafeCurrentLimit value.

(Read and Write property)

PhidgetMotorVelocityControllerMBS.Inductance as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The Inductance value.

The controller will attempt to measure the inductance of your motor when opened. This value is used to improve control of the motor.

Set this value during the Attach event to skip motor characterization (including the audible beeps). You can use a previously saved Inductance value, or information from your motor's datasheet.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.Kd as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

Derivative gain constant.

A higher Kd will help reduce oscillations.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.Ki as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

Integral gain constant.

The integral term will help eliminate steady-state error.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.Kp as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

Proportional gain constant.

A small Kp value will result in a less responsive controller, however, if Kp is too high, the system can become unstable.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.PositionType as Integer

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

Determines whether the controller uses the hall effect sensors or an encoder for velocity information.

This setting is locked in once the channel is Engaged and cannot be changed until the channel is reset.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.RescaleFactor as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

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

Units for Acceleration, DeadBand, ExpectedVelocity, TargetVelocity, and Velocity 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)

PhidgetMotorVelocityControllerMBS.StallVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The lowest velocity you would expect from your motor.

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

• DutyCycle 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 DutyCycle, 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 DutyCycle 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)

PhidgetMotorVelocityControllerMBS.SurgeCurrentLimit as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The SurgeCurrentLimit allows for increased performance from your motor. The controller will limit the current through your motor to the SurgeCurrentLimit briefly, then scale current down to the CurrentLimit.

View ActiveCurrentLimit for information about what current limit the controller is actively following.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.TargetVelocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

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

Use the RescaleFactor to convert the units of this property to more intuitive units, such as rotations or degrees.
(Read and Write property)

PhidgetMotorVelocityControllerMBS.Velocity as Double

Type	Topic	Plugin	Version	macOS	Windows	Linux	iOS	Targets
property	Phidgets	MBS Phidgets Plugin	25.0	✅ Yes	✅ Yes	✅ Yes	❌ No	Desktop, Console & Web

The most recent velocity value that the controller has reported.

Use the RescaleFactor to convert the units of this property to more intuitive units, such as rotations or degrees.
(Read only property)