## Phidget BLDC Motor.lvlib:BLDCMotorSetStallVelocity.vi

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 reduce the `Velocity` (i.e. average voltage) to 0 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.

| Device In Device # Identification

| error in (no error) error in can accept error information wired from VIs previously called.

| status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| code code is the error or warning code. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| source source describes the origin of the error or warning. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| Stall Velocity The stall velocity value. DCC1100_0 (ver: 113, 114) Brushless DC Motor Controller: Min: 0 Max: 2000 Def: 400 DCC1100_0 (ver: 120, 121, 130) Brushless DC Motor Controller: Min: 0 Max: 2000 Def: 400

| Device Out Same as Device In

| error out error out passes error or warning information out of a VI to be used by other VIs.

| status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| code code is the error or warning code. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| source source describes the origin of the error or warning. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.