## Phidget DC Motor.lvlib:DCMotorSetCurrentRegulatorGain.vi

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:

$$CurrentRegulatorGain = CurrentLimit * \frac{Voltage}{12}$$

| 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.

| Current Regulator Gain The current regulator gain value 1060_0 (ver: 100, 110) DC Motor Controller: Unsupported 1064_0 (ver: 100, 101, 102) DC Motor Controller: Unsupported 1064_1 (ver: 102) DC Motor Controller: Unsupported 1065_0 (ver: 100, 101) DC Motor Controller: Unsupported 1065_1 (ver: 100, 101) DC Motor Controller: Unsupported DCC1000_0 (ver: 115) DC Motor Controller: Min: 1 Max: 100Val: 10 DCC1000_0 (ver: 204, 205, 206) DC Motor Controller: Min: 1 Max: 100Val: 10 DCC1001_0 (ver: 114, 116, 117) DC Motor Controller: Unsupported DCC1002_0 (ver: 100) DC Motor Controller: Unsupported DCC1003_0 (ver: 100) DC Motor Controller: Unsupported

| 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.