Products for USB Sensing and Control
Products for USB Sensing and Control

PHIDGETS Inc.

Unit 1 - 6115 4 St SE
Calgary AB  T2H 2H9
Canada
+1 403 282-7335

DC Motor Phidget

ID: DCC1000_0
Recommended for new designs: This product (or a similar replacement with a compatible form, fit and function) is estimated to be available for ten years or more.

Control one high-current brushed DC motor with this powerful Phidget. The encoder input and analog input can enable precise control motor velocity and position.

$75.00

Quantity Available: 966

Qty Price
5 $71.25
10 $67.50
25 $60.00
50 $52.50
100 $48.75
250 $45.00
500 $41.25
1000 $37.50

The DC Motor Phidget allows you to control a single DC motor (up to 25 A) or DC linear actuator. It uses high-frequency pulse-width modulation to achieve smooth operation. This Phidget connects to your computer through a VINT Hub.

Features:

  • Control velocity and acceleration - Forward and reverse
  • Set a specific target position (requires an encoder)
  • Monitor electrical current - Detect motor stalling
  • Attach potentiometers and other ratiometric sensors - Incorporate position feedback without needing a separate input board
  • Encoder input - Read in the quadrature signal from an encoder attached to the shaft of your motor. This lets you make a closed-loop position controller.
  • Monitor Temperature - Your program can react to changes in controller temperature.

Technical Details:

  • Current Control - Limit the motor torque
  • Isolation - The VINT port on this device is isolated, improving reliability and eliminating ground loops
  • Polarity Protection - The device will not turn on and will not be damaged if the power supply is connected backward
  • Overcurrent protection - On-board fuse to protect the controller in an over-current event
  • Failsafe Protection - Set the device to turn off automatically if your program becomes unresponsive

VINT Hubs

This Phidget is a smart device that must be controlled by a VINT Hub. For more information about VINT, have a look at the VINT Primer. You can use a Phidget Cable to simply and easily connect the two devices. Here's a list of all of the different VINT Hubs currently available:

Product Board
Image Part Number Price Number of VINT Ports Controlled By
HUB0000_0 $30.00 6 USB (Mini-USB)
HUB5000_0 $60.00 6 Local Network (Ethernet or Wi-Fi)
SBC3003_0 $120.00 6

Phidget Cables

Use a Phidget cable to connect this device to the hub. You can solder multiple cables together in order to make even longer Phidget cables, but you should be aware of the effects of having long wires in your system.

Product Physical Properties
Image Part Number Price Cable Length
3002_0 $2.00 600 mm
3003_0 $1.50 100 mm
3004_0 $3.00 3.5 m
3034_0 $1.50 150 mm
3038_0 $2.25 1.2 m
3039_0 $2.75 1.8 m
CBL4104_0 $1.75 300 mm
CBL4105_0 $2.00 900 mm
CBL4106_0 $2.50 1.5 m

Power Guards

Using motor controllers with large motors can pose a risk for your power supply. If your supply does not have protective features built-in, you can use a Power Guard Phidget to prevent damage from power spikes from back EMF that is generated when motors brake or change direction. We recommend that you use the SAF2000 for any motor with a current rating between 1 and 5 amperes, and the SAF1000 for motors above 5A.

Product
Image Part Number Price
SAF1000_0 $60.00
SAF2000_0 $10.00

DC Motors

We offer a wide variety of DC motors that can be used with this Phidget. Motors with higher gearbox ratios will have higher torque at the cost of lower speed. If you want a motor that has an encoder attached to it, skip ahead to the next table.

Product Motor Properties Physical Properties Gearbox Specifications
Image Part Number Price Maximum Speed at Rated Voltage Rated Torque Shaft Diameter Weight Gear Ratio Gearbox Type
3254_0 $10.00 230 RPM 200 g·cm 6 mm 128 g 10 : 1 Spur
3255_0 $10.00 127 RPM 310 g·cm 6 mm 133 g 18 : 1 Spur
3256_0 $11.00 46 RPM 820 g·cm 6 mm 137 g 50 : 1 Spur
3257_0 $11.00 23 RPM 1.6 kg·cm 6 mm 136 g 100 : 1 Spur
3261_0 $18.00 1080 RPM 240 g·cm 6 mm 144 g 3 1217 : 1 Planetary
3262_1 $18.00 285 RPM 900 g·cm 6 mm 170 g 13 212289 : 1 Planetary
3263_1 $20.50 78 RPM 3.1 kg·cm 6 mm 193 g 50 801895 : 1 Planetary
3265_0 $38.00 670 RPM 540 g·cm 8 mm 416 g 3 1217 : 1 Planetary
3266_0 $42.00 175 RPM 1.9 kg·cm 8 mm 464 g 13 212289 : 1 Planetary
3266_1 $42.00 175 RPM 1.9 kg·cm 8 mm 464 g 13 212289 : 1 Planetary
3267_0 $43.00 49 RPM 6.6 kg·cm 8 mm 526 g 50 801895 : 1 Planetary
3267_1 $43.00 49 RPM 6.6 kg·cm 8 mm 526 g 50 801895 : 1 Planetary
3268_1 $43.00 18 RPM 17.3 kg·cm 8 mm 526 g 139 184/1221 : 1 Planetary
3269_3 $69.00 588 RPM 5.1 kg·cm 12 mm 1.3 kg 4 14 : 1 Planetary
3270_2 $66.00 192 RPM 14.3 kg·cm 12 mm 1.5 kg 12 2425 : 1 Planetary
3272_2 $72.00 53 RPM 51 kg·cm 12 mm 1.7 kg 46 82125 : 1 Planetary
3273_2 $72.00 33 RPM 82.6 kg·cm 12 mm 1.7 kg 76 4964 : 1 Planetary
3274_2 $76.00 15 RPM 173 kg·cm 12 mm 2 kg 167 601625 : 1 Planetary
DCM4000_0 $40.00 3280 RPM 2.5 kg·cm 8 mm 1.4 kg
DCM4001_0 $80.00 772 RPM 10.6 kg·cm 12 mm 1.9 kg 4.25:1 Planetary
DCM4002_0 $82.00 182 RPM 45 kg·cm 12 mm 2.1 kg 18:1 Planetary
DCM4003_0 $84.00 50 RPM 162.5 kg·cm 12 mm 2.2 kg 65:1 Planetary
DCM4004_0 $50.00 3000 RPM 4.4 kg·cm 10 mm 2.7 kg
DCM4005_0 $60.00 3563 RPM 6.1 kg·cm 10 mm 3.3 kg

DC Motors with Encoders

These DC motors all have encoders attached to the rear shaft, allowing for closed-loop position control of your motor. These encoders will connect to the encoder input on the DCC1000 via the cable included with each motor.

Product Motor Properties Physical Properties Gearbox Specifications
Image Part Number Price Maximum Speed at Rated Voltage Rated Torque Shaft Diameter Weight Gear Ratio Gearbox Type
3261E_1 $48.00 1080 RPM 240 g·cm 6 mm 147 g 3 1217 : 1 Planetary
3263E_1 $50.50 78 RPM 3.1 kg·cm 6 mm 193 g 50 801895 : 1 Planetary

DC Linear Actuators

Linear actuators are simply DC motors that are hooked up to a linear screw which causes the shaft to move laterally instead of rotating. Unlike a rotary DC motor, linear actuators have a minimum and maximum position at which the shaft cannot contract or extend any further. On its own, the motor would not be smart enough to stop before attempting to push beyond these limits, possibly damaging the motor. That's why each linear actuator also has a built-in feedback potentiometer so you can monitor the position of the shaft and prevent the actuator from stalling out at its limits. The potentiometer can be read by the analog input on the DCC1000.

Product Motor Properties Electrical Properties Physical Properties
Image Part Number Price Stroke Length Maximum Speed Peak Power Point Peak Efficiency Point Gear Ratio Rated Voltage Weight
3545_0 $100.00 150 mm 24 mm/s 350 N 24 V DC 995 g
3546_0 $100.00 150 mm 10 mm/s 750 N 24 V DC 1 kg
3547_0 $100.00 300 mm 24 mm/s 350 N 24 V DC 1.2 kg
3570_0 $80.00 50 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 56 g
3571_0 $80.00 100 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 74 g
3572_0 $80.00 140 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 84 g
3573_0 $80.00 50 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 56 g
3574_0 $80.00 100 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 74 g
3575_0 $80.00 140 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 84 g
3576_0 $80.00 50 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 56 g
3577_0 $80.00 100 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 74 g
3578_0 $80.00 140 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 84 g

Power Supplies

This Phidget requires a power supply between 8 and 30V DC. We recommend that you use a 12V DC power supply for smaller motors and a 24V supply for larger motors. Check your motor's specifications if you're not sure. For best performance, you should get a 5 amp supply. Select the power supply from the list below that matches your region's wall socket type.

Product Electrical Properties Physical Properties
Image Part Number Price Power Supply Current Output Voltage Wall Plug Style
3022_0 $10.00 2 A 12 V Australian
3023_1 $10.00 2 A 12 V European
3024_1 $10.00 2 A 12 V North American
3025_0 $10.00 2 A 12 V British
3084_0 $1.50 500 mA 12 V European
3085_0 $1.50 500 mA 12 V North American
3086_0 $10.00 1 A 24 V North American
PSU4013_0 $20.00 2.5 A 24 V
PSU4014_0 $40.00 5 A 24 V
PSU4015_0 $20.00 1 A 24 V
PSU4016_0 $40.00 15 A 24 V
PSU4017_0 $75.00 15 A 24 V
PSU4018_0 $20.00 5 A 12 V



Part 1: Setup

Welcome to the DCC1000 user guide! In order to get started, make sure you have the following hardware on hand:

Next, you will need to connect the pieces:

DCC1000 Functional.jpeg
  1. Connect the DCC1000 to the VINT Hub using the Phidget cable.
  2. Connect the motor to the Phidget's output terminals.
  3. Connect the VINT Hub to your computer with a USB cable.
  4. (Optional) If your motor has an encoder, connect it to the encoder port on the DCC1000.
  5. Connect the power supply to the power terminals.


Now that you have everything together, let's start using the DCC1000!

Phidget Control Panel

In order to demonstrate the functionality of the DCC1000, the Phidget Control Panel running on a Windows machine will be used.


The Phidget Control Panel is available for use on both macOS and Windows machines.

Windows

To open the Phidget Control Panel on Windows, find the Ph.jpg icon in the taskbar. If it is not there, open up the start menu and search for Phidget Control Panel

Windows PhidgetTaskbar.PNG

macOS

To open the Phidget Control Panel on macOS, open Finder and navigate to the Phidget Control Panel in the Applications list. Double click on the Ph.jpg icon to bring up the Phidget Control Panel.


For more information, take a look at the getting started guide for your operating system:


Linux users can follow the getting started with Linux guide and continue reading here for more information about the DCC1000.

First Look

After plugging the DCC1000 into your computer and opening the Phidget Control Panel, you will see something like this:

DCC1000 Panel.jpg


The Phidget Control Panel will list all connected Phidgets and associated objects, as well as the following information:

  • Serial number: allows you to differentiate between similar Phidgets.
  • Channel: allows you to differentiate between similar objects on a Phidget.
  • Version number: corresponds to the firmware version your Phidget is running. If your Phidget is listed in red, your firmware is out of date. Update the firmware by double-clicking the entry.


The Phidget Control Panel can also be used to test your device. Double-clicking on an object will open an example.

Part 2: Using Your Phidget

About

The DCC1000 allows you to control a DC motor or DC linear actuator. With this Phidget, you can control your motor by:

  • Setting the velocity and acceleration with the DC Motor Controller
  • Setting a specific target position using the Motor Position Controller (requires an encoder)

You can use the DCC1000 to monitor current passing through the motor, connect and monitor the motor’s potentiometer, and monitor the temperature of the motor.

Explore Your Phidget Channels Using the Control Panel

You can use your Control Panel to explore your Phidget's channels.

1. Open your Control Panel, and you will find the following channels:

DCC1000 Panel.jpg

2. Double click on a channel to open an example program. Each channel belongs to one of these channel classes:

DCMotor:Controls the velocity and current of the motor, and the on-board fan

In your Control Panel, double click on "DC Motor Controller":

DCC1000-DCMotor.jpg
Position Controller:A built-in PID position controller

In your Control Panel, double click on "Position Controller":

DCC1000-MPC.jpg
Encoder Input:Reads encoder input so you can implement closed-loop control of the motor

In your Control Panel, double click on "Encoder Input":

DCC1000-Enc.jpg
Current Sensor:Measures the amount of current flowing through the motor's coils

In your Control Panel, double click on "Current Sensor":

DCC1000-Cur.jpg
Voltage Ratio:Measures the "Analog In" port (Intended for feedback potentiometers that some motors have)

In your Control Panel, double click on "Voltage Ratio":

DCC1000-Voltageratio.jpg
Temperature Sensor:Measures the board temperature so you can tell if the DCC1000 is overheating

In your Control Panel, double click on "Temperature Sensor":

DCC1000-Temp.jpg

Part 3: Create your Program

1. Setting up your Programming Environment

2. Phidget Programming Basics

Part 4: Advanced Topics and Troubleshooting

PositionController Settings

There are a number of settings that can be adjusted to customize the position controller. You can save these variables into the program so you don't have to re-enter them manually (NOTE: This does not store the settings on the DCC1000, it simply saves them inside the control panel program, so you'll have to re-enter them if it's used on another computer).

Kp, Ki, and Kd

You can set the control parameters Kp, Ki, and Kd in order to change the behavior of the control loop. For more information on how each of these three tuning parameters affect the control loop, see “Control Loop Parameters ”.

Velocity and Acceleration

Velocity is how fast the motor will move to the target position, and acceleration controls how quickly the motor will reach its velocity and how quickly it will slow down. These values are measured in position per second and position per second squared, and position by default is measured in encoder pulses.

Rescale Factor

If you want position to be measured in another unit (degrees, for example), you can set the rescale factor. For more information on choosing the correct rescale factor, see “Setting the Rescale Factor”.

Deadband

Sometimes the motor will oscillate back and forth across the target position when holding position. Adding a deadband will widen the target position so the motor will stop when it gets within the target position plus or minus the deadband.

Current Limit

Setting the current limit gives you control over how much power is being supplied to the motor. Generally, we advise that you set the current limit to your motor’s specified coil current.

Fan Mode

This turns the cooling fan on and off. Setting it to auto will result in the fan turning on only when the temperature sensor detects rising board temperatures.

Encoder IO Mode

Changes between different encoder modes based on your encoder’s circuitry. For more information see the Encoder Primer.

Current Regulator Gain

Depending on power supply voltage and motor coil inductance, the 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.

Control Loop Parameters

In order to get the desired behavior from your controller, you will have to tune your control parameters. This video explains the tuning procedure and gives information on how the controller works.

Interfacing Encoders

The DCC1000 can connect to any of the encoders we sell without any modification just by setting the EncoderIOMode property to Push-Pull . If you're trying to use your own encoder, you may need to change the IO mode to Open Collector or Line Driver mode. Have a look at the Encoder Primer for more details on what to use.

Setting the Rescale Factor

There are three pieces of information to consider when setting a rescale factor to change your units into degrees or rotations:

  • Your encoder's CPR (counts per rotation)
  • Your encoder interface's resolution
  • Your motor's gear ratio

First, check your encoder's datasheet for the CPR. It's usually 360 or 300. This is the number of quadrature cycles the encoder will send out for one full rotation.

Next, you need your encoder interface's resolution. The encoder port on the DCC1000 has a x4 resolution, meaning it reads in 4 pulses per quadrature cycle (see the Encoder Primer for a more in-depth explanation).

Next, you need to find out the gear ratio in your motor's datasheet. Note: If you plan on having your motor run for many rotations in a row, try to find the exact gear ratio, expressed as a fraction. Using the rounded value will result in accumulating errors the more you rotate.

Once you have these numbers, you can calculate the rescale factor:

DCC1000-equations.jpg

For example, if you wanted to have your motor's position measured in degrees and your encoder had 300 CPR and your motor had a 50 801⁄895 : 1 gearbox, you would set your rescale factor to 360 / 300*4*(50+(801/895)), or 0.005894.


Setting the Change Trigger and Data Interval

The Change Trigger is the minimum change in the sensor data needed to trigger a new data event. The Data Interval is the time (in ms) between data events sent out from your Phidget. You can modify one or both of these values to achieve different data outputs. You can learn more about these two properties here.

My motor moves away from the target position in Position Controller mode!

Reverse your motor’s wires. The control loop has to make an assumption about what direction your motor moves with a positive voltage, and in this case, the assumption was incorrect. Don’t worry, DC motors are fine being wired up backward since they’re essentially just a long loop of wire on the inside.

Product Specifications

Board Properties
Controlled By VINT
Voltage Sensor
Number of Voltage Inputs 1
Sampling Interval Min 500 ms/sample
Sampling Interval Max 60 s/sample
VoltageRatio Input Resolution 0.00026
Input Voltage Min (DC) 0 V DC
Input Voltage Max (DC) 5 V DC
Measurement Error Max 0.5 %
Sensor Input Impedance 324 kΩ
Controller Properties
Motor Type DC Motor
Number of Motor Ports 1
Velocity Resolution 0.001 Duty Cycle
Acceleration Resolution 1 % Duty Cycle/s
Acceleration Min 0.5 % Duty Cycle/s
Acceleration Max 10000 % Duty Cycle/s
Acceleration Time Min 20 ms
Acceleration Time Max 20 s
PWM Frequency 25 kHz
Sampling Interval Min 50 ms/sample
Sampling Interval Max 60 s/sample
Current Limit Resolution 17.9 mA
Electrical Properties
Continuous Motor Current Max 25 A
Supply Voltage Min 8 V DC
Supply Voltage Max 30 V DC
Current Consumption (Unconfigured) (VINT Port) 500 μA
Current Consumption Max (VINT Port) 2 mA
Power Consumption (Unconfigured) 288 mW
Power Consumption motor power plus 700 mW
Encoder Interface
Number of Encoder Inputs 1
Encoder Interface Resolution x4
Count Rate Max 400000 pulses/s
Time Resolution 1 μs
Sampling Interval Min 50 ms/sample
Sampling Interval Max 60 s/sample
Encoder Input Low Voltage Max 800 mV DC
Encoder Input High Voltage Min 2 V DC
Temperature Sensor
Temperature Resolution 0.04 °C
Physical Properties
Recommended Wire Size 10 - 26 AWG
Operating Temperature Min -40 °C
Operating Temperature Max 85 °C

Documents

Product History

Date Board Revision Device Version Comment
August 2017 0 115 Product Release
October 2017 0 204 Added MotorPositionController support
January 2018 0 205 Fixed issue with encoder input
March 2018 0 206 Fixed issue where duty cycle never reached 1.0
April 2019 0 207 Fixed averaging of duty cycle when limiting current
May 2019 0 210 Added failsafe timer functionality
February 2020 0 211 Fixed saturation warnings triggering at 25A

Software Objects

Channel NameAPIChannel
DC Motor Controller DCMotor 0
Encoder Input Encoder 0
Voltage Ratio VoltageRatioInput 0
Temperature Sensor TemperatureSensor 0
Current Sensor CurrentInput 0
Position Controller MotorPositionController 0

API


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DCMotor Visual Studio GUI C# Windows Download
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Encoder Max/MSP Multiple Download
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VoltageRatioInput Load Cell Calibrator C# Windows Download
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MotorPositionController PID Tuner C# Windows Download
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MotorPositionController Objective-C macOS Download
MotorPositionController Swift macOS Download
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MotorPositionController Visual Basic .NET Windows Download
MotorPositionController Max/MSP Multiple Download

Have a look at our DC motor controllers:

Product Controller Properties Electrical Properties Board Properties
Image Part Number Price Number of Motor Ports Velocity Resolution Acceleration Resolution Continuous Motor Current Max Controlled By
1064_1B $115.00 2 0.79 % Duty Cycle 1.9 % Duty Cycle/s (per motor) 14 A USB (Mini-USB)
1065_1B $75.00 1 0.39 % Duty Cycle 24.5 % Duty Cycle/s 5 A USB (Mini-USB)
DCC1000_0 $75.00 1 0.001 Duty Cycle 1 % Duty Cycle/s 25 A VINT
DCC1002_0 $40.00 1 0.001 Duty Cycle 0.1 Duty Cycle/s 4 A VINT
DCC1003_0 $60.00 2 0.001 Duty Cycle 0.1 Duty Cycle/s (per motor) 4 A VINT