# Stall Current

#### Voltage and current ratings

When selecting your motor, power supply, and Jrk controller, you must consider the voltage and current ratings of each.

TheĀ rated voltage of a DC motorĀ is the voltage it was designed to run at, and this is the voltage at which it will draw its rated currents. It is fine to drive a motor with a lower voltage than what it is rated for, in which case its current draw will be proportionally lower, as well as its speed and torque. Conversely, using a higher-than-rated voltage will result in proportionally higher current draw, speed, and torque, and could negatively affect the lifetime of the motor. However, you can limit the PWM duty cycle used to drive the motor to keep its average current draw within rated limits. (For example, running a 6Ā V motor at 12Ā V but limiting its duty cycle to a maximum of 50% should generally be OK).

TheĀ stall current of a DC motorĀ is how much current the motor will draw when power is applied but it is not spinning (for example, if the motor shaft is prevented from rotating), producing maximum torque and minimum (zero) speed. The stall current depends on the voltage that is applied to the motor, and the stall current is usually measured at the rated voltage of the motor. Most brushed DC motors are not designed to be stalled for extended periods and can be damaged if they are.

It is not unusual for the stall current of a motor to be an order of magnitude (10Ć) higher than its free-run current. When a motor is supplied with full power from rest, it briefly draws the full stall current, and it draws nearly twice the stall current if abruptly switched from full speed in one direction to full speed in the other direction.

TheĀ free-run current of a DC motorĀ (or no-load current) is how much current the motor draws when it is running freely, producing maximum speed and minimum torque (since there is no external opposing torque). Like the stall current, the free-run current depends on the voltage that is applied to the motor, and is usually measured at the rated voltage of the motor.

TheĀ voltage range of your power supplyĀ is the range of voltages you expect your power supply to produce while operating. There is usually some variation in the output voltage so you should treat it as a range instead of just a single number. In particular, keep in mind that a fully-charged battery might have a voltage that is significantly higher than its nominal voltage.

TheĀ current limit of a power supplyĀ is how much current the power supply can provide. Note that the power supply will not force this amount of current through your system; the properties of the system and the voltage of the power supply determine how much current will flow, but there is a limit to how much current the power supply can provide.

TheĀ minimum operating voltage of a JrkĀ is the lowest voltage that is acceptable for the Jrkās motor power supply. If you try to power the Jrk with a voltage lower than this, it might fail to deliver power to the motor, but it should not cause any permanent damage.

TheĀ absolute maximum operating voltage of a JrkĀ is the maximum voltage that can be tolerated by the Jrk. If the voltage of the power supply rises above this voltage, even for just a brief period of time, the Jrk could be permanently damaged.

TheĀ recommended maximum operating voltage of a JrkĀ is the maximum voltage we recommend using for the Jrkās motor power supply. We have chosen this number to be significantly lower than the absolute max operating voltage so that if there is noise on the power supply it is unlikely to exceed the absolute max operating voltage.

TheĀ maximum nominal battery voltage of a JrkĀ is the maximum nominal voltage we recommend using for batteries that supply power to the Jrk. We have chosen this number to be significantly lower than the recommended maximum operating voltage because fully-charged batteries can have a voltage that is significantly higher than their nominal voltage.

TheĀ maximum continuous current of a JrkĀ indicates the motor current that it can continuously supply without overheating in typical conditions (at room temperature with no additional cooling). The Jrkās MOSFETs can handle large current spikes for short durations (e.g. 100Ā A for a few milliseconds), and the Jrkās hardware current limit can be configured to help it handle large transients, such as when starting a motor. However, note that the Jrk doesĀ notĀ have an over-temperature shut-off. (The Jrkās motor driver error can indicate an over-temperature fault, but the Jrk does not directly measure the temperature of the MOSFETs, which are usually the first components to overheat.) As a result, an over-temperature or over-current condition can still causeĀ permanent damage.

The voltage and current ratings of the different Jrk G2 controllers are shown in the table below.