DC Motor

DC motor model with electrical and torque characteristics and fault modeling

Library:
Simscape / Electrical / Electromechanical / Brushed Motors

Description

The DC Motor block represents the electrical and torque characteristics of a DC motor using the following equivalent circuit model:

DC motor model

You specify the equivalent circuit parameters for this model when you set the Model parameterization parameter to By equivalent circuit parameters. The resistor R corresponds to the resistance you specify in the Armature resistance parameter. The inductor L corresponds to the inductance you specify in the Armature inductance parameter.

You can specify how to generate the magnetic field of the DC motor by setting the Field type parameter to the desired option. The permanent magnets in the motor induce the following back emf v_b in the armature:

$v_{b} = k_{v} ω$

where k_v is the Back-emf constant and ω is the angular velocity. The motor produces the following torque, which is proportional to the motor current i:

$T_{E} = k_{t} i$

where k_t is the Torque constant. The DC Motor block assumes that there are no electromagnetic losses. This means that mechanical power is equal to the electrical power dissipated by the back emf in the armature. Equating these two terms gives:

$\begin{array}{l} T_{E} ω = v_{b} i \\ k_{t} i ω = k_{v} ω i \\ k_{v} = k_{t} \end{array}$

As a result, you specify either k_v or k_t in the block parameters.

If the magnetic field is generated from the current flowing through the windings, the Back-emf constant depends on the field current I_f:

$k_{v} = L_{a f} I_{f}$

where L_af is the Field-armature mutual inductance.

The torque-speed characteristic for the DC Motor block is related to the parameters in the preceding figure. When you set the Model parameterization parameter to By stall torque & no-load speed or By rated power, rated speed & no-load speed, the block solves for the equivalent circuit parameters as follows:

For the steady-state torque-speed relationship, L has no effect.
Sum the voltages around the loop and rearrange for i:

$i = \frac{V - v_{b}}{R} = \frac{V - k_{v} ω}{R}$
Substitute this value of i into the equation for torque:

$T_{E} = \frac{k_{t}}{R} (V - k_{v} ω)$
When you set the Model parameterization parameter to By stall torque & no-load speed, the block uses the preceding equation to determine values for R and k_t (and equivalently k_v).
When you set the Model parameterization parameter to By rated power, rated speed & no-load speed, the block uses the rated speed and power to calculate the rated torque. The block uses the rated torque and no-load speed values in the preceding equation to determine values for R and k_t.

The block models motor inertia J and damping λ for all values of the Model parameterization parameter. The resulting torque across the block is:

$T = \frac{k_{t}}{R} (V - k_{v} ω) - J \dot{ω} - λ ω$

It is not always possible to measure rotor damping, and rotor damping is not always provided on a manufacturer datasheet. An alternative is to use the no-load current to infer a value for rotor damping.

For no-load, the electrically-generated mechanical torque must equal the rotor damping torque:

$k_{t} i_{n o l o a d} = λ ω_{n o l o a d}$

where i_noload is the no-load current. If you select By no-load current for the Rotor damping parameterization parameter, then this equation is used in addition to the torque-speed equation to determine values for λ and the other equation coefficients.

The value for rotor damping, whether specified directly or in terms of no-load current, is taken into account when determining equivalent circuit parameters for Model parameterization options By stall torque and no-load speed and By rated power, rated speed and no-load speed.

When a positive current flows from the electrical + to - ports, a positive torque acts from the mechanical C to R ports.

Faults

The DC Motor block allows you to model two types of faults:

Armature winding fault — The armature winding fails and goes open circuit.
Field winding fault — The field winding that creates the magnetic field fails and goes open circuit.

The block can trigger fault events:

At a specific time (temporal fault).
When a current limit is exceeded for longer than a specific time interval (behavioral fault).

You can enable or disable these trigger mechanisms separately.

You can choose whether to issue an assertion when a fault occurs, by using the Reporting when a fault occurs parameter. The assertion can take the form of a warning or an error. By default, the block does not issue an assertion.

This figure shows a generic representation of a DC motor, with brushes, armatures, commutators, and their windings:

If you set the Enable armature winding open-circuit fault parameter to Yes, the armature fails at the time specified by the Time at which armature winding fault is triggered parameter for a temporal fault, or when the winding currents exceeds the value of the Maximum permissible armature winding current parameter for a behavioral fault. When the armature fails, the voltage source connected to this block observes an open circuit for a fraction of the total motor revolution, specified by the Fraction of revolution during which armature is open-circuit parameter, rev_faulted. This figure illustrates the circuit state behaviour for a certain rev_faulted during the entire revolution period:

Thermal Port

The block has an optional thermal port, hidden by default. To expose the thermal port, right-click the block in your model, and then from the context menu select Simscape > Block choices > Show thermal port. This action displays the thermal port H on the block icon, and exposes the Temperature Dependence and Thermal Port parameters.

Use the thermal port to simulate the effects of copper resistance losses that convert electrical power to heat. For more information on using thermal ports and on the Temperature Dependence and Thermal Port parameters, see Simulating Thermal Effects in Rotational and Translational Actuators.

Ports

Conserving

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`+` — Positive terminal
electrical

Electrical conserving port associated with the DC motor positive terminal.

`-` — Negative terminal
electrical

Electrical conserving port associated with the DC motor negative terminal.

`C` — Motor case
mechanical

Mechanical rotational conserving port associated with the DC motor case.

`R` — Motor rotor
mechanical

Mechanical rotational conserving port associated with the DC motor rotor.

`F+` — Positive field
electrical

Electrical conserving port associated with the positive field winding.

Dependencies

To enable this port, set Field type to Wound.

`F-` — Negative field
electrical

Electrical conserving port associated with the negative field winding.

Dependencies

To enable this port, set Field type to Wound.

`H` — Thermal port
thermal

Thermal port. For more information, see Thermal Port.

Parameters

expand all

Electrical Torque

`Field type` — Type of field
`Permanent Magnet` (default) | `Wound`

Select one of the following methods for field type:

Permanent Magnet — Generate the DC Motor magnetic field using a permanent magnet.
Wound — Generate the DC Motor magnetic field using the current flowing through the windings.

`Model parameterization` — Block parameterization
`By equivalent circuit parameters` (default) | `By stall torque & no-load speed` | `By rated power, rated speed & no-load speed`

Select one of the following methods for block parameterization:

By equivalent circuit parameters — Provide electrical parameters for an equivalent circuit model of the motor.
By stall torque & no-load speed — Provide torque and speed parameters that the block converts to an equivalent circuit model of the motor.
By rated power, rated speed & no-load speed — Provide power and speed parameters that the block converts to an equivalent circuit model of the motor.

Dependencies

To enable this parameter, set Field type to Permanent magnet.

`Field resistance` — Field resistance
`100` `Ohm` (default)

Resistance of the magnetic field.

Dependencies

To enable this parameter, set Field type to Wound.

`Field inductance` — Field inductance
`1` `H` (default)

Inductance of the magnetic field.

Dependencies

To enable this parameter, set Field type to Wound.

`Field-armature mutual inductance` — Field-armature mutual inductance
`0.15` `H` (default)

Mutual inductance between the magnetic field and the conducting portion of the motor.

Dependencies

To enable this parameter, set Field type to Wound.

`Initial field current` — Initial field current
`0` `A` (default)

Initial field current.

Dependencies

To enable this parameter, set Field type to Wound.

`Armature resistance` — Armature resistance
`3.9` `Ohm` (default)

Resistance of the conducting portion of the motor.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By equivalent circuit parameters.

`Armature inductance` — Armature inductance
`12e-6` `H` (default)

Inductance of the conducting portion of the motor. If you do not have information about this inductance, set the value of this parameter to a small, nonzero number.

`Define back-emf or torque constant` — Constants specification
`Specify back-emf constant` (default) | `Specify torque constant`

Indicate whether you will specify the motor's back-emf constant or torque constant. When you specify them in SI units, these constants have the same value, so you only specify one or the other in the block dialog box.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By equivalent circuit parameters.

`Back-emf constant` — Back-emf constant
`0.072e-3` (default) | `V/rpm`

The ratio of the voltage generated by the motor to the speed at which the motor is spinning.

Dependencies

This parameter is visible only when you set the Define back-emf or torque constant parameter to Specify back-emf constant.

`Torque constant` — Torque constant
`6.876e-4` `N*m/A` (default)

The ratio of the torque generated by the motor to the current delivered to it.

Dependencies

This parameter is visible only when you set the Define back-emf or torque constant parameter to Specify torque constant.

`Stall torque` — Stall torque
`0.24e-3` `N*m`. (default)

The amount of torque generated by the motor when the speed is approximately zero.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By stall torque & no-load speed.

`No-load speed` — No-load speed
`19100` `rpm` (default)

Speed of the motor when not driving a load.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By stall torque & no-load speed or By rated power, rated speed & no-load speed.

`Rated speed (at rated load)` — Rated speed
`15000` `rpm` (default)

Motor speed at the rated mechanical power level.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By rated power, rated speed & no-load speed.

`Rated load (mechanical power)` — Rated load
`0.08` `W` (default)

The mechanical power the motor is designed to deliver at the rated speed.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By rated power, rated speed & no-load speed.

`Rated DC supply voltage` — Rated DC supply voltage
`1.5` `V` (default)

The voltage at which the motor is rated to operate.

Dependencies

This parameter is visible only when you set the Model parameterization parameter to By stall torque & no-load speed or By rated power, rated speed & no-load speed.

`Rotor damping parameterization` — Rotor damping parameterization
`By damping value` (default) | `By no-load current`

Select one of the following methods to specify rotor damping:

By damping value — Specify a value for rotor damping directly, by using the Rotor damping parameter in the Mechanical parameters.
By no-load current — The block calculates rotor damping based on the values that you specify for the No-load current and DC supply voltage when measuring no-load current parameters. If you select this option, the Rotor damping parameter is not available for the Mechanical parameters.

`No-load current` — No-load current
`0` `A` (default)

Specify the no-load current value, to be used for calculating the rotor damping. This parameter is only visible when you select By no-load current for the Rotor damping parameterization parameter.

Dependencies

This parameter is visible only when you set the Rotor damping parameterization parameter to By no-load current.

`DC supply voltage when measuring no-load current` — DC supply voltage when measuring no-load current
`1.5` `V` (default)

Specify the DC supply voltage corresponding to the no-load current value, to be used for calculating the rotor damping.

Dependencies

This parameter is visible only when you set the Rotor damping parameterization parameter to By no-load current.

Mechanical

`Rotor inertia` — Rotor inertia
`0.01` `g*cm^2` (default)

Resistance of the rotor to change in motor motion. The value can be zero.

`Rotor damping` — Rotor dissipated energy
`0` `N*m/(rad/s)` (default)

Energy dissipated by the rotor. The value can be zero.

Dependencies

This parameter is visible only when you set the Rotor damping parameterization parameter in the Electrical Torque setting to By damping value.

`Initial rotor speed` — Initial rotor speed
`0` `rpm` (default)

Speed of the rotor at the start of the simulation.

Temperature Dependence

This tab appears only for blocks with exposed thermal port. For more information, see Thermal Port.

`Resistance temperature coefficient` — Resistance temperature coefficient
`3.93e-3` `1/K` (default)

Resistance temperature coefficient.

`Measurement temperature` — Measurement temperature
`25` `degC` (default)

The temperature for which motor parameters are defined.

Thermal Port

This tab appears only for blocks with exposed thermal port. For more information, see Thermal Port.

`Thermal mass` — Thermal mass
`100` `J/K` (default)

The thermal mass is the energy required to raise the temperature by one degree.

`Initial temperature` — Initial temperature
`25` `degC` (default)

Temperature of the thermal port at the start of simulation.

Faults

`Enable armature winding open-circuit fault` — Whether to enable armature winding faults
`No` (default) | `Yes`

Select Yes to enable faults modeling and expose the associated parameters in the Faults section, which enables you to select the reporting method and specify the time at which the armature winding fault triggers.

`Fraction of revolution during which armature is open-circuit` — Fraction of revolution during which armature is open-circuit
`1/3` (default)

Fraction of the revolution of the DC motor during which the armature winding is faulted and the voltage source observes an open circuit. For more information, see the Faults section.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes.

`Faulted armature winding open-circuit conductance` — Open-circuit conductance of faulted armature winding
`1e-5` `S` (default)

Open-circuit conductance when the armature winding is faulted.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes.

`Armature winding fault trigger` — Fault trigger for armature winding
`Temporal` (default) | `Behavioral`

Whether the trigger for the armature winding fault is temporal or behavioral.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes.

`Time at which armature winding fault is triggered` — Time at which armature winding fault is triggered
`1` `s` (default)

Time at which the armature winding becomes faulted.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes and Armature winding fault trigger to Temporal.

`Maximum permissible armature winding current` — Maximum permissible armature winding current
`inf` `A` (default)

Upper load-current threshold for open-circuit armature winding faults.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes and Armature winding fault trigger to Behavioral.

`Time to fail when exceeding armature winding current` — Time to fail when exceeding armature winding current
`1` `s` (default)

Amount of time that the winding current must continuously exceed the maximum permissible armature winding current before a behavioral fault is triggered.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault to Yes and Armature winding fault trigger to Behavioral.

`Enable field winding open-circuit fault` — Whether to enable field winding faults
`No` (default) | `Yes`

Select Yes to enable field winding faults modeling and expose the associated parameters in the Faults section, which enables you to select the reporting method and specify the time at which the field winding fault triggers.

Dependencies

To enable this parameter, set Field type to Wound.

`Faulted field winding open-circuit conductance` — Open-circuit conductance of faulted field winding
`1e-5` `S` (default)

Open-circuit conductance when the field winding is faulted.

Dependencies

To enable this parameter, set Enable field winding open-circuit fault to Yes.

`Field winding fault trigger` — Fault trigger for field winding
`Temporal` (default) | `Behavioral`

Whether the trigger for the field winding fault is temporal or behavioral.

Dependencies

To enable this parameter, set Enable field winding open-circuit fault to Yes.

`Time at which field winding fault is triggered` — Time at which field winding fault is triggered
`1` `s` (default)

Time at which the field winding becomes faulted.

Dependencies

To enable this parameter, set Enable field winding open-circuit fault to Yes and Field winding fault trigger to Temporal.

`Maximum permissible field winding current` — Maximum permissible field winding current
`inf` `A` (default)

Upper load-current threshold for open-circuit field winding faults.

Dependencies

To enable this parameter, set Enable field winding open-circuit fault to Yes and Field winding fault trigger to Behavioral.

`Time to fail when exceeding field winding current` — Time to fail when exceeding field winding current
`1` `s` (default)

Amount of time that the winding current must continuously exceed the maximum permissible field winding current before a behavioral fault is triggered.

Dependencies

To enable this parameter, set Enable field winding open-circuit fault to Yes and Field winding fault trigger to Behavioral.

`Reporting when a fault occurs` — Reporting when a fault occurs
`None` (default) | `Warn` | `Error`

Simulation reporting when a fault occurs:

None — Does not generate a warning or an error.
Warn — Generates a warning.
Error — The simulation stops and generates an error.

Dependencies

To enable this parameter, set Enable armature winding open-circuit fault or Enable field winding open-circuit fault to Yes.

Model Examples

Brushless DC Motor

How a system-level model of a brushless DC motor (i.e. a servomotor) can be constructed and parameterized based on datasheet information. The motor and driver are modeled as a single masked subsystem. If viewing the model in Simulink®, select the Motor and driver block, and type Ctrl+U to look under the mask and see the model structure.

Linear Electric Actuator (Motor Model)

How to develop a model of an uncontrolled linear actuator using datasheet parameter values. The actuator consists of a DC motor driving a 6.25:1 worm gear which in turn drives a 3mm lead screw to produce linear motion. Manufacturer data for the actuator defines the no-load linear speed (26mm/s), rated load (1000N), rated-load linear speed (19mm/s), and maximum current (5A). The maximum static force is 4000N and the rated voltage is 24V DC.

Linear Electric Actuator with Control

A detailed implementation model of a controlled linear actuator. The actuator consists of a DC motor driving a worm gear which in turn drives a lead screw to produce linear motion. The model includes quantization effects of the Hall-effect sensor and the implementation of the control in analog electronics. There are multiple variant subsystems in this model that have models at varying levels of fidelity.

PWM-Controlled DC Motor

How to use the Controlled PWM Voltage and H-Bridge blocks to control a motor. The DC Motor block uses manufacturer datasheet parameters, which specify the motor as delivering 10W mechanical power at 2500 rpm and no-load speed as 4000 rpm when run from a 12V DC supply. Hence if the PWM reference voltage is set to its maximum value of +5V, then the motor should run at 4000 rpm. If it is set to +2.5V, then it should run at approximately 2000 rpm. The Simulation model parameter is set to Averaged for both the Controlled PWM Voltage and H-Bridge blocks, resulting in fast simulation. To validate the averaged behavior, change the Simulation mode parameter to PWM in both blocks.

References

[1] Bolton, W. Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering, 3rd edition Pearson Education, 2004..

Documentation

DC Motor

Description

Faults

Thermal Port

Ports

Conserving

+ — Positive terminal electrical

- — Negative terminal electrical

C — Motor case mechanical

R — Motor rotor mechanical

F+ — Positive field electrical

Dependencies

F- — Negative field electrical

Dependencies

H — Thermal port thermal

Parameters

Electrical Torque

Field type — Type of field Permanent Magnet (default) | Wound

Model parameterization — Block parameterization By equivalent circuit parameters (default) | By stall torque & no-load speed | By rated power, rated speed & no-load speed

Dependencies

Field resistance — Field resistance 100 Ohm (default)

Dependencies

Field inductance — Field inductance 1 H (default)

Dependencies

Field-armature mutual inductance — Field-armature mutual inductance 0.15 H (default)

Dependencies

Initial field current — Initial field current 0 A (default)

Dependencies

Armature resistance — Armature resistance 3.9 Ohm (default)

Dependencies

Armature inductance — Armature inductance 12e-6 H (default)

Define back-emf or torque constant — Constants specification Specify back-emf constant (default) | Specify torque constant

Dependencies

Back-emf constant — Back-emf constant 0.072e-3 (default) | V/rpm

Dependencies

Torque constant — Torque constant 6.876e-4 N*m/A (default)

Dependencies

Stall torque — Stall torque 0.24e-3 N*m. (default)

Dependencies

No-load speed — No-load speed 19100 rpm (default)

Dependencies

Rated speed (at rated load) — Rated speed 15000 rpm (default)

Dependencies

Rated load (mechanical power) — Rated load 0.08 W (default)

Dependencies

Rated DC supply voltage — Rated DC supply voltage 1.5 V (default)

Dependencies

Rotor damping parameterization — Rotor damping parameterization By damping value (default) | By no-load current

No-load current — No-load current 0 A (default)

Dependencies

DC supply voltage when measuring no-load current — DC supply voltage when measuring no-load current 1.5 V (default)

Dependencies

Mechanical

Rotor inertia — Rotor inertia 0.01 g*cm^2 (default)

Rotor damping — Rotor dissipated energy 0 N*m/(rad/s) (default)

Dependencies

Initial rotor speed — Initial rotor speed 0 rpm (default)

Temperature Dependence

Resistance temperature coefficient — Resistance temperature coefficient 3.93e-3 1/K (default)

Measurement temperature — Measurement temperature 25 degC (default)

Thermal Port

Thermal mass — Thermal mass 100 J/K (default)

Initial temperature — Initial temperature 25 degC (default)

Faults

Enable armature winding open-circuit fault — Whether to enable armature winding faults No (default) | Yes

Fraction of revolution during which armature is open-circuit — Fraction of revolution during which armature is open-circuit 1/3 (default)

Dependencies

Faulted armature winding open-circuit conductance — Open-circuit conductance of faulted armature winding 1e-5 S (default)

Dependencies

Armature winding fault trigger — Fault trigger for armature winding Temporal (default) | Behavioral

Dependencies

Time at which armature winding fault is triggered — Time at which armature winding fault is triggered 1 s (default)

Dependencies

Maximum permissible armature winding current — Maximum permissible armature winding current inf A (default)

Dependencies

Time to fail when exceeding armature winding current — Time to fail when exceeding armature winding current 1 s (default)

Dependencies

Enable field winding open-circuit fault — Whether to enable field winding faults No (default) | Yes

Dependencies

`+` — Positive terminal
electrical

`-` — Negative terminal
electrical

`C` — Motor case
mechanical

`R` — Motor rotor
mechanical

`F+` — Positive field
electrical

`F-` — Negative field
electrical

`H` — Thermal port
thermal

`Field type` — Type of field
`Permanent Magnet` (default) | `Wound`

`Model parameterization` — Block parameterization
`By equivalent circuit parameters` (default) | `By stall torque & no-load speed` | `By rated power, rated speed & no-load speed`

`Field resistance` — Field resistance
`100` `Ohm` (default)

`Field inductance` — Field inductance
`1` `H` (default)

`Field-armature mutual inductance` — Field-armature mutual inductance
`0.15` `H` (default)

`Initial field current` — Initial field current
`0` `A` (default)

`Armature resistance` — Armature resistance
`3.9` `Ohm` (default)

`Armature inductance` — Armature inductance
`12e-6` `H` (default)

`Define back-emf or torque constant` — Constants specification
`Specify back-emf constant` (default) | `Specify torque constant`

`Back-emf constant` — Back-emf constant
`0.072e-3` (default) | `V/rpm`

`Torque constant` — Torque constant
`6.876e-4` `N*m/A` (default)

`Stall torque` — Stall torque
`0.24e-3` `N*m`. (default)

`No-load speed` — No-load speed
`19100` `rpm` (default)

`Rated speed (at rated load)` — Rated speed
`15000` `rpm` (default)

`Rated load (mechanical power)` — Rated load
`0.08` `W` (default)

`Rated DC supply voltage` — Rated DC supply voltage
`1.5` `V` (default)

`Rotor damping parameterization` — Rotor damping parameterization
`By damping value` (default) | `By no-load current`

`No-load current` — No-load current
`0` `A` (default)

`DC supply voltage when measuring no-load current` — DC supply voltage when measuring no-load current
`1.5` `V` (default)

`Rotor inertia` — Rotor inertia
`0.01` `g*cm^2` (default)

`Rotor damping` — Rotor dissipated energy
`0` `N*m/(rad/s)` (default)

`Initial rotor speed` — Initial rotor speed
`0` `rpm` (default)

`Resistance temperature coefficient` — Resistance temperature coefficient
`3.93e-3` `1/K` (default)

`Measurement temperature` — Measurement temperature
`25` `degC` (default)

`Thermal mass` — Thermal mass
`100` `J/K` (default)

`Initial temperature` — Initial temperature
`25` `degC` (default)

`Enable armature winding open-circuit fault` — Whether to enable armature winding faults
`No` (default) | `Yes`

`Fraction of revolution during which armature is open-circuit` — Fraction of revolution during which armature is open-circuit
`1/3` (default)

`Faulted armature winding open-circuit conductance` — Open-circuit conductance of faulted armature winding
`1e-5` `S` (default)

`Armature winding fault trigger` — Fault trigger for armature winding
`Temporal` (default) | `Behavioral`

`Time at which armature winding fault is triggered` — Time at which armature winding fault is triggered
`1` `s` (default)

`Maximum permissible armature winding current` — Maximum permissible armature winding current
`inf` `A` (default)

`Time to fail when exceeding armature winding current` — Time to fail when exceeding armature winding current
`1` `s` (default)

`Enable field winding open-circuit fault` — Whether to enable field winding faults
`No` (default) | `Yes`

`Faulted field winding open-circuit conductance` — Open-circuit conductance of faulted field winding
`1e-5` `S` (default)

`Field winding fault trigger` — Fault trigger for field winding
`Temporal` (default) | `Behavioral`

`Time at which field winding fault is triggered` — Time at which field winding fault is triggered
`1` `s` (default)

`Maximum permissible field winding current` — Maximum permissible field winding current
`inf` `A` (default)

`Time to fail when exceeding field winding current` — Time to fail when exceeding field winding current
`1` `s` (default)

`Reporting when a fault occurs` — Reporting when a fault occurs
`None` (default) | `Warn` | `Error`

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