Figure 11: Example of max supply voltage being lower than rated voltage (Maxon EC 32 PN 118893)
Some words of caution: the control of the motor is important. It is not recommended to apply 24 V (Umax) directly from a stopped condition. Communication with the power system designers and especially with the teammates who will be setting the motor command signals will be important for this. If 24 V is applied instantaneously, the motor will go to the stall torque condition at 24 V (M0). The torque at this point is significantly in excess of the torque required to achieve the acceleration target; it may damage components in the gear system or even motor brackets if this excess torque was not accounted for in the design. Therefore, the chassis system and motor bracket designers must be aware of this maximum torque so they can include it as an input into their design. Figure 12 below shows the operating path for the instant 24 V and excess torque compared to an ideal operating curve for the ModBot.
