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Where Vin is the battery voltage in volts, Iin is the current draw from the motor in amps, R is the internal resistance of the motor in ohms, and Vmotor is the effective motor voltage in volts It can easily be seen in Equation 4 that as the current increases (by increasing the applied torque), the net voltage decreases, thus decreasing the motor speed But speed is still proportional to the applied voltage to the motor With all motors, a minimum amount of energy is needed just to get the motor to start turning This energy has to overcome several internal frictional losses A minimum amount of current is required to start the motor turning Once this threshold is reached, the motor starts spinning and it will rapidly jump up to the maximum speed based on the applied voltage When nothing is attached to the output shaft, this condition is known as the no-load speed and this current is known as the no-load current Equation 5 shows the actual torque as a function of the current draw, where I0 is the no-load current in amps Note that the motor delivers no torque at the no-load condition Another interesting thing to note here is

Report Templates and Their Functions (continued)

learn a whole new set of numbers, but now these are just addresses on the network and have nothing to do with NAT anymore Second, we introduce router R 4

that by looking at Equation 4, the voltage must also exceed the no-load current multiplied by the internal resistance for the motor to start turning

When you are creating a new Analytic Chart, choosing the template from the wizard (or clicking the Analytic Chart button from the Create ribbon) opens the Create an Analytic Chart Report dialog box This box starts with the same three questions seen on most of the wizards: the name of the report, an optional display folder, and a checkbox asking whether or not all authenticated users should have Read permissions

Figure 29-13: A new router is added to the network Table 29-2 , the routing table for router R 2, now has three additional entries marked by * because R 2 now has two ways to get to the 145, 197, and 1423 network Notice that the hop counts are larger in each case because the connection is not direct Notice also that we could have put entries in for the 14210 and 14220 networks via R 1 as 3 hops away, but these entries as well as the one added to the 197 are bogus entries If R 3 (or R 1 in the case of the 197 network) is down, there is no point in sending packets, although we think that there is a route Table 29-2: The routing table for route R-2 Destination 14210 14220 14230 14230* 14110 14120 14130 14140 Next Hop 1413252 1413252 1413252 1411254 Attached Attached Attached Attached Hops 1 1 1 2 0 0 0 0 Port# C C C A A B C D

Some motors advertise their no-load speed and not their no-load current If the motor s specifications list the internal resistance of the motor, the no-load current can be determined from equation 4 With these equations, as well as the gear ratio, wheel size, and coefficient of friction between wheels and floor, you can determine how fast the robot will move and how much pushing force the robot will have (How you actually determine this will be explained in 6) If you want the robot to go faster, you can either run the motors at a higher voltage or choose a lower gear reduction in the drive system Equation 5 is an important equation to know and understand, because it will have a direct effect on the type and size of the batteries that you will need By rearranging this equation, the current draw requirements from your batteries can be determined Equation 6 shows this new relationship

Table 29-2: The routing table for route R-2 Destination 1471500 1471500* 19745190 19745190* All others Next Hop 1411254 1413254 1411254 1413252 1411254 Hops 1 2 1 3 1 Port# A C A C A

Figure 5-25 These are the different report types provided by PerformancePoint Server These begin to move into the analytics portion of PerformancePoint Server but are created in the Dashboard Designer

For any given torque or pushing force, the battery current requirements can be calculated For worst-case situations, stalling the motors will draw the maximum current from the batteries Equation 7 shows how to calculate the stall current, where Istall is the stall current in amps The batteries should be sized to be able to deliver this amount of current Batteries that deliver less current will still work, but you won t get the full performance potential of the motors Some builders purposely undersize the battery to limit the current and help the motors and electronics survive, and others do this simply because they have run out of weight allowance For some motors, the stall current can be several hundreds of amps

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Another set of relationships that needs to be considered is the overall power being supplied by the batteries and generated by the motor The input power, Pin, to the motor is shown in equation 8 Note that it is highly dependent on the current draw from the motor The output power, Pout, is shown in mechanical form in equation 9 and in electrical from in equation 10 Motor efficiency is shown in equation 11 The standard unit of power is watts