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PWM and DC motor

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Night Rider

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Hi guys,
I'm building a motor driver with pwm and i wonder if there is any rule for driving it with pwm. Of course the full driving is with 100% duty cycle, but what is the minimum duty cycle to reach marginal the immobility? It depends from the motor i'm using, so i must make my experiments, or there is a rule such a 40% duty cycle the motor stops?
Best Regards,
Jim.
 
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