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Torque Control of a small DC motor

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Hello All,
Im using the C-Build Linear Actuator. A video of the setup can be found here.

The linear actuator is being powered by a small DC motor. 12 volts. I know a stepper motor would work better here however I need to control the motor with a small PLC. Using a relay - the PLC controls the movement of the motor just fine however I would like some torque control of the motor. I'm hoping there is a motor controller that could be turned on with a digital...

Torque Control of a small DC motor

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