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Overcurrent protection using dsPIC

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vaia-riseng

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Hi, I'm planning on creating a microcontroller circuit that measures the current in a 5 dc servo motors (using shunt resistor current sensing and PIC ADC) and does an error handling procedure when overcurrent is detected. However, the only specifications I have of the motors I'm using is that three of them have 30W motor capacity and 2 of them have 11W motor capacity. How do I know when the motors are experiencing overcurrent? Thank you very much!
 

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