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The resulting motor speed and control effort should appear something like the following. In the above experiment, the load disturbance is applied between approximately 4 seconds and 7 seconds. By inspection, the motor speed does not deviate from the commanded 130 RPM reference even when this constant disturbance is applied.. The "22B/FV" INTEGRAmotors combine a 24VDC Brushless DC Motor or Gearmotor with a built-in, open loop, voltage mode PWM controller, accepting PWM input from an external motion or speed controller, also featuring amplifier enable, along with direction input, dynamic braking, and a built-in, 256 PPR, 2-channel encoder. P/N 07401072.Rev.A.