*xM1 1 0 omega Torque M1_OPEN_theta M1_OPEN_Ea DC_MACHINE_EXTM1 Params: La=0.0162 Ra=30.4 Ke=0.026 Kt=0.026 J=5.15e-007 B=4.83e-007 ic_omega=0 ic_theta=0

.subckt DC_MACHINE  V+ V- omega torque theta_out Ea_out Params: La=5e-005 Ra=0.2 Ke=0.03 Kt=0.03 J=0.0001 B=1e-6 ic_omega=0 ic_theta=0

**Rotor (or armature)**
L1 V+  Ea {La} Rser={Ra}
backemf Ea V- V=v(omega)*Ke

**Mechanical side
bGtorque 0 omega_  i=I(backemf)*Kt
Vtorquesense omega_ omega 0
CIntertia omega 0 {J}
.ic v(omega)={ic_omega}
Rfriction omega 0 {1/B}

**Measurements
bEtorqueSignal torque 0 v=I(Vtorquesense)
Gtheta 0 theta omega 0 1
Ctheta theta 0 1
.ic v(theta)={ic_theta}

bEtheta theta_out 0 v=v(theta)
bEa_out Ea_out 0 v=V(Ea,V-)

.ends


.subckt RAD_S_RPM   in out
b1 out 0 v=v(in)*30/PI
.ends