Profiler in profile torque
The profile torque profiler is implemented according to the following structure:
Actual torque and current are compared against their maximum values, usually related to the actuator datasheet. Afterwards, the internal target torque is limited by the system limits, if applicable. Finally, the torque demand value is calculated with this internal target torque and the defined torque slope, to avoid applying excessive rotational acceleration that could damage the mechanical system.