Limits
The limits screen covers most of the basic system limits, including current, velocity, and position. The parameters are grouped by meaning and can be edited by two methods: manually through the edit boxes or graphically through the sliders at their right.
Position Limits
| Parameter | Description |
|---|---|
| Minimum position limit | Absolute minimum limit for the target and current position. Every new target position will be checked and adjusted to the position limits. |
| Maximum position limit | Absolute maximum limit for the target and current position. Every new target position will be checked and adjusted to the position limits. |
Profiler Limits
| Parameter | Description |
|---|---|
| Maximum profile velocity | Define the maximal allowed velocity in each direction during a profiled motion. The profiler will use as maximum velocity the most restrictive velocity between maximum profile velocity and maximum motor speed. |
| Maximum motor speed | Define the maximal motor speed. The profiler will use as maximum velocity the most restrictive velocity between maximum profile velocity and maximum motor speed. |
| Maximum profiler acceleration | Defines the maximum allowed acceleration. It is used to limit the acceleration to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed. |
| Maximum profiler deceleration | Defines the maximum allowed deceleration. It is used to limit the deceleration to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed. |
Torque Limits
| Parameter | Description |
|---|---|
| Minimum torque limit | Indicates the configured minimum torque provided in the motor. This allows user to configure the system with an asymmetrical torque limit window. |
| Maximum torque limit | Indicates the configured maximum torque provided in the motor. This allows user to configure the system with an asymmetrical torque limit window. |
| Maximum torque @ const speed | Indicates the configured maximum permissible torque in the motor at constant speed (not during acceleration/deceleration paths) |
| Maximum motor torque | Indicates the configured maximum permissible torque in the motor. |
Please, note that Maximum torque, Positive torque limit value and Negative torque limit value objects should not limit the peak current.