0x21E0 - Max. current

This register sets the maximum allowed instant current.

By default, this register limits current set-points injected to the current control loops above the max current level. However if the current loop is not enabled it works as a fault: if the measured current is higher than this value the drive shut down the power stage.

This protection is active if at least the current loop is enabled. Therefore it works for all current, velocity and position modes, but it is inactive in voltage mode.

Max current limit is applied to the total motor current →