Letʼs start with the max current limit.
This setting limits the maximum current (and thus torque) the motor can output. It is the last
user-configurable limit in the control scheme. The maximum current is set using the
mdtool config
current command
, and by default, it is usually set to 10A. This setting can be saved in the non-volatile
memory so that it is always loaded on the actuator power-up. To estimate the maximum current setting for a
particular motor, you should use the following formula:
where
- calculated current in Amps
desired maximum torque
gear ratio
motorʼs torque constant
for example letʼs calculate the max current limit for AK80-9 motor, for a 2Nm max torque:
t
Note: usually this limit should be set to the highest peak torque that is allowed in the system so that it
doesn't limit the actuator performance.
Now, to put this value into the MD80 please refer to
mdtool config current command
. Donʼt forget to
save it with the
mdtool config save command
.
The other limits are the max torque and max velocity parameters, which are set from the user script level.
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