Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 119)

Understanding IMC-S/23x Setups 5-39
Publication 999-122 - January 1997
Servo Output Limiting
Servo Output Limiting allows limiting the maximum servo output
voltage (if configured for voltage output) or current (if configured for
current output) of a physical axis to a specified level. See Configuring
the IMC-S/23x in the Installation and Hookup section of this manual
for information on setting the servo output format for each axis.
The servo output as a function of loop error both with and without servo
output limiting is shown below.
The servo output limit may be used as a software current or torque limit
if you are using a servo amplifier in torque (current) mode. The
percentage of the amplifier’s maximum current that the IMC-S/23x will
ever command is equal to the specified servo output limit. For example,
if your amplifier is capable of 30 Amps of current for a 10 Volt input,
setting the servo output limit to 5V limits the maximum amplifier
current to 15 Amps.
The servo output limit may also be used if your servo amplifier cannot
accept the full ±10 Volt or ±150 mA range of the servo output. In this
case, the servo output limit value effectively limits the maximum
command sent to the amplifier. For example, if your servo amplifier
can only accept command signals up to ±7.5 Volts, set the servo output
limit value to 7.5 volts.
+10V
-10V