Rockwell Automation MPMA Integrated Multi-Axis Linear Stages - Manual (Page 118)

118 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Appendix D Home to Torque-level Example
Drive Bipolar Torque Limit
Adjustment
When homing an axis to a mechanical hard-stop, set the Home Torque-level
value above the torque value required to move the system, but low enough not to
cause problems with the system mechanics. As part of the process of homing to a
torque limit, limit the Peak Torque value to a level 10% above the Home Torque
value to reduce the stresses on the mechanics and to eliminate the chance of an
over-current error.
Limit the Peak Torque value before issuing the homing instruction (MAH) and
reset the Peak Torque field to the original value after homing completes.
Table 52 - Bipolar Torque Limit Adjustment
IMPORTANT The 10% value is an estimated starting point. This value may need
adjustment based on the application requirements.