Limit setpoints

You can use setpoint limitations to restrict the setpoint ranges for torque and speed.

Please note: not all limitations apply in all operation modes.

Torque limitation

Effective in all operation modes: CSTCA, CST, CSV, CSP, DMC

Limits the permissible setpoint range of the torque or the equivalent motor current.

You can set the torque limit in both bipolar and unipolar modes:

• Bipolar: Torque limitation
• Unipolar: Positive torque limit value, Negative torque limit value

Bipolar and unipolar limits can be active at the same time; in that case, the minimum of the bipolar and positive limits applies in the positive direction, and the minimum of the bipolar and negative limits applies in the negative direction.

You can define the torque limitations either statically via the CoE or cycle-synchronously via the process data. If the relevant limit is included in the process data, the value written via CoE is irrelevant. Values written via CoE are stored internally in the drive controller and persist through a restart; process data values are lost at the latest after a reboot.

Speed limitation

Only effective in the CSV,CSP, and DMC controller operation modes

Limits the permissible setpoint range for speed.

Enter the limit in parameter 0x2002:31/0x2802:31 (channel 1/2) as Velocity limitation.

If a gear ratio is configured, the limit applies to the load side of the gear unit. See also chapter Set gear ratio.

The speed limit can only be set via CoE and is stored internally even after a restart.