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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.

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