Some of the new features in the moteus 2021-04-09 firmware release are new limits that can make the overall system more robust to faults or environmental conditions.
Velocity limiting
Like the position limits, there now is a configurable velocity limit. If the motor is moving faster than this limit in either direction, then the applied torque will be limited, eventually to a value of 0. This can be used to reduce the likelihood of runaway behavior in systems where high speeds are not expected.
moteus development kits come with this value set to 10 revolutions per second. It can be easily changed in tview.
Power limiting
config: servo.max_power_W
This limit throttles the available PWM when the overall power applied to the motor exceeds this configured value. By default it is set to 450W, slightly less than the moteus’s rated power of 500W. This limit is intended to reduce the likelihood of damaging the controller through an over-power situation.
A Modicum of Fun 