New available limits in moteus firmware

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

config: servo.max_velocity

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.

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out /  Change )

Google photo

You are commenting using your Google account. Log Out /  Change )

Twitter picture

You are commenting using your Twitter account. Log Out /  Change )

Facebook photo

You are commenting using your Facebook account. Log Out /  Change )

Connecting to %s