If my ball screw application runs into a hardstop, what will happen?
If the Servida Motor is operating in position or velocity mode, when the axis run into a hardstop, the current position error will begin to rise. As the PID filter senses a rise in the current position error, and as the error is sustained over time, the PWM command will grow, resulting in more output torque. The output torque will continue to grow until the effective current maximum, set by the AMPS command, is reached. Once this limit is achieved, torque will remain constant until the current position error exceeds the error limit (E=), at which time the motor off flag will be set, and the drive will shut down (sending output torque to zero). The controller will continue to run following a position error event. Error handling routines based on the Bo (motor off) bit can be implemented in the stored user program.
