I'd like to investigate what PWM value my motor is using under normal operation so I can set a sensible upper limit using the AMPS command. I am using the motor view box to monitor torque (which seems to equate to PWM value as far as I can tell) using RTRQ. It is showing me values up to +/-12,000. That's odd as I was expecting it to report values in the same range as the AMPS setting, i.e 0 - 1023.
What do these values returned by RTRQ mean?
RTRQ returns the equivalent value of T in Mode Torque... which is +-32767.
Got it. So how does the value in the AMPS command relate to the T value?
AMPS limits the PWM output of the drive. 0-1023 represents 0-100% PWM.
It can be used to limit torque in Position Mode and Velocity Mode. The RTRQ command would still be used as the value of Torque present at the motor shaft.