How the limits work

Current-setting compatibility and the speed-based duty governor in firmware 2.6.6.

Java 0.33.0 / firmware 2.6.6: zero duty coasts; brake is unsupported. Stator and supply current-limit settings are inactive compatibility fields and do not limit amperes. Supply current is observational; stator current is unavailable. The speed-based duty governor can reduce applied output.

Stator and supply current

Supply current is observational telemetry. Stator current is unavailable. A supply-current reading is not a measurement of winding current.

Compatibility settings in robot code

CurrentLimitsConfigs.StatorCurrentLimit and SupplyCurrentLimit remain available for compatibility. Firmware 2.6.6 stores and reads back these values but does not use them to limit current. Existing API validation remains: 0.001–70 A stator and 0.001–45 A supply. Unsupported lower-limit/time fields remain refused.

Output control

Command duty, velocity or position using the supported API. Requested and applied duty can differ because the firmware governor responds to shaft speed and acceleration. This is not a measured current limit.

Holding against a stop

The startup/stall duty ceiling is 5%. A duty ceiling does not specify winding current or establish an indefinite stall rating. Historical current-based burst budgets do not describe firmware 2.6.6.

Temperature

The controller reports board temperature, not winding temperature. Current-limit fields do not provide thermal-current regulation on firmware 2.6.6. Monitor the reported temperature and controller faults.