Limits by mechanism
Select current limits from the behavior of your robot’s mechanisms.
What to measure
There is no single current setting for every drivetrain, arm, elevator, or intake. Gear ratio, motor count, mechanism mass, friction, and control tuning change the demand. Use the supported ranges of 0.001–50 A stator and 0.001–35 A supply, then choose lower values that suit your mechanism and its breaker or fuse.
| Mechanism | Test conditions | Measurements to inspect |
|---|---|---|
| Drivetrain | Acceleration, turning under load, and repeated starts. | Wheel slip, acceleration, supply current, and battery voltage. |
| Swerve steering | Direction changes and holding the commanded angle. | Position error, overshoot, current, and temperature. |
| Elevator / arm | Full travel with the expected load, including holding and lowering. | Current through the move, position error, heating while holding, and stopping behavior. |
| Intake / feeder | Acquisition, normal feeding, and a controlled jam response. | Current rise, how quickly code stops a jam, and heating during repeated cycles. |
Adjusting the limits
- Begin with conservative limits and test one mechanism while the robot is supported.
- Compare requested motion with measured motion and applied duty. Read any refusal or protection message.
- If the current limit prevents a required move, first check gearing, binding, and battery voltage. Change one setting at a time and repeat the test.
- Run the mechanisms together in the combinations your robot uses. A limit that works alone can still contribute to a voltage drop when other motors accelerate.
- Record the selected limits in robot code and repeat the checks after a configuration or mechanical change.
Holding a load
An arm or elevator may draw substantial winding current while barely moving. Monitor temperature during the actual holding time. Neutral Brake is not a mechanical holding brake or a position controller. Plan how the mechanism behaves when the robot is disabled or power is lost.