Positive and Negative Torque Limits
By limiting the output range of a DAC, it is possible to control the maximum torque (when connected to a torque block servo amplifier) or velocity (when connected to a velocity block servo amplifier). The positive and negative torque limit values define a clamp for the primary servo DAC output and for the secondary DAC output when you are using a brushless motor. The clamp is useful for systems where the maximum torque output must be smaller than the +10 to –10 voltage range.
Primary and secondary DACs can have different limits, and the positive and negative limits can be both positive or both negative to limit the DAC output to a unipolar range. The only restriction is that a positive DAC limit cannot be less than the negative DAC limit.