From 737690066500268a673e86faf3aa20cbb99716d9 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Mon, 25 Oct 2021 01:52:35 -0400 Subject: [PATCH] current -> torque mode vel limit --- docs/control-modes.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/control-modes.md b/docs/control-modes.md index a1473558..d896d6e1 100644 --- a/docs/control-modes.md +++ b/docs/control-modes.md @@ -97,4 +97,4 @@ You can now control the velocity with `axis.controller.input_vel = 1` [turn/s]. Set `axis.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL`.
You can now control the torque with `axis.controller.input_torque = 0.1` [Nm]. -Note: If you exceed `vel_limit` in torque control mode, the current is reduced. To disable this, set `axis.controller.enable_current_mode_vel_limit = False`. +Note: If you exceed `vel_limit` in torque control mode, the current is reduced. To disable this, set `axis.controller.enable_torque_mode_vel_limit = False`.