Velocity window
Warn or stop when an axis moves faster than it should.
less than a minute
The velocity window watches the actual velocity, so it catches an axis that moves too fast, for example after a wrong transformation or a drive fault.
| What | Details |
|---|---|
| Path | actuatorControlLoopNN/velocityWindowDetector |
| Watches | actuatorVelocityActualFiltered, in rad/s or m/s |
Set high and low a little beyond the limiter’s velocityLimit, and tooHigh and tooLow further out.