XH540
2.499 A
Current Limit raw 929; candidate only.
Four actuator-family ceilings
XM540
2.499 A
Current Limit raw 929; candidate only.
XM430
1.999 A
Current Limit raw 743; candidate only.
XC330
0.700 A
Current Limit raw 700; candidate only.
What the screen says
19
nonzero static development screens pass the current-limited published-stall endpoint arithmetic.
2.5:1
bilateral knee ratio; previous 2:1 candidate rejected for this current boundary.
0
continuous-torque, thermal, protection or motion approvals.
Eight physical bus segments
| Bus | Axes | Sum of caps | Boundary |
|---|---|---|---|
| RS-LARM | 3 | 5.996010 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| RS-LLEG | 6 | 13.993380 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| RS-RARM | 3 | 5.996010 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| RS-RLEG | 6 | 13.993380 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| RS-WAIST | 1 | 2.499010 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| TTL-HEAD | 2 | 1.400000 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| TTL-LDIST | 2 | 1.400000 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
| TTL-RDIST | 2 | 1.400000 A | ARITHMETIC SUM OF INTERNAL CAPS ONLY; NOT PDU, WIRE, CONNECTOR OR SUPPLY RATING |
Deterministic local-control rule
Torque remains disabled while identity, operating mode, Current Limit, Goal Current, watchdog, temperature and voltage bounds are written and read back. A safety permit transition never creates a motion command; a fresh bounded trajectory command is separately required.
Control sequence · Control-table map · Axis calculations · Bus budget · Open evidence