text: <s>[INST] Setting servo torque limit Running Kinetix SERCOS drives with MPL motors They were at 40% constant and 50% peak. They were faulting out when trying to home. They said they could find no mechanical issues. I bumped the peak up to 60% and then 75% to get them going, and they later found some minor mechanical issues like lube. The Motion System Tuning manual just says Set the Torque limits to what is required for the application. The rated constant Torque value is 4.18NM and the peak is 11.1. How do I determine where to set the servo torque limits? Thanks for your time Jim [/INST] You need enough torque to do the job, but not so much as to break the machine. That's not something you're going to find an answer to in the forums or even Rockwell Tech Support. You'll need to talk with your mechanical designer to determine how much torque the machine can handle before failing. The fact that peak torque was not enough to overcome lube problems says two things - maintenance isn't doing enough, and you probably could get away with 100% peak. \\n </s>