There are two methods for limiting the current (torque) in the C3.
1. Using C3 servo manager, in the Drive Configuration menu titled Monitoring/Limits, 'current limit' is a menu item. The units are in % of continuous current. The current limit is bi-direction, and effects both the positive and negative direction of travel.
2. In CoDeSys, you can specify the positive and negative current limits by writing directly to objects C3.Limit_CurrentNegative, and C3.Limit_CurrentPositive. When running a program, these values take precedence over the value entered in the drive configuration. Also, any changes made to the C3.Limit's must be validated with the C3.ValidParameter_Limits object.
Here is an example of how, using Structured Text in CoDeSys, to set the positive and negative current limits to %150 of the continous current rating of the motor:
C3.Limit_CurrentNegative := 150;
C3.Limit_CurrentPositive := 150;
C3.ValidParameter_Limits := TRUE;