Speed monitoring during active torque limiting

An additional monitoring function is realised for actual speed monitoring during active torque limiting. This can be parameterised in the ACHS_MDS parameter “vb_torq_limit_max“ (P-AXIS-00314).

• The actual speed during active torque limiting is also monitored cyclically in the BF LR. If the permissible actual speed is exceeded, the error message "Max. actual speed exceeded during active torque monitoring" (P-ERR-70220) is issued and the axis is stopped by closing of the brake and removal of controller enabling.