I am using a Jog to home routine which is generally as follows.
Step one, Jog to a physical stop
Step two, monitor position error
Step three, issue a MAS to stop the jog
Step four, immediate home.
So far so good, and it works. But, the issue I have is that the drive sits there, in a running state with 136% torque. I assume it's trying to maintain it's cosy position against the end stop. The torque has been limited to 10% so why is it reading over 100?
I fixed it by moving away from the position by a small amount but I'd like to understand better what is happening and if I should take a different approach.