# Stuck Protection

This chapter explains stuck current, stuck time, stuck speed, soft-stuck thresholds, torque-control limits, and the maximum speed limit in the Stuck Protection window.

## Before You Begin

Item | What to Check
--- | ---
Device state | Stop motion and disable the drive before changing protection parameters. Make sure the load is supported and the mechanism cannot move unexpectedly when a threshold changes.
Parameter source | Use protection thresholds from project delivery documents, device specifications, or verified field records. Do not copy parameters from an unknown device.
Original-value backup | Click Refresh to read and record the current values before clicking Apply, so you can restore the last verified configuration if a problem occurs.
Applicability | This window alone cannot confirm model, firmware, or hardware applicability. If an item is missing, read-only, or cannot be written, first check the documentation for the current model and the supported firmware range.

High-risk operation: Apply on a safety page writes protection parameters to the controller, and some are persistent. Stop motion, disable the drive, and secure the load before making changes. Do not change protection thresholds while the device is moving or enabled.

## Stuck Protection

Item | Description | Recommendations
--- | --- | ---
Stuck Current: | Set as a percentage of continuous current. A typical range is 50% to 120%. | Verify the source of the continuous-current parameter before changing this value so the resulting current does not exceed motor or drive capability.
Stuck Time: | In ms. A typical range is 200 ms to 1,000 ms. | Too long may delay protection; too short may cause false detection.
Stuck Speed: | In count/s. Normally set according to low-speed stall conditions. | An unsuitable speed condition may cause false detection.
Soft Stuck Current: | Current threshold for software stall protection; the reference documentation does not provide a universal recommended range. | If the write fails or the parameter is invalid, first confirm support for the current model and firmware. Do not keep increasing the threshold.
Soft Stuck Time: | Time threshold for software stall protection; the reference documentation does not provide a universal recommended range. | If the write fails or the parameter is invalid, first confirm support for the current model and firmware. Do not keep increasing the threshold.
Soft Stuck Velocity: | Speed threshold for software stall protection; the reference documentation does not provide a universal recommended range. | If the write fails or the parameter is invalid, first confirm support for the current model and firmware. Do not keep increasing the threshold.
Torque Control Mode: | Used for force-control-related configuration. | Validate at low speed and under light load after changing it.
Forward Threshold: | In mA. A typical range is 0 to 80,000. | This limit affects positive-direction output capability and protection boundaries. Validate at low speed and under light load after changing it.
Reverse Threshold: | In mA. A typical range is 0 to 80,000. | This limit affects negative-direction output capability and protection boundaries. Validate at low speed and under light load after changing it.
Max Speed Limit: | In count/s. Maximum speed limit for force-control or stall-related operation; it must not exceed the maximum permitted speed. | Make sure this limit agrees with the speed setting in the Motion chapter to avoid conflicting parameters.

Use the Stuck Protection window to configure stuck conditions, soft-stuck thresholds, torque-control limits, and the maximum speed limit.

## High-Risk Operations

Operation | Risk | Recommendation
--- | --- | ---
Adjust the bus-voltage limits | May make overvoltage or undervoltage protection too permissive or too restrictive. | Set according to the drive and power-supply specifications, then monitor the warning state.
Adjust current limits | May affect output capability and overload protection. | Make small adjustments within the device specifications and monitor current and faults.
Adjust torque limits | May affect output capability, holding force, and mechanical safety limits. | Set according to the device specifications and mechanical-safety requirements.
Adjust temperature limits | May change the temperature-protection trip point. | Set according to the device specifications. Do not raise the threshold merely to suppress a warning.
Adjust position limits | May affect travel limits and mechanical safety. | Verify both directions and the limits at low speed over a short travel.
Adjust speed limits or emergency-stop deceleration | May affect stopping distance, impact, and protection triggering. | Verify against the available safety distance and load inertia.
Adjust stall thresholds or force-control limits | May delay stall protection, cause false warnings, or produce abnormal output. | Start with verified parameters and validate under light load before normal operation.

## Troubleshooting

Symptom | Recommended Action
--- | ---
Frequent warnings or stops after applying settings | Restore the last verified parameters. Check whether thresholds are too narrow, the load has changed, or the power supply is abnormal.
Protection does not trigger as expected | Check whether thresholds are too wide and whether the current control mode matches the actual feedback. Confirm that the firmware supports the parameter.
Some items are missing or read-only | Confirm that the current model, hardware version, firmware version, and project delivery documents support this setting.
Read or write fails | Do not apply repeatedly. First verify the connection, device ID, firmware version, project documentation, and current error state.
Position or speed limits do not match motion behavior | Cross-check Motion, Motor Settings, Feedback Settings, Control Mode, and the protection parameters on this page to avoid conflicting settings.