I understand that in order to have better holding torque (when trying to maintain a position, or zero velocity, for example), it’s required to increase the ‘current_lim’ parameter up to 60A (as mentioned on the ‘Getting started’ page). What I’m wondering then is whether there’s any way to set an actual hard limit then for continuous current; if I want to limit it to 20A for example, but still retain the icnreased performance from current_lim = 60?
Not really, although we do support thermistors so you can de-rate the current according to the motor temperature.