I've been looking at some servo controller designs, and I'm just trying to work out...
What is the point of current limiting/sensing?
The only reason I can figure out is safety - don't fry things.
But once you hit the current limit on a servo system, you're going to deviate from the desired position, and once that happens... your controller should throw an error and pull the ESTOP line anyway.
Do you think it would be sufficent to use a current sensing aparatus in that just pulls the ESTOP line?