can you explain using these values ->
given the motor rated torque of motor is 2560 milli Nm. and the torque actual value from the register 0x6077 is 364 , the torque constant of the motor is 173948 uNm/A.
in MCX i am getting the value as 30 Nm.
Hi i want to know that how is the torque value of the joints computed.
Hi aditya_signh,
Are you using MCX- Robot-App version 1.X or 3.X
The 0x6077 = 364‰ correct? If this paramater is linked correctly
Robot app v3
root/AxesControl/actuatorControlLoops/actuatorControlLoop0X/motorTorqueActual
Robot app v1
root/Control/actuatorControlLoops/actuatorControlLoop0X/actualMotorTorqueIn
The mcx output depends on the gearbox ratio and set transducer gain and can be set via desk-tool.
The defined gain can be find inside the transducer,
or via the gui in axis settings tab
