Hi i want to know that how is the torque value of the joints computed.

aditya_singh

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.

philippeH

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