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.
![](https://support.motorcortex.io/assets/files/2024-01-04/1704389442-268389-screenshot-from-2024-01-04-18-29-47.png)
The defined gain
can be find inside the transducer
,
![](https://support.motorcortex.io/assets/files/2024-01-04/1704389539-657772-screenshot-from-2024-01-04-18-32-06.png)
or via the gui in axis settings tab
![](https://support.motorcortex.io/assets/files/2024-01-04/1704389742-598463-screenshot-from-2024-01-04-18-35-19.png)