Current/Torque relationship with a shadowed motor

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1

HI !

DYNAMIXEL Actuator

XM540 W270 T

Issue Description

I’m working with a robotic arm that uses two servomotors (one shadow to the other) that both act on the same axis (a joint in the arm). I’m looking for the relationship between the current measured and the torque applied by the motors.
(For a single motor I could use the performance graph here: XM540-W270-T/R but what is the relationship for two motors?)

2

For two motors, you can simply double the values for an accurate estimate of the performance of the linked motors.

3

Thank you for your answer

This means that for the same value of ‘present_current’, the torque is twice as high, am i right ?

4

Yes, that is correct provided both of the motors are using the same effort to move the joint, which sounds like the case for your arm.

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