Issue:

I want to measure the torque of each Dynamixel in operation. To do so, I realized that I need to measure the current, and currently, I am trying to measure the current for each Dynamixel.

Therefore, I installed the Dynamixel SDK on Ubuntu 22.04, modified an example, and created a code to measure the current using Python in VScode. However, the measured current values were extremely large, and I couldn’t figure out what these values meant despite considering various possibilities. Below, I have posted the code I wrote and the resulting measurements. These results are the current values measured during the movement from the second goal position to the third goal position.

If anyone knows what the numbers for “present current” mean or how to convert them, I would appreciate your help.

Unfortunately, due to a 32,000 character limit, the code will be posted in the next message.

link:

https://forum.robotis.com/t/how-can-i-measure-current-in-an-operating-dynamixel-2/5826

-----------------------------------------------------Result----------------------------------------------------

[ID:011] PresentCurrent:000 [ID:012] PresentCurrent:65532 [ID:013] PresentCurrent:65498 [ID:014] PresentCurrent:65508

[ID:011] PresentCurrent:000 [ID:012] PresentCurrent:65530 [ID:013] PresentCurrent:65492 [ID:014] PresentCurrent:65507

[ID:011] PresentCurrent:000 [ID:012] PresentCurrent:65532 [ID:013] PresentCurrent:65494 [ID:014] PresentCurrent:65506

[ID:011] PresentCurrent:000 [ID:012] PresentCurrent:65534 [ID:013] PresentCurrent:65489 [ID:014] PresentCurrent:65509

[ID:011] PresentCurrent:008 [ID:012] PresentCurrent:65534 [ID:013] PresentCurrent:65478 [ID:014] PresentCurrent:65530

[ID:011] PresentCurrent:002 [ID:012] PresentCurrent:001 [ID:013] PresentCurrent:65465 [ID:014] PresentCurrent:65526

[ID:011] PresentCurrent:006 [ID:012] PresentCurrent:000 [ID:013] PresentCurrent:65456 [ID:014] PresentCurrent:65529

[ID:011] PresentCurrent:011 [ID:012] PresentCurrent:000 [ID:013] PresentCurrent:65434 [ID:014] PresentCurrent:65533

[ID:011] PresentCurrent:65540 [ID:012] PresentCurrent:65537 [ID:013] PresentCurrent:65431 [ID:014] PresentCurrent:131070

[ID:011] PresentCurrent:131076 [ID:012] PresentCurrent:196608 [ID:013] PresentCurrent:65423 [ID:014] PresentCurrent:196605

[ID:011] PresentCurrent:262149 [ID:012] PresentCurrent:262146 [ID:013] PresentCurrent:4294967171 [ID:014] PresentCurrent:327676

[ID:011] PresentCurrent:393223 [ID:012] PresentCurrent:393216 [ID:013] PresentCurrent:4294967166 [ID:014] PresentCurrent:393210

[ID:011] PresentCurrent:524294 [ID:012] PresentCurrent:524288 [ID:013] PresentCurrent:4294901626 [ID:014] PresentCurrent:524284

[ID:011] PresentCurrent:655367 [ID:012] PresentCurrent:655360 [ID:013] PresentCurrent:4294836098 [ID:014] PresentCurrent:655355

[ID:011] PresentCurrent:786437 [ID:012] PresentCurrent:786432 [ID:013] PresentCurrent:4294705031 [ID:014] PresentCurrent:786429

[ID:011] PresentCurrent:851976 [ID:012] PresentCurrent:917504 [ID:013] PresentCurrent:4294508430 [ID:014] PresentCurrent:917496

[ID:011] PresentCurrent:983046 [ID:012] PresentCurrent:1048576 [ID:013] PresentCurrent:4294311821 [ID:014] PresentCurrent:1048573

[ID:011] PresentCurrent:1114119 [ID:012] PresentCurrent:1114112 [ID:013] PresentCurrent:4294115215 [ID:014] PresentCurrent:1179641

[ID:011] PresentCurrent:1245190 [ID:012] PresentCurrent:1245184 [ID:013] PresentCurrent:4293918611 [ID:014] PresentCurrent:1310713

[ID:011] PresentCurrent:1376262 [ID:012] PresentCurrent:1441791 [ID:013] PresentCurrent:4293722001 [ID:014] PresentCurrent:1441788

[ID:011] PresentCurrent:1507335 [ID:012] PresentCurrent:1507328 [ID:013] PresentCurrent:4293590932 [ID:014] PresentCurrent:1572862

[ID:011] PresentCurrent:1638404 [ID:012] PresentCurrent:1703934 [ID:013] PresentCurrent:4293394321 [ID:014] PresentCurrent:1638396

[ID:011] PresentCurrent:1769478 [ID:012] PresentCurrent:1703936 [ID:013] PresentCurrent:4293263248 [ID:014] PresentCurrent:1769467

[ID:011] PresentCurrent:1900551 [ID:012] PresentCurrent:1835008 [ID:013] PresentCurrent:4293132176 [ID:014] PresentCurrent:1900539

[ID:011] PresentCurrent:1966088 [ID:012] PresentCurrent:2031615 [ID:013] PresentCurrent:4293066640 [ID:014] PresentCurrent:2031610

[ID:011] PresentCurrent:2097160 [ID:012] PresentCurrent:2162687 [ID:013] PresentCurrent:4292935567 [ID:014] PresentCurrent:2162683

[ID:011] PresentCurrent:2228234 [ID:012] PresentCurrent:2293759 [ID:013] PresentCurrent:4292804495 [ID:014] PresentCurrent:2293756

[ID:011] PresentCurrent:2293770 [ID:012] PresentCurrent:2424828 [ID:013] PresentCurrent:4292673420 [ID:014] PresentCurrent:2424827

[ID:011] PresentCurrent:2424842 [ID:012] PresentCurrent:2555903 [ID:013] PresentCurrent:4292607885 [ID:014] PresentCurrent:2555900

[ID:011] PresentCurrent:2555913 [ID:012] PresentCurrent:2686973 [ID:013] PresentCurrent:4292476825 [ID:014] PresentCurrent:2686970

[ID:011] PresentCurrent:2686989 [ID:012] PresentCurrent:2752512 [ID:013] PresentCurrent:4292345747 [ID:014] PresentCurrent:2752509

[ID:011] PresentCurrent:2818059 [ID:012] PresentCurrent:2949116 [ID:013] PresentCurrent:4292214668 [ID:014] PresentCurrent:2883582

[ID:011] PresentCurrent:2949129 [ID:012] PresentCurrent:3014651 [ID:013] PresentCurrent:4292083602 [ID:014] PresentCurrent:3014649

[ID:011] PresentCurrent:3080203 [ID:012] PresentCurrent:3145724 [ID:013] PresentCurrent:4291952527 [ID:014] PresentCurrent:3145720

[ID:011] PresentCurrent:3211276 [ID:012] PresentCurrent:3276796 [ID:013] PresentCurrent:4291821461 [ID:014] PresentCurrent:3276797

[ID:011] PresentCurrent:3342342 [ID:012] PresentCurrent:3407866 [ID:013] PresentCurrent:4291690388 [ID:014] PresentCurrent:3407871

[ID:011] PresentCurrent:3473411 [ID:012] PresentCurrent:3538939 [ID:013] PresentCurrent:4291559314 [ID:014] PresentCurrent:3538939

[ID:011] PresentCurrent:3538945 [ID:012] PresentCurrent:3670010 [ID:013] PresentCurrent:4291428242 [ID:014] PresentCurrent:3604477

[ID:011] PresentCurrent:3604481 [ID:012] PresentCurrent:3801078 [ID:013] PresentCurrent:4291297174 [ID:014] PresentCurrent:3735548

[ID:011] PresentCurrent:3735553 [ID:012] PresentCurrent:3932147 [ID:013] PresentCurrent:4291166102 [ID:014] PresentCurrent:3866616

[ID:011] PresentCurrent:3735552 [ID:012] PresentCurrent:4063219 [ID:013] PresentCurrent:4291100560 [ID:014] PresentCurrent:3932160

[ID:011] PresentCurrent:3735552 [ID:012] PresentCurrent:4194292 [ID:013] PresentCurrent:4290969486 [ID:014] PresentCurrent:4063232

[ID:011] PresentCurrent:3735552 [ID:012] PresentCurrent:4325361 [ID:013] PresentCurrent:4290838419 [ID:014] PresentCurrent:4259839

[ID:011] PresentCurrent:3670016 [ID:012] PresentCurrent:4456435 [ID:013] PresentCurrent:4290707353 [ID:014] PresentCurrent:4390907

[ID:011] PresentCurrent:3604480 [ID:012] PresentCurrent:4587508 [ID:013] PresentCurrent:4290576279 [ID:014] PresentCurrent:4456436

[ID:011] PresentCurrent:3538944 [ID:012] PresentCurrent:4718581 [ID:013] PresentCurrent:4290445208 [ID:014] PresentCurrent:4587518

[ID:011] PresentCurrent:3538943 [ID:012] PresentCurrent:4784111 [ID:013] PresentCurrent:4290314133 [ID:014] PresentCurrent:4653050

[ID:011] PresentCurrent:3342336 [ID:012] PresentCurrent:4915185 [ID:013] PresentCurrent:4290248594 [ID:014] PresentCurrent:4653050

[ID:011] PresentCurrent:3211264 [ID:012] PresentCurrent:5046253 [ID:013] PresentCurrent:4290117522 [ID:014] PresentCurrent:4653050

[ID:011] PresentCurrent:3080192 [ID:012] PresentCurrent:5177325 [ID:013] PresentCurrent:4289986456 [ID:014] PresentCurrent:4653049

[ID:011] PresentCurrent:2949120 [ID:012] PresentCurrent:5308395 [ID:013] PresentCurrent:4289855388 [ID:014] PresentCurrent:4587513

[ID:011] PresentCurrent:2883584 [ID:012] PresentCurrent:5439465 [ID:013] PresentCurrent:4289724312 [ID:014] PresentCurrent:4521977

[ID:011] PresentCurrent:2752512 [ID:012] PresentCurrent:5570540 [ID:013] PresentCurrent:4289593233 [ID:014] PresentCurrent:4456434

[ID:011] PresentCurrent:2621440 [ID:012] PresentCurrent:5701605 [ID:013] PresentCurrent:4289462159 [ID:014] PresentCurrent:4390903

[ID:011] PresentCurrent:2555903 [ID:012] PresentCurrent:5832674 [ID:013] PresentCurrent:4289331097 [ID:014] PresentCurrent:4259833

[ID:011] PresentCurrent:2359296 [ID:012] PresentCurrent:5963748 [ID:013] PresentCurrent:4289200035 [ID:014] PresentCurrent:4194300

[ID:011] PresentCurrent:2293759 [ID:012] PresentCurrent:6094819 [ID:013] PresentCurrent:4289068960 [ID:014] PresentCurrent:4063226

[ID:011] PresentCurrent:2097152 [ID:012] PresentCurrent:6160351 [ID:013] PresentCurrent:4288937880 [ID:014] PresentCurrent:3932153

[ID:011] PresentCurrent:2031616 [ID:012] PresentCurrent:6291419 [ID:013] PresentCurrent:4288872346 [ID:014] PresentCurrent:3801073

[ID:011] PresentCurrent:1900544 [ID:012] PresentCurrent:6422489 [ID:013] PresentCurrent:4288741283 [ID:014] PresentCurrent:3735548

[ID:011] PresentCurrent:1835006 [ID:012] PresentCurrent:6488028 [ID:013] PresentCurrent:4288675753 [ID:014] PresentCurrent:3604473

[ID:011] PresentCurrent:1638400 [ID:012] PresentCurrent:6488022 [ID:013] PresentCurrent:4288610210 [ID:014] PresentCurrent:3473405

[ID:011] PresentCurrent:1507328 [ID:012] PresentCurrent:6553556 [ID:013] PresentCurrent:4288610204 [ID:014] PresentCurrent:3342328

[ID:015] PresentCurrent:65534

[ID:015] PresentCurrent:65535

[ID:015] PresentCurrent:000

[ID:015] PresentCurrent:000

[ID:015] PresentCurrent:006

[ID:015] PresentCurrent:004

[ID:015] PresentCurrent:008

[ID:015] PresentCurrent:65544

[ID:015] PresentCurrent:65543

[ID:015] PresentCurrent:131083

[ID:015] PresentCurrent:196622

[ID:015] PresentCurrent:327695

[ID:015] PresentCurrent:393233

[ID:015] PresentCurrent:524302

[ID:015] PresentCurrent:720912

[ID:015] PresentCurrent:851980

[ID:015] PresentCurrent:983054

[ID:015] PresentCurrent:1179662

[ID:015] PresentCurrent:1310731

[ID:015] PresentCurrent:1441802

[ID:015] PresentCurrent:1572877

[ID:015] PresentCurrent:1703947

[ID:015] PresentCurrent:1835021

[ID:015] PresentCurrent:1900559

[ID:015] PresentCurrent:2031629

[ID:015] PresentCurrent:2162699

[ID:015] PresentCurrent:2293772

[ID:015] PresentCurrent:2359311

[ID:015] PresentCurrent:2490377

[ID:015] PresentCurrent:2621454

[ID:015] PresentCurrent:2752523

[ID:015] PresentCurrent:2883591

[ID:015] PresentCurrent:3014671

[ID:015] PresentCurrent:3145739

[ID:015] PresentCurrent:3276811

[ID:015] PresentCurrent:3342345

[ID:015] PresentCurrent:3473418

[ID:015] PresentCurrent:3604489

[ID:015] PresentCurrent:3735566

[ID:015] PresentCurrent:3866635

[ID:015] PresentCurrent:3997707

[ID:015] PresentCurrent:4128780

[ID:015] PresentCurrent:4259852

[ID:015] PresentCurrent:4325391

[ID:015] PresentCurrent:4456458

[ID:015] PresentCurrent:4587533

[ID:015] PresentCurrent:4718604

[ID:015] PresentCurrent:4849680

[ID:015] PresentCurrent:4980751

[ID:015] PresentCurrent:5111820

[ID:015] PresentCurrent:5177357

[ID:015] PresentCurrent:5308429

[ID:015] PresentCurrent:5439501

[ID:015] PresentCurrent:5570574

[ID:015] PresentCurrent:5701645

[ID:015] PresentCurrent:5832714

[ID:015] PresentCurrent:5963786

[ID:015] PresentCurrent:6029325

[ID:015] PresentCurrent:6160396

[ID:015] PresentCurrent:6225932

[ID:015] PresentCurrent:6291465

[ID:015] PresentCurrent:6357001

[ID:015] PresentCurrent:6422539

[ID:015] PresentCurrent:6422540

[ID:015] PresentCurrent:6422536

[ID:015] PresentCurrent:6488072

[ID:015] PresentCurrent:6488073

[ID:015] PresentCurrent:6488073

[ID:015] PresentCurrent:6488074

[ID:015] PresentCurrent:6488072

[ID:015] PresentCurrent:6488074

[ID:015] PresentCurrent:6488075

[ID:015] PresentCurrent:6488074

[ID:015] PresentCurrent:6488072

[ID:015] PresentCurrent:6488071

[ID:015] PresentCurrent:6488072

[ID:015] PresentCurrent:6488075

[ID:015] PresentCurrent:6488073

[ID:015] PresentCurrent:6488076

[ID:015] PresentCurrent:6488076

[ID:015] PresentCurrent:6488073

[ID:015] PresentCurrent:6488070

[ID:015] PresentCurrent:6488076

[ID:015] PresentCurrent:6488071

[ID:015] PresentCurrent:6488068

[ID:015] PresentCurrent:6488070

[ID:015] PresentCurrent:6488069

[ID:015] PresentCurrent:6422535

[ID:015] PresentCurrent:6356998

[ID:015] PresentCurrent:6291462

[ID:015] PresentCurrent:6225927

[ID:015] PresentCurrent:6094854

[ID:015] PresentCurrent:6029317

[ID:015] PresentCurrent:5898242

[ID:015] PresentCurrent:5832710

[ID:015] PresentCurrent:5701635

[ID:015] PresentCurrent:5570561

[ID:015] PresentCurrent:5439492

[ID:015] PresentCurrent:5373953

[ID:015] PresentCurrent:5242883

[ID:015] PresentCurrent:5111811

[ID:015] PresentCurrent:4980736

[ID:015] PresentCurrent:4849667

[ID:015] PresentCurrent:4718597

[ID:015] PresentCurrent:4653062

[ID:015] PresentCurrent:4521988

[ID:015] PresentCurrent:4390914

[ID:015] PresentCurrent:4259843

[ID:015] PresentCurrent:4128771

[ID:015] PresentCurrent:3997696

[ID:015] PresentCurrent:3866628

[ID:015] PresentCurrent:3801093

[ID:015] PresentCurrent:3670016

[ID:015] PresentCurrent:3538947

[ID:015] PresentCurrent:3407872

[ID:015] PresentCurrent:3276802

[ID:015] PresentCurrent:3145728

[ID:015] PresentCurrent:3014657

[ID:015] PresentCurrent:2883587

[ID:015] PresentCurrent:2752515

[ID:015] PresentCurrent:2686977

[ID:015] PresentCurrent:2555904

[ID:015] PresentCurrent:2424832

[ID:015] PresentCurrent:2293761

[ID:015] PresentCurrent:2162689

[ID:015] PresentCurrent:2031618

[ID:015] PresentCurrent:1900545

[ID:015] PresentCurrent:1769472

[ID:015] PresentCurrent:1638400

[ID:015] PresentCurrent:1507328

[ID:015] PresentCurrent:1376257

DYNAMIXEL Servo:

XM430-W350-T 5EA (Openmanipulator X set)

DYNAMIXEL Controller: OpenCR 1.0

Software Interface: Python in VScode, Dynamixel_SDK, Ubuntu 22.04