Torque data from PH- motors

Support DYNAMIXEL
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1

DYNAMIXEL Actuator

Motor model : PH54-100-S500-R

Issue Description

I want to get the real time torque data from the motor. I know that the motor gives the “present current”. What is the torque constant of this motor or how can we calculate the real-time torque from this data.
I also saw the torque vs current graph in the manual. However is there a mathematical relation between the current and the torque that I can directly use?

2

Unfortunately, ROBOTIS cannot disclose the official torque constant of our actuators.

However, the mentioned N-T graph located on our eManual should provide enough information to reliably estimate the torque output at a given current input.