Universal Robots Forum

I want to get the drive gains of UR16e about the joint motor

Hello , we buy an UR16E robot in our laboratory, now I want to get the drive gains of UR16e about the joint motor for some reason,It looks something like this:

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T(torque)=K*I(current) , and I want to get the K parm about the six joints of UR16e, could anyone help me? thank you ~

It’s available on robot filesystem in configuration folder “.urcontrol”.
There you can find configuration file for each joint size (joint_sizex.conf), that contains torque_constant field.
UR16 is composed of joint sizes 4, 4, 3, 2, 2, 2.