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:
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.
thank you very much , and I want to know how can i find this file, because I don’t see this file or folder (.urcontrol/ joint_sizex.conf) on the ur16 robot FlexPendant