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

**URL:** <https://forum.universal-robots.com/t/i-want-to-get-the-drive-gains-of-ur16e-about-the-joint-motor/18534>\
**Category:** Technical Questions\
**Created:** [January 10, 2022, 2:44am UTC](https://forum.universal-robots.com/t/i-want-to-get-the-drive-gains-of-ur16e-about-the-joint-motor/18534 "2022-01-10T02:44:45Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon52665990](https://avatars.discourse-cdn.com/v4/letter/a/dfb087/32.png) [@anon52665990](https://forum.universal-robots.com/u/anon52665990)\
**Post date:** [January 10, 2022, 2:44am UTC](https://forum.universal-robots.com/t/i-want-to-get-the-drive-gains-of-ur16e-about-the-joint-motor/18534/1 "2022-01-10T02:44:45Z")

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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:

![c2ad51b470adc0282a033fc7b7b844a](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/a6a377985e269fc4ac46cbf7d23bdc53d048b9f5.png)

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 ~

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**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\
**Post date:** [January 17, 2022, 3:07pm UTC](https://forum.universal-robots.com/t/i-want-to-get-the-drive-gains-of-ur16e-about-the-joint-motor/18534/2 "2022-01-17T15:07:21Z")

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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.

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<div class="post-metadata">

**Author:** ![anon52665990](https://avatars.discourse-cdn.com/v4/letter/a/dfb087/32.png) [@anon52665990](https://forum.universal-robots.com/u/anon52665990)\
**Post date:** [March 10, 2022, 9:13am UTC](https://forum.universal-robots.com/t/i-want-to-get-the-drive-gains-of-ur16e-about-the-joint-motor/18534/3 "2022-03-10T09:13:08Z")

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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