question about torque limits of OP3 motor

[yuan0623]

Hi, I just want to ask the torque limit about the motor on Darwin. I have checked the manual, the manual tells me that the stall torque is 2.5Nm and 4.1 Nm for MX-28 and XM430. I'm not sure how stall torque related to the torque limit. Also, can you explain to me how gear ratio affect to the torque limit?

Best
Yuan

[shiba-8ro]

@yuan0623
Hi,The Dynamixel's stall torque is the maximum available, but not a practical number. If stall torque is generated and left for a while, the motor may burn. So, apart from that, it is necessary to explicitly set the torque limit with a practical numerical value.