Calculate the torque estimation


I wanted to calculate the torque estimation, by knowing the motor current. I used the following command to measure the motor current:

axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
axis0.controller.config.control_mode = 1 (which is in current control mode)
axis0.controller.current_setpoint = 5

However, they won’t measure anything.
I assume that the measured motor current should be measured as 5, but it always measure 0.0A.
I have no error.

What should I do ?

My Environment

Have you found out your answer yet (the answer is relevant to my project)?

I had used “gimbal motor mode”, but I should have used “high current motor mode”.
Using correct mode, you will get beep.
And axis0.motor.current_control.Iq_measured worked fine.