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 ?

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