In the https://emanual.robotis.com/docs/en/dxl/x/xh540-w150/ link, there is lots of valuable information about XH540-W150-T/R. When I read this document, I realized two missing information which is important for my application. If someone can answer my following questions, I will be happy.
1. Torque constant was not given there. In fact, it is seen that there is a nonlinear relation between torque and current in the performance graph. Would you able to give the formula of the purple curve in this graph? In this way, we may accurately calculate torque with current measurement that comes from servos.
2. Stall torque of XH540-W150-T/R is denoted as 7.1 Nm for 12 V. What is the continuous torque value of the XH540-W150-T/R?
Thank you for your inquiry regarding XH540-W150.
X series comes with an accurate current sensing IC, however, converting this value into the actual torque may not provide an accurate torque.
The NT curve(Performance graph) is provided as a trend line based on the actual test data to give developers an idea of how much torque will be generated with certain current situation.
When measuring an accurate torque, it is recommended to use a separate torque sensor.
For a continuous operation, 20% of Stall torque range where the performance graph shows the best efficiency is recommended.
In case of XH540-W150, 7.1 * 0.2 = 1.4Nm would be a continuous torque.