I am hoping you might be able to give a little more detail on what exactly the load feedback of AX-12 servos is measuring.  The manual doesn't mention any kind of units other than being a 9 bit value with sign bit.  If it's just a unitless duty cycle value, that's fine, but if it's actually calibrated to a physical unit (e.g. Newton-meters) that would be good to know.

However, the odd thing I've noticed is that if I disable torque by setting max torque to 0 (addresses 0x22,0x23) and then backdrive the servo, as I do so it reports a load on the servo, even though the torque is disabled and is not exerting any force.  So what is the load it is reporting?

(FYI: I also set the compliance slope to 0 when I do this, or more exactly, my code dynamically scales the compliance slope, and when the compliance slope hits 0, I have found I need to make my driver also set max torque=0 to complete disable torque, otherwise it still fights a little)

Thanks!