AX-12A and AX-18A Holding and moving maximum torque

[nunogato]

Hi,

While testing the XYZ A1-16 servos (check this other topic) we took the opportunity to check what's the maximum holding and moving torque for the ROBOTIS Dynamixel AX-12A and AX-18A.

Tests were performed screwing the servo to a MDF board with a 10cm arm that would secure a weight. We would then add increments of about 33g and see in the holding test when the servo turns off and on the moving test if it would be able to still move the weight UP.

Code: Select all

+------------------------------------+-------------+-------------+
|                                    |    AX-12    |    AX-18    |
+------------------------------------+-------------+-------------+
|  Specs Stall torque                |   1.5  Nm   |   1.8  Nm   |
|  Measured maximum stall torque     |   1.82 Nm   |   2.55 Nm   |
|  Measured maximum moving torque    |   0.66 Nm   |   0.95 Nm   |
+------------------------------------+-------------+-------------+

It seems that the stall torque is a bit more than what we were expecting.

Were you expecting this results? What other tests would you like us to do?