This is how the max torque (MT) values are set for each Puck motor controller: {{{ /* Notes: * 1 Amp = 1024 puck torque units * Puck torques are saturated at 8191 by the communications layer * Cable limits were chosen to be approx 20% of the rated breaking strength * * Motor 1 2 3 4 5 6 7 * Stall (Nm) 1.490 1.490 1.490 1.490 0.356 0.356 0.091 * Peak (Nm) 6.31 6.31 6.31 6.31 1.826 1.826 0.613 * Cable limit (Nm) 1.8 1.8 1.8 1.6 0.6 0.6 N/A * Nm/A -published 0.457 0.457 0.457 0.457 0.236 0.236 0.067 * Nm/A -actual 0.379 0.379 0.379 0.379 0.157 0.157 0.058 * MT value 4860 4860 4860 4320 3900 3900 3200 * * Example: * What should the motor 3 Max Torque (MT) be set to in order to not * exceeed the designed cable limit? * (1.8 Nm) / (0.379 Nm/A) * (1024 Units/A) = 4863 */ }}}