Does there exist a readily available resource document for the current torque graph of the XC330 M288 dynamixel motor? I would like to achieve torque control using this motor, but only current control exists. I would like to use the current torque graph to achieve torque control.

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Unfortunately, there is not a readily available NT graph for our 330 size servos.

You can quickly estimate the expected torque as they are directly proportional to one another (meaning that 50% maximum current is ~50% maximum torque), or you can use a force gauge or newton meter to measure the torque/current yourself.

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As the N-T Graph is not available for 330 series, you just need to estimate the approximate torque constant by using the **Stall Torque**. Although, this is not very absolute solution to the torque conversion, but it can be referenceable.

XC330 Stall Torque: 0.93 [N.m] at 1.80 [A]

Here is the equation

Torque = Kt * I

0.93 [N.m]=1.80Kt [N.m/A]

(s.t.) Kt = (0.6 / 1.8) [N.m/A] = ~0.333 [N.m/A]