Hi there, I’m a bit confused about Orel’s open loop control mode. Is this essentially a current control mode? I ask because I would like to use them with a controller that expects to send a torque command rather than a speed command to the motors–is it possible to use the Orels in this way?
The open-loop control mode governs the voltage applied to the motor rather than current. Therefore, it is closer to speed control rather than torque control (assuming constant load on the shaft). You can find more information in the section 2.2.8 (page 16) of the reference manual: https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf
Orel does not support torque control mode. However, Myxa does (alongside voltage control and speed control): https://zubax.com/products/myxa.