# Dephy motors don’t track the commanded

**URL:** <https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197>\
**Category:** Hardware\
**Created:** [March 16, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197 "2026-03-16T14:01:33Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![porteparlevent](https://avatars.discourse-cdn.com/v4/letter/p/c4cdca/32.png) [@porteparlevent](https://opensourceleg.discourse.group/u/porteparlevent)\
**Post date:** [March 16, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197/1 "2026-03-16T14:01:33Z")

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Hi everyone,

I am testing control with OSL. The issue I have is the measured torques don’t match the commanded torques with the Dephy motor in both loaded and unloaded condition.

In the loaded condition, I tested a control while the Dephy motors mounted on OSL, but the measured torques are less than the commanded

torque. The measured torques are around [-5, 5] Nm, while the commanded torques are [-50, 10] Nm.

In the unloaded condition, the measured torques are [-20, 10] Nm, while the commanded torques are still [-50, 10] Nm.

My questions are:

1. any setting of Dephy I should check, such as I2t configuration? The firmware version I use is 7.2.0. And I am using default settings.
2. any testing suggestion? I am planning to drive the motor on the OSL to a hard stop with a constant torque. Are there other suggestions for testing?

Any suggestions are much appreciated!

Thanks a lot!