Torque and current are computed in ‰ units of the rated values. Therefore, a simple conversion has to be applied to get the torque and current values in mN and A, respectively:
Relationship between current and torque
The relationship between current and torque is defined by the motor rated values:
Relationship between current in ADC counts and current in ‰
The relationship between counts and current is described in the 0x2600 - Current readings object description: