Torque units

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:

Related registers

0x6076 - Motor rated torque

0x6075 - Motor rated current

0x2600 - Current readings