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You may configure the Lexium analog output to output the actual current (ANOUTx = 2; 10 V = IPEAK) .
Read the output analog voltage value and multiply the read value by the motor's torque constant value to calculate the actual torque.
t = i * Kt
t = torque
i = actual current
Kt = torque constant of the motor
PS: the Lexium analog output has a resolution of 10 bits