How to read the actual torque in the Lexium drive?

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

Where :
t = torque
i = actual current
Kt = torque constant of the motor
PS: the Lexium analog output has a resolution of 10 bits