How is the Otr (motor torque) parameter calculated on the ATV61 and ATV71 drives?

Issue:
Otr motor torque parameter calculated on the ATV61 and ATV71 drives.

Resolution:
The torque of the motor (OTR) is not measured by the drive. It is calculated from the measurement of motor current.
OTR = (Iq / Iqn) * (PhirdRef / Phirn) in %

With:     Iq : Current torque provide by the command to drive motor
PhirdRef : Flux provide by the command to drive motor
Iqn : Nominal Current torque compute with the motor name plate
Phirn : Nominal flux of the motor
The maximum accuracy of motor torque is 5% (in closed loop). It can be up to 15% in open loop.
Concerning the range, OTR is expressed in % of nominal motor torque.
100% = Nominal motor torque.
OTR value is signed with minimum value -300% and maximum value 300%

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