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How is the value of motor torque (OTR) obtained in the ATV320 drive?

Needs to know the motor torque (OTR) on an ATV320 drive
Product Line:   
Wants to know how motor torque monitoring is achieved. Is it measured or estimated
On ATV320, this parameter will be estimated (the torque is estimated based on motor current measured).
The torque of motor is not measured by the drive. It is calculated from the measurement of motor
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

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