There is a monitoring parameter motor torque on Altivar 61 drive. The value is in terms of percentage. How do we translate the percentage into torque value.

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The parameter "Otr" is showing actual motor torque by a percentage of nominal motor torque.
Overall, knowing nominal motor torque, you will know the actual value of the motor torque with the percentage given by the "Otr" Value.
If "Otr" shows 50% it means that you have half torque than nominal motor torque.
In addition, you can check the OTR value at nominal current, voltage and speed; it should be around 100%.