measure motor load torque using the FOC Iq current?

[jcysyk]

I would like to measure motor load torque using the FOC Iq current. Am I correct that torque should equal Iq*Kt. I am using the ST Motor Control SDK 5.4. I have characterized the Kt of my motor. I calculate Iq [mA] = Iq_s16 * VDD [mV/(Rshunt*Gain*65536)

When I test with a torque meter, I'm calculating roughly 2x the torque as compared to the torque meter. Is there something I'm missing in my calculation?

[jcysyk · Accepted solution]

My mistake, looks like I had a problem with my setup. The calculated Torque using the above equation matches the measure torque

[tejas_amp]

Which torque meter you used?