0x6077 contains the actual torque value and can be cyclically evaluated by the controller or transferred via the service channel. The actual torque is proportional to the actual current value.

Actual values can not be determined with any accuracy, because of measurement and component tolerances. That means for the control loop, that the real acting limit, actual or setpoint values can differ up to 3 % of the rated torque (proportional to 0x6075 'Motor rated current').