TRQ scaling

Hi, I'm using a SM2316D motor in an application and I'd like to determine the torque output in engineering units. I am gathering the real-time torque with the RTRQ command. I'm not exactly sure how to scale these counts that the RTRQ command returns into an engineering unit (for example, into in-lbf). The RTRQ command has a range of +/- 32767. The continuous torque of the motor is listed as 2.5 in-lbf and the peak torque as 4.00 in-lbf.

Can I equate a RTRQ value of 32767 as being equal to 4.00 in-lbf? Basically a 100% PWM signal (32767) for this motor causes the motor to put out it's peak torque? (32767 cnts = 4.0 in-lbf).

If not, can you please explain how to make this calculation.

Thanks, Marty